From 2d819a3a217562e1df5cd43ba7274813add77f08 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Tue, 30 Jan 2024 15:31:16 +0900 Subject: [PATCH] delete tmp file Signed-off-by: Yamato Ando --- .../schema/ndt_scan_matcher.schema.json.tmp | 232 ------------------ 1 file changed, 232 deletions(-) delete mode 100644 localization/ndt_scan_matcher/schema/ndt_scan_matcher.schema.json.tmp diff --git a/localization/ndt_scan_matcher/schema/ndt_scan_matcher.schema.json.tmp b/localization/ndt_scan_matcher/schema/ndt_scan_matcher.schema.json.tmp deleted file mode 100644 index 4f1878854b0cb..0000000000000 --- a/localization/ndt_scan_matcher/schema/ndt_scan_matcher.schema.json.tmp +++ /dev/null @@ -1,232 +0,0 @@ -{ - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "Parameters for Ndt Scan Matcher Node", - "type": "object", - "definitions": { - "ndt_scan_matcher": { - "type": "object", - "properties": { - "base_frame": { - "type": "string", - "description": "Vehicle reference frame.", - "default": "base_link" - }, - "ndt_base_frame": { - "type": "string", - "description": "NDT reference frame.", - "default": "ndt_base_link" - }, - "map_frame": { - "type": "string", - "description": "Map frame.", - "default": "map" - }, - "input_sensor_points_queue_size": { - "type": "number", - "description": "Subscriber queue size.", - "default": 1, - "minimum": 1 - }, - "trans_epsilon": { - "type": "number", - "description": "The maximum difference between two consecutive transformations in order to consider convergence.", - "default": 0.01, - "minimum": 0.0 - }, - "step_size": { - "type": "number", - "description": "The newton line search maximum step length.", - "default": 0.1, - "minimum": 0.0 - }, - "resolution": { - "type": "number", - "description": "The ND voxel grid resolution.", - "default": 2.0, - "minimum": 0.0 - }, - "max_iterations": { - "type": "number", - "description": "The number of iterations required to calculate alignment.", - "default": 30, - "minimum": 1 - }, - "converged_param_type": { - "type": "number", - "description": "Converged param type. 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD", - "default": 1, - "minimum": 0, - "maximum": 1 - }, - "converged_param_transform_probability": { - "type": "number", - "description": "If converged_param_type is 0, threshold for deciding whether to trust the estimation result.", - "default": 3.0, - "minimum": 0.0 - }, - "converged_param_nearest_voxel_transformation_likelihood": { - "type": "number", - "description": "If converged_param_type is 1, threshold for deciding whether to trust the estimation result.", - "default": 2.3, - "minimum": 0.0 - }, - "initial_estimate_particles_num": { - "type": "number", - "description": "The number of particles to estimate initial pose.", - "default": 200, - "minimum": 1 - }, - "n_startup_trials": { - "type": "number", - "description": "The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search.", - "default": 20, - "minimum": 1 - }, - "lidar_topic_timeout_sec": { - "type": "number", - "description": "Tolerance of timestamp difference between current time and sensor pointcloud. [sec]", - "default": 1.0, - "minimum": 0.0 - }, - "initial_pose_timeout_sec": { - "type": "number", - "description": "Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec]", - "default": 1.0, - "minimum": 0.0 - }, - "initial_pose_distance_tolerance_m": { - "type": "number", - "description": "Tolerance of distance difference between two initial poses used for linear interpolation. [m]", - "default": 10.0, - "minimum": 0.0 - }, - "critical_upper_bound_exe_time_ms": { - "type": "number", - "description": "The execution time which means probably NDT cannot matches scans properly. [ms]", - "default": 100.0, - "minimum": 0.0 - }, - "num_threads": { - "type": "number", - "description": "Number of threads used for parallel computing.", - "default": 4, - "minimum": 1 - }, - "output_pose_covariance": { - "type": "array", - "description": "The covariance of output pose. Note that this covariance matrix is empirically derived.", - "default": [ - 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625 - ] - }, - "use_covariance_estimation": { - "type": "boolean", - "description": "2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value).", - "default": false - }, - "initial_pose_offset_model_x": { - "type": "array", - "description": "Offset arrangement in covariance estimation [m]. initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.", - "default": [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] - }, - "initial_pose_offset_model_y": { - "type": "array", - "description": "Offset arrangement in covariance estimation [m]. initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.", - "default": [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] - }, - "regularization_enabled": { - "type": "boolean", - "description": "Regularization switch.", - "default": false - }, - "regularization_scale_factor": { - "type": "number", - "description": "Regularization scale factor.", - "default": 0.01, - "minimum": 0.0 - }, - "dynamic_map_loading_update_distance": { - "type": "number", - "description": "Dynamic map loading distance.", - "default": 20.0, - "minimum": 0.0 - }, - "dynamic_map_loading_map_radius": { - "type": "number", - "description": "Dynamic map loading loading radius.", - "default": 150.0, - "minimum": 0.0 - }, - "lidar_radius": { - "type": "number", - "description": "Radius of input LiDAR range (used for diagnostics of dynamic map loading).", - "default": 100.0, - "minimum": 0.0 - }, - "estimate_scores_for_degrounded_scan": { - "type": "boolean", - "description": "A flag for using scan matching score based on de-grounded LiDAR scan.", - "default": false - }, - "z_margin_for_ground_removal": { - "type": "number", - "description": "If lidar_point.z - base_link.z <= this threshold , the point will be removed.", - "default": 0.8, - "minimum": 0.0 - } - }, - "required": [ - "base_frame", - "ndt_base_frame", - "map_frame", - "input_sensor_points_queue_size", - "trans_epsilon", - "step_size", - "resolution", - "max_iterations", - "converged_param_type", - "converged_param_transform_probability", - "converged_param_nearest_voxel_transformation_likelihood", - "initial_estimate_particles_num", - "n_startup_trials", - "lidar_topic_timeout_sec", - "initial_pose_timeout_sec", - "initial_pose_distance_tolerance_m", - "critical_upper_bound_exe_time_ms", - "num_threads", - "output_pose_covariance", - "use_covariance_estimation", - "initial_pose_offset_model_x", - "initial_pose_offset_model_y", - "regularization_enabled", - "regularization_scale_factor", - "dynamic_map_loading_update_distance", - "dynamic_map_loading_map_radius", - "lidar_radius", - "estimate_scores_for_degrounded_scan", - "z_margin_for_ground_removal" - ], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/ndt_scan_matcher" - } - }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } - \ No newline at end of file