Added map_projection_loader.schema.json.

Modified README.md of map_projection_loader to read the schema.json file to construct the table of parameters

Signed-off-by: TaikiYamada4 <[email protected]>

map/map_projection_loader/README.md

@@ -82,11 +82,10 @@ map_origin:
 
 ## Published Topics
 
-- ~/map_projector_info (tier4_map_msgs/MapProjectorInfo) : Topic for defining map projector information
+- `~/map_projector_info` (tier4_map_msgs/MapProjectorInfo) : This topic shows the definition of map projector information
 
 ## Parameters
 
-| Name                    | Type        | Description                                                                      |
-| :---------------------- | :---------- | :------------------------------------------------------------------------------- |
-| map_projector_info_path | std::string | A path to map_projector_info.yaml (used by default)                              |
-| lanelet2_map_path       | std::string | A path to lanelet2 map (used only when `map_projector_info_path` does not exist) |
+Note that these paramters are assumed to be passed from launch arguments, and it is not recommended to directly write them in `map_projection_loader.param.yaml`.
+
+{{ json_to_markdown("map/map_projection_loader/schema/map_projection_loader.schema.json") }}

map/map_projection_loader/schema/map_projection_loader.schema.json

@@ -0,0 +1,42 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "Parameters for map_projection_loader",
+    "type": "object",
+    "definitions": {
+      "map_projection_loader": {
+        "type": "object",
+        "properties": {
+          "map_projector_info_path": {
+            "type": "string",
+            "description": "The path where map_projector_info.yaml is located",
+            "default": "$(var map_projector_info_path)"
+          },
+          "lanelet2_map_path": {
+            "type": "string",
+            "description": "The path where the lanelet2 map file (.osm) is located",
+            "default": "$(var lanelet2_map_path)"
+          }
+        },
+        "required": [
+            "map_projector_info_path", 
+            "lanelet2_map_path"
+        ],
+        "additionalProperties": false
+      }
+    },
+    "properties": {
+      "/**": {
+        "type": "object",
+        "properties": {
+          "ros__parameters": {
+            "$ref": "#/definitions/map_projection_loader"
+          }
+        },
+        "required": ["ros__parameters"],
+        "additionalProperties": false
+      }
+    },
+    "required": ["/**"],
+    "additionalProperties": false
+  }
+