refactor(localization_error_monitor): rework parameters (#6156)

* refactor(localization_error_monitor): rework parameters Signed-off-by: Yamato Ando <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Yamato Ando <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Jan 26, 2024 · 47d1f48 · 47d1f48
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diff --git a/localization/localization_error_monitor/README.md b/localization/localization_error_monitor/README.md
@@ -29,10 +29,4 @@ The package monitors the following two values:
 
 ## Parameters
 
-| Name                                   | Type   | Description                                                                                  |
-| -------------------------------------- | ------ | -------------------------------------------------------------------------------------------- |
-| `scale`                                | double | scale factor for monitored values (default: 3.0)                                             |
-| `error_ellipse_size`                   | double | error threshold for long radius of confidence ellipse [m] (default: 1.0)                     |
-| `warn_ellipse_size`                    | double | warning threshold for long radius of confidence ellipse [m] (default: 0.8)                   |
-| `error_ellipse_size_lateral_direction` | double | error threshold for size of confidence ellipse along lateral direction [m] (default: 0.3)    |
-| `warn_ellipse_size_lateral_direction`  | double | warning threshold for size of confidence ellipse along lateral direction [m] (default: 0.25) |
+{{ json_to_markdown("localization/localization_error_monitor/schema/localization_error_monitor.schema.json") }}
diff --git a/localization/localization_error_monitor/schema/localization_error_monitor.schema.json b/localization/localization_error_monitor/schema/localization_error_monitor.schema.json
@@ -0,0 +1,56 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Localization Error Monitor node",
+  "type": "object",
+  "definitions": {
+    "localization_error_monitor": {
+      "type": "object",
+      "properties": {
+        "scale": {
+          "type": "number",
+          "default": 3.0,
+          "description": "scale factor for monitored values"
+        },
+        "error_ellipse_size": {
+          "type": "number",
+          "default": 1.5,
+          "description": "error threshold for long radius of confidence ellipse [m]"
+        },
+        "warn_ellipse_size": {
+          "type": "number",
+          "default": 1.2,
+          "description": "warning threshold for long radius of confidence ellipse [m]"
+        },
+        "error_ellipse_size_lateral_direction": {
+          "type": "number",
+          "default": 0.3,
+          "description": "error threshold for size of confidence ellipse along lateral direction [m]"
+        },
+        "warn_ellipse_size_lateral_direction": {
+          "type": "number",
+          "default": 0.25,
+          "description": "warning threshold for size of confidence ellipse along lateral direction [m]"
+        }
+      },
+      "required": [
+        "scale",
+        "error_ellipse_size",
+        "warn_ellipse_size",
+        "error_ellipse_size_lateral_direction",
+        "warn_ellipse_size_lateral_direction"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/localization_error_monitor"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}