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100 changes: 48 additions & 52 deletions localization/ekf_localizer/schema/ekf_localizer.schema.json
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@@ -1,56 +1,52 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "EKF Localizer Configuration",
"type": "object",
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"node": {
"$ref": "sub/node.sub_schema.json#/definitions/node"
},
"pose_measurement": {
"$ref": "sub/pose_measurement.sub_schema.json#/definitions/pose_measurement"
},
"twist_measurement": {
"$ref": "sub/twist_measurement.sub_schema.json#/definitions/twist_measurement"
},
"process_noise": {
"$ref": "sub/process_noise.sub_schema.json#/definitions/process_noise"
},
"simple_1d_filter_parameters": {
"$ref": "sub/simple_1d_filter_parameters.sub_schema.json#/definitions/simple_1d_filter_parameters"
},
"diagnostics": {
"$ref": "sub/diagnostics.sub_schema.json#/definitions/diagnostics"
},
"misc": {
"$ref": "sub/misc.sub_schema.json#/definitions/misc"
}
},
"required": [
"node",
"pose_measurement",
"twist_measurement",
"process_noise",
"simple_1d_filter_parameters",
"diagnostics",
"misc"
],
"additionalProperties": false
}
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "EKF Localizer Configuration",
"type": "object",
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"node": {
"$ref": "sub/node.sub_schema.json#/definitions/node"
},
"required": [
"ros__parameters"
],
"additionalProperties": false
"pose_measurement": {
"$ref": "sub/pose_measurement.sub_schema.json#/definitions/pose_measurement"
},
"twist_measurement": {
"$ref": "sub/twist_measurement.sub_schema.json#/definitions/twist_measurement"
},
"process_noise": {
"$ref": "sub/process_noise.sub_schema.json#/definitions/process_noise"
},
"simple_1d_filter_parameters": {
"$ref": "sub/simple_1d_filter_parameters.sub_schema.json#/definitions/simple_1d_filter_parameters"
},
"diagnostics": {
"$ref": "sub/diagnostics.sub_schema.json#/definitions/diagnostics"
},
"misc": {
"$ref": "sub/misc.sub_schema.json#/definitions/misc"
}
},
"required": [
"node",
"pose_measurement",
"twist_measurement",
"process_noise",
"simple_1d_filter_parameters",
"diagnostics",
"misc"
],
"additionalProperties": false
}
},
"required": [
"/**"
],
"additionalProperties": false
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
68 changes: 34 additions & 34 deletions localization/ekf_localizer/schema/sub/diagnostics.subschema.json
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@@ -1,38 +1,38 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "EKF Localizer Configuration for Diagnostics",
"definitions": {
"diagnostics": {
"type": "object",
"properties": {
"pose_no_update_count_threshold_warn": {
"type": "integer",
"description": "The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times",
"default": 50
},
"pose_no_update_count_threshold_error": {
"type": "integer",
"description": "The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times",
"default": 100
},
"twist_no_update_count_threshold_warn": {
"type": "integer",
"description": "The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times",
"default": 50
},
"twist_no_update_count_threshold_error": {
"type": "integer",
"description": "The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times",
"default": 100
}
},
"required": [
"pose_no_update_count_threshold_warn",
"pose_no_update_count_threshold_error",
"twist_no_update_count_threshold_warn",
"twist_no_update_count_threshold_error"
],
"additionalProperties": false
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "EKF Localizer Configuration for Diagnostics",
"definitions": {
"diagnostics": {
"type": "object",
"properties": {
"pose_no_update_count_threshold_warn": {
"type": "integer",
"description": "The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times",
"default": 50
},
"pose_no_update_count_threshold_error": {
"type": "integer",
"description": "The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times",
"default": 100
},
"twist_no_update_count_threshold_warn": {
"type": "integer",
"description": "The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times",
"default": 50
},
"twist_no_update_count_threshold_error": {
"type": "integer",
"description": "The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times",
"default": 100
}
},
"required": [
"pose_no_update_count_threshold_warn",
"pose_no_update_count_threshold_error",
"twist_no_update_count_threshold_warn",
"twist_no_update_count_threshold_error"
],
"additionalProperties": false
}
}
}
30 changes: 14 additions & 16 deletions localization/ekf_localizer/schema/sub/misc.subschema.json
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@@ -1,20 +1,18 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "EKF Localizer Configuration for MISC",
"definitions": {
"misc": {
"type": "object",
"properties": {
"threshold_observable_velocity_mps": {
"type": "number",
"description": "Minimum value for velocity that will be used for EKF. Mainly used for dead zone in velocity sensor [m/s] (0.0 means disabled)",
"default": 0.0
}
},
"required": [
"threshold_observable_velocity_mps"
],
"additionalProperties": false
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "EKF Localizer Configuration for MISC",
"definitions": {
"misc": {
"type": "object",
"properties": {
"threshold_observable_velocity_mps": {
"type": "number",
"description": "Minimum value for velocity that will be used for EKF. Mainly used for dead zone in velocity sensor [m/s] (0.0 means disabled)",
"default": 0.0
}
},
"required": ["threshold_observable_velocity_mps"],
"additionalProperties": false
}
}
}
92 changes: 46 additions & 46 deletions localization/ekf_localizer/schema/sub/node.subschema.json
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@@ -1,50 +1,50 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "EKF Localizer Configuration for node",
"definitions": {
"node": {
"type": "object",
"properties": {
"show_debug_info": {
"type": "boolean",
"description": "Flag to display debug info",
"default": false
},
"predict_frequency": {
"type": "number",
"description": "Frequency for filtering and publishing [Hz]",
"default": 50.0
},
"tf_rate": {
"type": "number",
"description": "Frequency for tf broadcasting [Hz]",
"default": 50.0
},
"publish_tf": {
"type": "boolean",
"description": "Whether to publish tf",
"default": true
},
"extend_state_step": {
"type": "integer",
"description": "Max delay step which can be dealt with in EKF. Large number increases computational cost.",
"default": 50
},
"enable_yaw_bias_estimation": {
"type": "boolean",
"description": "Flag to enable yaw bias estimation",
"default": true
}
},
"required": [
"show_debug_info",
"predict_frequency",
"tf_rate",
"publish_tf",
"extend_state_step",
"enable_yaw_bias_estimation"
],
"additionalProperties": false
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "EKF Localizer Configuration for node",
"definitions": {
"node": {
"type": "object",
"properties": {
"show_debug_info": {
"type": "boolean",
"description": "Flag to display debug info",
"default": false
},
"predict_frequency": {
"type": "number",
"description": "Frequency for filtering and publishing [Hz]",
"default": 50.0
},
"tf_rate": {
"type": "number",
"description": "Frequency for tf broadcasting [Hz]",
"default": 50.0
},
"publish_tf": {
"type": "boolean",
"description": "Whether to publish tf",
"default": true
},
"extend_state_step": {
"type": "integer",
"description": "Max delay step which can be dealt with in EKF. Large number increases computational cost.",
"default": 50
},
"enable_yaw_bias_estimation": {
"type": "boolean",
"description": "Flag to enable yaw bias estimation",
"default": true
}
},
"required": [
"show_debug_info",
"predict_frequency",
"tf_rate",
"publish_tf",
"extend_state_step",
"enable_yaw_bias_estimation"
],
"additionalProperties": false
}
}
}
68 changes: 34 additions & 34 deletions localization/ekf_localizer/schema/sub/pose_measurement.subschema.json
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@@ -1,38 +1,38 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "EKF Localizer Configuration for Pose Measurement",
"definitions": {
"pose_measurement": {
"type": "object",
"properties": {
"pose_additional_delay": {
"type": "number",
"description": "Additional delay time for pose measurement [s]",
"default": 0.0
},
"pose_measure_uncertainty_time": {
"type": "number",
"description": "Measured time uncertainty used for covariance calculation [s]",
"default": 0.01
},
"pose_smoothing_steps": {
"type": "integer",
"description": "A value for smoothing steps",
"default": 5
},
"pose_gate_dist": {
"type": "number",
"description": "Limit of Mahalanobis distance used for outliers detection",
"default": 10000.0
}
},
"required": [
"pose_additional_delay",
"pose_measure_uncertainty_time",
"pose_smoothing_steps",
"pose_gate_dist"
],
"additionalProperties": false
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "EKF Localizer Configuration for Pose Measurement",
"definitions": {
"pose_measurement": {
"type": "object",
"properties": {
"pose_additional_delay": {
"type": "number",
"description": "Additional delay time for pose measurement [s]",
"default": 0.0
},
"pose_measure_uncertainty_time": {
"type": "number",
"description": "Measured time uncertainty used for covariance calculation [s]",
"default": 0.01
},
"pose_smoothing_steps": {
"type": "integer",
"description": "A value for smoothing steps",
"default": 5
},
"pose_gate_dist": {
"type": "number",
"description": "Limit of Mahalanobis distance used for outliers detection",
"default": 10000.0
}
},
"required": [
"pose_additional_delay",
"pose_measure_uncertainty_time",
"pose_smoothing_steps",
"pose_gate_dist"
],
"additionalProperties": false
}
}
}
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