refactor(pose_initializer): rework parameters

Signed-off-by: PhoebeWu21 <[email protected]>
autowarefoundation · Dec 5, 2023 · a626d53 · a626d53
1 parent c988357
commit a626d53
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Showing 4 changed files with 19 additions and 35 deletions.
diff --git a/localization/pose_initializer/README.md b/localization/pose_initializer/README.md
@@ -13,6 +13,15 @@ This node depends on the map height fitter library.
 
 ### Parameters
 
+| Name                  | Type | Description                                                                              |
+| --------------------- | ---- | ---------------------------------------------------------------------------------------- |
+| `ekf_enabled`         | bool | If true, EKF localizer is activated.                                                     |
+| `ndt_enabled`         | bool | If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through. |
+| `stop_check_enabled`  | bool | If true, initialization is accepted only when the vehicle is stopped.                    |
+| `stop_check_duration` | bool | The duration used for the stop check above.                                              |
+| `gnss_enabled`        | bool | If true, use the GNSS pose when no pose is specified.                                    |
+| `gnss_pose_timeout`   | bool | The duration that the GNSS pose is valid.                                                |
+
 {{ json_to_markdown("localization/pose_initializer/schema/pose_initializer.schema.json") }}
 
 ### Services

diff --git a/localization/pose_initializer/config/pose_initializer.param.yaml b/localization/pose_initializer/config/pose_initializer.param.yaml
@@ -2,11 +2,6 @@
   ros__parameters:
     gnss_pose_timeout: 3.0 # [sec]
     stop_check_duration: 3.0 # [sec]
-    ekf_enabled: true
-    gnss_enabled: true
-    yabloc_enabled: true
-    ndt_enabled: true
-    stop_check_enabled: true
 
     # from gnss
     gnss_particle_covariance:

diff --git a/localization/pose_initializer/launch/pose_initializer.launch.xml b/localization/pose_initializer/launch/pose_initializer.launch.xml
@@ -1,10 +1,20 @@
 <launch>
   <arg name="config_file" default="$(find-pkg-share pose_initializer)/config/pose_initializer.param.yaml"/>
+  <arg name="ndt_enabled"/>
+  <arg name="gnss_enabled"/>
+  <arg name="ekf_enabled"/>
+  <arg name="yabloc_enabled"/>
+  <arg name="stop_check_enabled"/>
 
   <arg name="sub_gnss_pose_cov" default="sub_gnss_pose_cov"/>
 
   <node pkg="pose_initializer" exec="pose_initializer_node" name="pose_initializer_node">
     <param from="$(var config_file)"/>
+    <param name="ndt_enabled" value="$(var ndt_enabled)"/>
+    <param name="gnss_enabled" value="$(var gnss_enabled)"/>
+    <param name="ekf_enabled" value="$(var ekf_enabled)"/>
+    <param name="yabloc_enabled" value="$(var yabloc_enabled)"/>
+    <param name="stop_check_enabled" value="$(var stop_check_enabled)"/>
 
     <remap from="yabloc_align" to="/localization/pose_estimator/yabloc/initializer/yabloc_align_srv"/>
     <remap from="ndt_align" to="/localization/pose_estimator/ndt_align_srv"/>

diff --git a/localization/pose_initializer/schema/pose_initializer.schema.json b/localization/pose_initializer/schema/pose_initializer.schema.json
@@ -12,37 +12,12 @@
           "default": "3.0",
           "minimum": 0.0
         },
-        "stop_check_enabled": {
-          "type": "boolean",
-          "description": "If true, initialization is accepted only when the vehicle is stopped.",
-          "default": "true"
-        },
         "stop_check_duration": {
           "type": "number",
           "description": "The duration used for the stop check above. [sec]",
           "default": "3.0",
           "minimum": 0.0
         },
-        "ekf_enabled": {
-          "type": "boolean",
-          "description": "If true, EKF localizer is activated.",
-          "default": "true"
-        },
-        "gnss_enabled": {
-          "type": "boolean",
-          "description": "If true, use the GNSS pose when no pose is specified.",
-          "default": "true"
-        },
-        "yabloc_enabled": {
-          "type": "boolean",
-          "description": "If true, YabLocModule is used.",
-          "default": "true"
-        },
-        "ndt_enabled": {
-          "type": "boolean",
-          "description": "If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.",
-          "default": "true"
-        },
         "gnss_particle_covariance": {
           "type": "array",
           "description": "gnss particle covariance",
@@ -57,11 +32,6 @@
       "required": [
         "gnss_pose_timeout",
         "stop_check_duration",
-        "ekf_enabled",
-        "gnss_enabled",
-        "yabloc_enabled",
-        "ndt_enabled",
-        "stop_check_enabled",
         "gnss_particle_covariance",
         "output_pose_covariance"
       ],