fix(json-schema-check): update schemas (#6474)

Signed-off-by: M. Fatih Cırıt <[email protected]>
autowarefoundation · Feb 23, 2024 · b86a00d · b86a00d
1 parent 1397e91
commit b86a00d
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Showing 5 changed files with 98 additions and 9 deletions.
diff --git a/perception/compare_map_segmentation/schema/distance_based_compare_map_filter.schema.json b/perception/compare_map_segmentation/schema/distance_based_compare_map_filter.schema.json
@@ -15,9 +15,36 @@
           "type": "boolean",
           "default": "true",
           "description": "map loading mode selection, true for dynamic map loading, false for static map loading, recommended for no-split map pointcloud"
+        },
+        "timer_interval_ms": {
+          "type": "number",
+          "default": "100",
+          "description": "Timer interval to load map points [ms]"
+        },
+        "map_update_distance_threshold": {
+          "type": "number",
+          "default": "10.0",
+          "description": "Threshold distance to update map points with input points [m]"
+        },
+        "map_loader_radius": {
+          "type": "number",
+          "default": "150.0",
+          "description": "Radius to load map points [m]"
+        },
+        "publish_debug_pcd": {
+          "type": "boolean",
+          "default": "false",
+          "description": "Publish a downsampled map pointcloud for debugging"
         }
       },
-      "required": ["distance_threshold", "use_dynamic_map_loading"],
+      "required": [
+        "distance_threshold",
+        "use_dynamic_map_loading",
+        "timer_interval_ms",
+        "map_update_distance_threshold",
+        "map_loader_radius",
+        "publish_debug_pcd"
+      ],
       "additionalProperties": false
     }
   },

diff --git a/...on/compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json b/...on/compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json
@@ -20,9 +20,37 @@
           "type": "number",
           "default": "0.5",
           "description": "Positive ratio to reduce voxel_leaf_size and neighbor point distance threshold in z axis"
+        },
+        "timer_interval_ms": {
+          "type": "number",
+          "default": "100",
+          "description": "Timer interval to load map points [ms]"
+        },
+        "map_update_distance_threshold": {
+          "type": "number",
+          "default": "10.0",
+          "description": "Threshold distance to update map points with input points [m]"
+        },
+        "map_loader_radius": {
+          "type": "number",
+          "default": "150.0",
+          "description": "Radius to load map points [m]"
+        },
+        "publish_debug_pcd": {
+          "type": "boolean",
+          "default": "false",
+          "description": "Publish a downsampled map pointcloud for debugging"
         }
       },
-      "required": ["distance_threshold", "use_dynamic_map_loading", "downsize_ratio_z_axis"],
+      "required": [
+        "distance_threshold",
+        "use_dynamic_map_loading",
+        "downsize_ratio_z_axis",
+        "timer_interval_ms",
+        "map_update_distance_threshold",
+        "map_loader_radius",
+        "publish_debug_pcd"
+      ],
       "additionalProperties": false
     }
   },

diff --git a/perception/compare_map_segmentation/schema/voxel_based_compare_map_filter.schema.json b/perception/compare_map_segmentation/schema/voxel_based_compare_map_filter.schema.json
@@ -21,6 +21,11 @@
           "default": "0.5",
           "description": "Positive ratio to reduce voxel_leaf_size and neighbor point distance threshold in z axis"
         },
+        "timer_interval_ms": {
+          "type": "number",
+          "default": "100",
+          "description": "Timer interval to load map points [ms]"
+        },
         "map_update_distance_threshold": {
           "type": "number",
           "default": "10.0",
@@ -31,19 +36,20 @@
           "default": "150.0",
           "description": "Radius to load map points [m]"
         },
-        "timer_interval_ms": {
-          "type": "number",
-          "default": "100",
-          "description": "Timer interval to load map points [ms]"
+        "publish_debug_pcd": {
+          "type": "boolean",
+          "default": "false",
+          "description": "Publish a downsampled map pointcloud for debugging"
         }
       },
       "required": [
         "distance_threshold",
         "use_dynamic_map_loading",
         "downsize_ratio_z_axis",
+        "timer_interval_ms",
         "map_update_distance_threshold",
         "map_loader_radius",
-        "timer_interval_ms"
+        "publish_debug_pcd"
       ],
       "additionalProperties": false
     }

diff --git a/...ption/compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json b/...ption/compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json
@@ -20,9 +20,37 @@
           "type": "number",
           "default": "0.5",
           "description": "Positive ratio to reduce voxel_leaf_size and neighbor point distance threshold in z axis"
+        },
+        "timer_interval_ms": {
+          "type": "number",
+          "default": "100",
+          "description": "Timer interval to load map points [ms]"
+        },
+        "map_update_distance_threshold": {
+          "type": "number",
+          "default": "10.0",
+          "description": "Threshold distance to update map points with input points [m]"
+        },
+        "map_loader_radius": {
+          "type": "number",
+          "default": "150.0",
+          "description": "Radius to load map points [m]"
+        },
+        "publish_debug_pcd": {
+          "type": "boolean",
+          "default": "false",
+          "description": "Publish a downsampled map pointcloud for debugging"
         }
       },
-      "required": ["distance_threshold", "use_dynamic_map_loading", "downsize_ratio_z_axis"],
+      "required": [
+        "distance_threshold",
+        "use_dynamic_map_loading",
+        "downsize_ratio_z_axis",
+        "timer_interval_ms",
+        "map_update_distance_threshold",
+        "map_loader_radius",
+        "publish_debug_pcd"
+      ],
       "additionalProperties": false
     }
   },

diff --git a/planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json b/planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json
@@ -19,7 +19,7 @@
         "behavior_output_path_interval": {
           "type": "number",
           "default": "1.0",
-          "description": "output path interval"
+          "description": "the output path will be interpolated by this interval"
         },
         "max_accel": {
           "type": "number",