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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": "subschema/node.subschema.json#/definitions/node" | ||
|
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| }, | ||
| "pose_measurement": { | ||
| "$ref": "subschema/pose_measurement.subschema.json#/definitions/pose_measurement" | ||
|
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| }, | ||
| "twist_measurement": { | ||
| "$ref": "subschema/twist_measurement.subschema.json#/definitions/twist_measurement" | ||
| }, | ||
| "process_noise": { | ||
| "$ref": "subschema/process_noise.subschema.json#/definitions/process_noise" | ||
| }, | ||
| "simple_1d_filter_parameters": { | ||
| "$ref": "subschema/simple_1d_filter_parameters.subschema.json#/definitions/simple_1d_filter_parameters" | ||
| }, | ||
| "diagnostics": { | ||
| "$ref": "subschema/diagnostics.subschema.json#/definitions/diagnostics" | ||
| }, | ||
| "misc": { | ||
| "$ref": "subschema/misc.subschema.json#/definitions/misc" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "node", | ||
| "pose_measurement", | ||
| "twist_measurement", | ||
| "process_noise", | ||
| "simple_1d_filter_parameters", | ||
| "diagnostics", | ||
| "misc" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } | ||
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "EKF Localizer Configuration for Diagnostics", | ||
| "definitions": { | ||
| "diagnostics": { | ||
| "type": "object", | ||
| "properties": { | ||
| "pose_no_update_count_threshold_warn": { | ||
| "type": "integer", | ||
| "description": "The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times", | ||
| "default": 50 | ||
| }, | ||
| "pose_no_update_count_threshold_error": { | ||
| "type": "integer", | ||
| "description": "The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times", | ||
| "default": 100 | ||
| }, | ||
| "twist_no_update_count_threshold_warn": { | ||
| "type": "integer", | ||
| "description": "The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times", | ||
| "default": 50 | ||
| }, | ||
| "twist_no_update_count_threshold_error": { | ||
| "type": "integer", | ||
| "description": "The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times", | ||
| "default": 100 | ||
| } | ||
| }, | ||
| "required": [ | ||
| "pose_no_update_count_threshold_warn", | ||
| "pose_no_update_count_threshold_error", | ||
| "twist_no_update_count_threshold_warn", | ||
| "twist_no_update_count_threshold_error" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| } | ||
| } |
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| @@ -1,20 +1,18 @@ | ||
| { | ||
| "$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 | ||
| } | ||
| } | ||
| } |
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|---|---|---|
| @@ -1,50 +1,50 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "EKF Localizer Configuration for node", | ||
| "definitions": { | ||
| "node": { | ||
| "type": "object", | ||
| "properties": { | ||
| "show_debug_info": { | ||
| "type": "boolean", | ||
| "description": "Flag to display debug info", | ||
| "default": false | ||
| }, | ||
| "predict_frequency": { | ||
| "type": "number", | ||
| "description": "Frequency for filtering and publishing [Hz]", | ||
| "default": 50.0 | ||
| }, | ||
| "tf_rate": { | ||
| "type": "number", | ||
| "description": "Frequency for tf broadcasting [Hz]", | ||
| "default": 50.0 | ||
| }, | ||
| "publish_tf": { | ||
| "type": "boolean", | ||
| "description": "Whether to publish tf", | ||
| "default": true | ||
| }, | ||
| "extend_state_step": { | ||
| "type": "integer", | ||
| "description": "Max delay step which can be dealt with in EKF. Large number increases computational cost.", | ||
| "default": 50 | ||
| }, | ||
| "enable_yaw_bias_estimation": { | ||
| "type": "boolean", | ||
| "description": "Flag to enable yaw bias estimation", | ||
| "default": true | ||
| } | ||
| }, | ||
| "required": [ | ||
| "show_debug_info", | ||
| "predict_frequency", | ||
| "tf_rate", | ||
| "publish_tf", | ||
| "extend_state_step", | ||
| "enable_yaw_bias_estimation" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,38 +1,38 @@ | ||
| { | ||
| "$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 | ||
| } | ||
| } | ||
| } |
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