diff --git a/localization/ekf_localizer/schema/ekf_localizer.schema.json b/localization/ekf_localizer/schema/ekf_localizer.schema.json index 2cfe53c0c9c23..519ca90075630 100644 --- a/localization/ekf_localizer/schema/ekf_localizer.schema.json +++ b/localization/ekf_localizer/schema/ekf_localizer.schema.json @@ -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" - }, - "pose_measurement": { - "$ref": "subschema/pose_measurement.subschema.json#/definitions/pose_measurement" - }, - "twist_measurement": { - "$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 - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "EKF Localizer Configuration", + "type": "object", + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "type": "object", + "properties": { + "node": { + "$ref": "subschema/node.subschema.json#/definitions/node" }, - "required": [ - "ros__parameters" - ], - "additionalProperties": false + "pose_measurement": { + "$ref": "subschema/pose_measurement.subschema.json#/definitions/pose_measurement" + }, + "twist_measurement": { + "$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": [ - "/**" - ], - "additionalProperties": false + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false } diff --git a/localization/ekf_localizer/schema/subschema/diagnostics.subschema.json b/localization/ekf_localizer/schema/subschema/diagnostics.subschema.json index 89adf721241df..2e2dca411971e 100644 --- a/localization/ekf_localizer/schema/subschema/diagnostics.subschema.json +++ b/localization/ekf_localizer/schema/subschema/diagnostics.subschema.json @@ -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 } + } } diff --git a/localization/ekf_localizer/schema/subschema/misc.subschema.json b/localization/ekf_localizer/schema/subschema/misc.subschema.json index 7980c1a825f44..5915513684dc5 100644 --- a/localization/ekf_localizer/schema/subschema/misc.subschema.json +++ b/localization/ekf_localizer/schema/subschema/misc.subschema.json @@ -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 } + } } diff --git a/localization/ekf_localizer/schema/subschema/node.subschema.json b/localization/ekf_localizer/schema/subschema/node.subschema.json index faab80573d9ad..92e083b92d3e7 100644 --- a/localization/ekf_localizer/schema/subschema/node.subschema.json +++ b/localization/ekf_localizer/schema/subschema/node.subschema.json @@ -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 } + } } diff --git a/localization/ekf_localizer/schema/subschema/pose_measurement.subschema.json b/localization/ekf_localizer/schema/subschema/pose_measurement.subschema.json index 2a6699a768123..8b931d5f68d12 100644 --- a/localization/ekf_localizer/schema/subschema/pose_measurement.subschema.json +++ b/localization/ekf_localizer/schema/subschema/pose_measurement.subschema.json @@ -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 } + } } diff --git a/localization/ekf_localizer/schema/subschema/process_noise.subschema.json b/localization/ekf_localizer/schema/subschema/process_noise.subschema.json index 9fa84ca6fdb39..37a8c248edd2c 100644 --- a/localization/ekf_localizer/schema/subschema/process_noise.subschema.json +++ b/localization/ekf_localizer/schema/subschema/process_noise.subschema.json @@ -1,32 +1,28 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "EKF Localizer Configuration for Process Noise", - "definitions": { - "process_noise": { - "type": "object", - "properties": { - "proc_stddev_vx_c": { - "type": "number", - "description": "Standard deviation of process noise in time differentiation expression of linear velocity x, noise for d_vx = 0", - "default": 10.0 - }, - "proc_stddev_wz_c": { - "type": "number", - "description": "Standard deviation of process noise in time differentiation expression of angular velocity z, noise for d_wz = 0", - "default": 5.0 - }, - "proc_stddev_yaw_c": { - "type": "number", - "description": "Standard deviation of process noise in time differentiation expression of yaw, noise for d_yaw = omega", - "default": 0.005 - } - }, - "required": [ - "proc_stddev_yaw_c", - "proc_stddev_vx_c", - "proc_stddev_wz_c" - ], - "additionalProperties": false + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "EKF Localizer Configuration for Process Noise", + "definitions": { + "process_noise": { + "type": "object", + "properties": { + "proc_stddev_vx_c": { + "type": "number", + "description": "Standard deviation of process noise in time differentiation expression of linear velocity x, noise for d_vx = 0", + "default": 10.0 + }, + "proc_stddev_wz_c": { + "type": "number", + "description": "Standard deviation of process noise in time differentiation expression of angular velocity z, noise for d_wz = 0", + "default": 5.0 + }, + "proc_stddev_yaw_c": { + "type": "number", + "description": "Standard deviation of process noise in time differentiation expression of yaw, noise for d_yaw = omega", + "default": 0.005 } + }, + "required": ["proc_stddev_yaw_c", "proc_stddev_vx_c", "proc_stddev_wz_c"], + "additionalProperties": false } + } } diff --git a/localization/ekf_localizer/schema/subschema/simple_1d_filter_parameters.subschema.json b/localization/ekf_localizer/schema/subschema/simple_1d_filter_parameters.subschema.json index 29d1609aecd8c..ad2f638a18d5f 100644 --- a/localization/ekf_localizer/schema/subschema/simple_1d_filter_parameters.subschema.json +++ b/localization/ekf_localizer/schema/subschema/simple_1d_filter_parameters.subschema.json @@ -1,32 +1,28 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "EKF Localizer Configuration of Simple 1D Filter Parameters", - "definitions": { - "simple_1d_filter_parameters": { - "type": "object", - "properties": { - "z_filter_proc_dev": { - "type": "number", - "description": "Simple1DFilter - Z filter process deviation", - "default": 1.0 - }, - "roll_filter_proc_dev": { - "type": "number", - "description": "Simple1DFilter - Roll filter process deviation", - "default": 0.01 - }, - "pitch_filter_proc_dev": { - "type": "number", - "description": "Simple1DFilter - Pitch filter process deviation", - "default": 0.01 - } - }, - "required": [ - "z_filter_proc_dev", - "roll_filter_proc_dev", - "pitch_filter_proc_dev" - ], - "additionalProperties": false + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "EKF Localizer Configuration of Simple 1D Filter Parameters", + "definitions": { + "simple_1d_filter_parameters": { + "type": "object", + "properties": { + "z_filter_proc_dev": { + "type": "number", + "description": "Simple1DFilter - Z filter process deviation", + "default": 1.0 + }, + "roll_filter_proc_dev": { + "type": "number", + "description": "Simple1DFilter - Roll filter process deviation", + "default": 0.01 + }, + "pitch_filter_proc_dev": { + "type": "number", + "description": "Simple1DFilter - Pitch filter process deviation", + "default": 0.01 } + }, + "required": ["z_filter_proc_dev", "roll_filter_proc_dev", "pitch_filter_proc_dev"], + "additionalProperties": false } + } } diff --git a/localization/ekf_localizer/schema/subschema/twist_measurement.subschema.json b/localization/ekf_localizer/schema/subschema/twist_measurement.subschema.json index cfaa7edfb3155..727830a90a288 100644 --- a/localization/ekf_localizer/schema/subschema/twist_measurement.subschema.json +++ b/localization/ekf_localizer/schema/subschema/twist_measurement.subschema.json @@ -1,32 +1,28 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "EKF Localizer Configuration for Twist Measurement", - "definitions": { - "twist_measurement": { - "type": "object", - "properties": { - "twist_additional_delay": { - "type": "number", - "description": "Additional delay time for twist [s]", - "default": 0.0 - }, - "twist_smoothing_steps": { - "type": "integer", - "description": "A value for smoothing steps", - "default": 2 - }, - "twist_gate_dist": { - "type": "number", - "description": "Limit of Mahalanobis distance used for outliers detection", - "default": 10000.0 - } - }, - "required": [ - "twist_additional_delay", - "twist_smoothing_steps", - "twist_gate_dist" - ], - "additionalProperties": false + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "EKF Localizer Configuration for Twist Measurement", + "definitions": { + "twist_measurement": { + "type": "object", + "properties": { + "twist_additional_delay": { + "type": "number", + "description": "Additional delay time for twist [s]", + "default": 0.0 + }, + "twist_smoothing_steps": { + "type": "integer", + "description": "A value for smoothing steps", + "default": 2 + }, + "twist_gate_dist": { + "type": "number", + "description": "Limit of Mahalanobis distance used for outliers detection", + "default": 10000.0 } + }, + "required": ["twist_additional_delay", "twist_smoothing_steps", "twist_gate_dist"], + "additionalProperties": false } + } }