refactor(radar_tracks_msgs_converter): rework parameters

perception/radar_tracks_msgs_converter/CMakeLists.txt

@@ -25,4 +25,5 @@ endif()
 ament_auto_package(
   INSTALL_TO_SHARE
     launch
+    config
 )

perception/radar_tracks_msgs_converter/config/config-radar_tracks_msgs_converter.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    update_rate_hz: 20.0
+    new_frame_id: "base_link"
+    use_twist_compensation: false

perception/radar_tracks_msgs_converter/launch/radar_tracks_msgs_converter.launch.xml

@@ -3,15 +3,14 @@
   <arg name="input/odometry" default="/localization/kinematic_state"/>
   <arg name="output/radar_detected_objects" default="output/radar_detected_objects"/>
   <arg name="output/radar_tracked_objects" default="output/radar_tracked_objects"/>
-  <arg name="update_rate_hz" default="20.0"/>
-  <arg name="use_twist_compensation" default="false"/>
+  <!-- Parameter -->
+  <arg name="config_file" default="$(find-pkg-share radar_tracks_msgs_converter)/config/radar_tracks_msgs_converter.param.yaml"/>
 
   <node pkg="radar_tracks_msgs_converter" exec="radar_tracks_msgs_converter_node" name="radar_tracks_msgs_converter" output="screen">
     <remap from="~/input/radar_objects" to="$(var input/radar_objects)"/>
     <remap from="~/input/odometry" to="$(var input/odometry)"/>
     <remap from="~/output/radar_detected_objects" to="$(var output/radar_detected_objects)"/>
     <remap from="~/output/radar_tracked_objects" to="$(var output/radar_tracked_objects)"/>
-    <param name="update_rate_hz" value="$(var update_rate_hz)"/>
-    <param name="use_twist_compensation" value="$(var use_twist_compensation)"/>
+    <param from="$(var config_file)"/>
   </node>
 </launch>

perception/radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json

@@ -0,0 +1,41 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Radar Tracks Msgs Converter node",
+  "type": "object",
+  "definitions": {
+    "radar_tracks_msgs_converter": {
+      "type": "object",
+      "properties": {
+        "update_rate_hz": {
+          "type": "number",
+          "description": "The update rate [hz].",
+          "default": "20.0",
+          "minimum": 0.0
+        },
+        "new_frame_id": {
+          "type": "string",
+          "description": "The header frame of output topic.",
+          "default": "base_link"
+        },
+        "use_twist_compensation": {
+          "type": "boolean",
+          "description": "If the parameter is true, then the twist of output objects' topic is compensated by ego vehicle motion.",
+          "default": "false"
+        }
+      },
+      "required": ["update_rate_hz", "new_frame_id", "use_twist_compensation"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/radar_tracks_msgs_converter"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp

@@ -78,9 +78,9 @@
     std::bind(&RadarTracksMsgsConverterNode::onSetParam, this, _1));
 
   // Node Parameter
-  node_param_.update_rate_hz = declare_parameter<double>("update_rate_hz", 20.0);
-  node_param_.new_frame_id = declare_parameter<std::string>("new_frame_id", "base_link");
-  node_param_.use_twist_compensation = declare_parameter<bool>("use_twist_compensation", false);
+  node_param_.update_rate_hz = declare_parameter<double>("update_rate_hz");
+  node_param_.new_frame_id = declare_parameter<std::string>("new_frame_id");
+  node_param_.use_twist_compensation = declare_parameter<bool>("use_twist_compensation");
 
   // Subscriber
   sub_radar_ = create_subscription<RadarTracks>(