docs(pose_initializer): fix README and json schema default value (aut…

…owarefoundation#6342) * remove conventional parameter table Signed-off-by: Kento Yabuuchi <[email protected]> * remove \n in array in json Signed-off-by: Kento Yabuuchi <[email protected]> * add map_loader_name in param.yaml Signed-off-by: Kento Yabuuchi <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Kento Yabuuchi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
leo-drive · Feb 21, 2024 · 8ccb957 · 8ccb957
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diff --git a/localization/pose_initializer/README.md b/localization/pose_initializer/README.md
@@ -13,15 +13,6 @@ 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/schema/pose_initializer.schema.json b/localization/pose_initializer/schema/pose_initializer.schema.json
@@ -46,12 +46,12 @@
         "gnss_particle_covariance": {
           "type": "array",
           "description": "gnss particle covariance",
-          "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0,\n  0.0, 1.0, 0.0, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.01, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]"
+          "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]"
         },
         "output_pose_covariance": {
           "type": "array",
           "description": "output pose covariance",
-          "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0,\n 0.0, 1.0, 0.0,  0.0,  0.0,  0.0,\n 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.01, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.0, 0.2]"
+          "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0,  0.0,  0.0,  0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2]"
         }
       },
       "required": [