From 8ccb9572af253ad94edd4b7471cde0002b6bc2df Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Wed, 21 Feb 2024 18:26:35 +0900 Subject: [PATCH] docs(pose_initializer): fix README and json schema default value (#6342) * remove conventional parameter table Signed-off-by: Kento Yabuuchi * remove \n in array in json Signed-off-by: Kento Yabuuchi * add map_loader_name in param.yaml Signed-off-by: Kento Yabuuchi * style(pre-commit): autofix --------- Signed-off-by: Kento Yabuuchi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- localization/pose_initializer/README.md | 9 --------- .../pose_initializer/schema/pose_initializer.schema.json | 4 ++-- 2 files changed, 2 insertions(+), 11 deletions(-) diff --git a/localization/pose_initializer/README.md b/localization/pose_initializer/README.md index 3063e13c10226..7006becf00c2f 100644 --- 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 index 14a286f059030..ced4dc78b93b1 100644 --- 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": [