From 60a0bed65ea07755d94bd4467b1f75d06750ea91 Mon Sep 17 00:00:00 2001
From: Yuki Kimura <35513518+wakabame@users.noreply.github.com>
Date: Wed, 25 Sep 2024 10:43:26 +0900
Subject: [PATCH] Apply suggestions from code review

Co-authored-by: Yuma Nihei <yuma.nihei@tier4.jp>
---
 .../pose_instability_detector/pose_instability_detector.hpp  | 2 +-
 .../launch/pose_instability_detector.launch.xml              | 2 --
 .../schema/pose_instability_detector.schema.json             | 5 +++--
 .../src/pose_instability_detector.cpp                        | 2 +-
 localization/pose_instability_detector/test/test.cpp         | 2 +-
 .../test/test_message_helper_node.hpp                        | 2 +-
 6 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/localization/pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp b/localization/pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp
index fac445a334969..b6ad467585b2d 100644
--- a/localization/pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp
+++ b/localization/pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp
@@ -1,4 +1,4 @@
-// Copyright 2023- Autoware Foundation
+// Copyright 2024- Autoware Foundation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml b/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml
index 39d529dda97cd..5ebe7d7e429e0 100644
--- a/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml
+++ b/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml
@@ -4,13 +4,11 @@
 
   <!-- Topics -->
   <arg name="input_odometry" default="~/input/odometry"/>
-  <arg name="input_pose" default="~/input/pose"/>
   <arg name="input_twist" default="~/input/twist"/>
 
   <node pkg="pose_instability_detector" exec="pose_instability_detector_node" name="$(var node_name)" output="both">
     <remap from="~/input/odometry" to="$(var input_odometry)"/>
     <remap from="~/input/twist" to="$(var input_twist)"/>
-    <remap from="~/input/pose" to="$(var input_pose)"/>
     <param from="$(var param_file)"/>
   </node>
 </launch>
diff --git a/localization/pose_instability_detector/schema/pose_instability_detector.schema.json b/localization/pose_instability_detector/schema/pose_instability_detector.schema.json
index 090c5fc10dbb9..8a20e3973a9fc 100644
--- a/localization/pose_instability_detector/schema/pose_instability_detector.schema.json
+++ b/localization/pose_instability_detector/schema/pose_instability_detector.schema.json
@@ -19,7 +19,7 @@
         },
         "heading_velocity_maximum": {
           "type": "number",
-          "default": 16.667,
+          "default": 2.778,
           "minimum": 0.0,
           "description": "The maximum of heading velocity (m/s)."
         },
@@ -73,7 +73,8 @@
         }
       },
       "required": [
-        "timer_period",
+        "window_length",
+        "output_x_y_yaw_only",
         "heading_velocity_maximum",
         "heading_velocity_scale_factor_tolerance",
         "angular_velocity_maximum",
diff --git a/localization/pose_instability_detector/src/pose_instability_detector.cpp b/localization/pose_instability_detector/src/pose_instability_detector.cpp
index 2504f725356c4..02d58e7621f3c 100644
--- a/localization/pose_instability_detector/src/pose_instability_detector.cpp
+++ b/localization/pose_instability_detector/src/pose_instability_detector.cpp
@@ -1,4 +1,4 @@
-// Copyright 2023- Autoware Foundation
+// Copyright 2024- Autoware Foundation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/localization/pose_instability_detector/test/test.cpp b/localization/pose_instability_detector/test/test.cpp
index 482e659e7a13c..a0e0decb57fc0 100644
--- a/localization/pose_instability_detector/test/test.cpp
+++ b/localization/pose_instability_detector/test/test.cpp
@@ -1,4 +1,4 @@
-// Copyright 2023- Autoware Foundation
+// Copyright 2024- Autoware Foundation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/localization/pose_instability_detector/test/test_message_helper_node.hpp b/localization/pose_instability_detector/test/test_message_helper_node.hpp
index 51444f9736b02..2bbce1e91a27b 100644
--- a/localization/pose_instability_detector/test/test_message_helper_node.hpp
+++ b/localization/pose_instability_detector/test/test_message_helper_node.hpp
@@ -1,4 +1,4 @@
-// Copyright 2023- Autoware Foundation
+// Copyright 2024- Autoware Foundation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.