From 95f4eb2761363340692e5ad727add97e412327c1 Mon Sep 17 00:00:00 2001
From: Yamato Ando <yamato.ando@gmail.com>
Date: Tue, 6 Feb 2024 13:04:17 +0900
Subject: [PATCH] refactor(map_tf_generator): rework parameters (#6233)

* refactor(map_tf_generator): rework parameters

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* add config

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 launch/tier4_map_launch/launch/map.launch.xml |  4 +-
 map/map_tf_generator/CMakeLists.txt           |  1 +
 map/map_tf_generator/{Readme.md => README.md} |  5 +--
 .../config/map_tf_generator.param.yaml        |  4 ++
 .../launch/map_tf_generator.launch.xml        |  8 ++--
 .../schema/map_tf_generator.schema.json       | 38 +++++++++++++++++++
 .../src/pcd_map_tf_generator_node.cpp         |  4 +-
 .../src/vector_map_tf_generator_node.cpp      |  4 +-
 8 files changed, 53 insertions(+), 15 deletions(-)
 rename map/map_tf_generator/{Readme.md => README.md} (83%)
 create mode 100644 map/map_tf_generator/config/map_tf_generator.param.yaml
 create mode 100644 map/map_tf_generator/schema/map_tf_generator.schema.json

diff --git a/launch/tier4_map_launch/launch/map.launch.xml b/launch/tier4_map_launch/launch/map.launch.xml
index 8efc1a7b985aa..132d1ec9be3ea 100644
--- a/launch/tier4_map_launch/launch/map.launch.xml
+++ b/launch/tier4_map_launch/launch/map.launch.xml
@@ -8,6 +8,7 @@
   <!-- Parameter files -->
   <arg name="pointcloud_map_loader_param_path"/>
   <arg name="lanelet2_map_loader_param_path"/>
+  <arg name="map_tf_generator_param_path"/>
   <arg name="map_projection_loader_param_path"/>
 
   <!-- whether use intra-process -->
@@ -48,8 +49,7 @@
       </composable_node>
 
       <composable_node pkg="map_tf_generator" plugin="VectorMapTFGeneratorNode" name="vector_map_tf_generator">
-        <param name="map_frame" value="map"/>
-        <param name="viewer_frame" value="viewer"/>
+        <param from="$(var map_tf_generator_param_path)"/>
         <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
       </composable_node>
     </node_container>
diff --git a/map/map_tf_generator/CMakeLists.txt b/map/map_tf_generator/CMakeLists.txt
index 4e6390e0cacb6..e20289766cdda 100644
--- a/map/map_tf_generator/CMakeLists.txt
+++ b/map/map_tf_generator/CMakeLists.txt
@@ -48,5 +48,6 @@ if(BUILD_TESTING)
 endif()
 
 ament_auto_package(INSTALL_TO_SHARE
+  config
   launch
 )
diff --git a/map/map_tf_generator/Readme.md b/map/map_tf_generator/README.md
similarity index 83%
rename from map/map_tf_generator/Readme.md
rename to map/map_tf_generator/README.md
index 1b858ec12c2c2..643f4233c06f0 100644
--- a/map/map_tf_generator/Readme.md
+++ b/map/map_tf_generator/README.md
@@ -43,10 +43,7 @@ None
 
 ### Core Parameters
 
-| Name           | Type   | Default Value | Explanation                           |
-| -------------- | ------ | ------------- | ------------------------------------- |
-| `viewer_frame` | string | viewer        | Name of `viewer` frame                |
-| `map_frame`    | string | map           | The parent frame name of viewer frame |
+{{ json_to_markdown("map/map_tf_generator/schema/map_tf_generator.schema.json") }}
 
 ## Assumptions / Known limits
 
diff --git a/map/map_tf_generator/config/map_tf_generator.param.yaml b/map/map_tf_generator/config/map_tf_generator.param.yaml
new file mode 100644
index 0000000000000..90790808acace
--- /dev/null
+++ b/map/map_tf_generator/config/map_tf_generator.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    map_frame: map
+    viewer_frame: viewer
diff --git a/map/map_tf_generator/launch/map_tf_generator.launch.xml b/map/map_tf_generator/launch/map_tf_generator.launch.xml
index ab5b515f8e61d..43d487c2bc982 100644
--- a/map/map_tf_generator/launch/map_tf_generator.launch.xml
+++ b/map/map_tf_generator/launch/map_tf_generator.launch.xml
@@ -1,13 +1,11 @@
 <launch>
-  <arg name="input_vector_map_topic" default="/map/vector_map"/>
+  <arg name="param_file" default="$(find-pkg-share map_tf_generator)/config/map_tf_generator.param.yaml"/>
 
-  <arg name="map_frame" default="map"/>
-  <arg name="viewer_frame" default="viewer"/>
+  <arg name="input_vector_map_topic" default="/map/vector_map"/>
 
   <node pkg="map_tf_generator" exec="vector_map_tf_generator" name="vector_map_tf_generator">
     <remap from="vector_map" to="$(var input_vector_map_topic)"/>
 
-    <param name="map_frame" value="$(var map_frame)"/>
-    <param name="viewer_frame" value="$(var viewer_frame)"/>
+    <param from="$(var param_file)"/>
   </node>
 </launch>
diff --git a/map/map_tf_generator/schema/map_tf_generator.schema.json b/map/map_tf_generator/schema/map_tf_generator.schema.json
new file mode 100644
index 0000000000000..e501f7a9678f6
--- /dev/null
+++ b/map/map_tf_generator/schema/map_tf_generator.schema.json
@@ -0,0 +1,38 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Map Tf Generator",
+  "type": "object",
+  "definitions": {
+    "map_tf_generator": {
+      "type": "object",
+      "properties": {
+        "map_frame": {
+          "type": "string",
+          "description": "The parent frame name of viewer frame",
+          "default": "map"
+        },
+        "viewer_frame": {
+          "type": "string",
+          "description": "Name of `viewer` frame",
+          "default": "viewer"
+        }
+      },
+      "required": ["map_frame", "viewer_frame"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/map_tf_generator"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/map/map_tf_generator/src/pcd_map_tf_generator_node.cpp b/map/map_tf_generator/src/pcd_map_tf_generator_node.cpp
index bc686b17fbcab..69a66cf52c865 100644
--- a/map/map_tf_generator/src/pcd_map_tf_generator_node.cpp
+++ b/map/map_tf_generator/src/pcd_map_tf_generator_node.cpp
@@ -36,8 +36,8 @@ class PcdMapTFGeneratorNode : public rclcpp::Node
   explicit PcdMapTFGeneratorNode(const rclcpp::NodeOptions & options)
   : Node("pcd_map_tf_generator", options)
   {
-    map_frame_ = declare_parameter("map_frame", "map");
-    viewer_frame_ = declare_parameter("viewer_frame", "viewer");
+    map_frame_ = declare_parameter<std::string>("map_frame");
+    viewer_frame_ = declare_parameter<std::string>("viewer_frame");
 
     sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(
       "pointcloud_map", rclcpp::QoS{1}.transient_local(),
diff --git a/map/map_tf_generator/src/vector_map_tf_generator_node.cpp b/map/map_tf_generator/src/vector_map_tf_generator_node.cpp
index 055d71cfb2b35..20ca1c037a578 100644
--- a/map/map_tf_generator/src/vector_map_tf_generator_node.cpp
+++ b/map/map_tf_generator/src/vector_map_tf_generator_node.cpp
@@ -31,8 +31,8 @@ class VectorMapTFGeneratorNode : public rclcpp::Node
   explicit VectorMapTFGeneratorNode(const rclcpp::NodeOptions & options)
   : Node("vector_map_tf_generator", options)
   {
-    map_frame_ = declare_parameter("map_frame", "map");
-    viewer_frame_ = declare_parameter("viewer_frame", "viewer");
+    map_frame_ = declare_parameter<std::string>("map_frame");
+    viewer_frame_ = declare_parameter<std::string>("viewer_frame");
 
     sub_ = create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(
       "vector_map", rclcpp::QoS{1}.transient_local(),