refactor(control_performance_analysis): rework parameters (autowarefo…

…undation#4730) * refactor the configuration files of the node control_performance_analysis according to the new ROS node config guideline. Rename controller_performance_analysis.launch.xml->control_performance_analysis.launch.xml update the parameter information in the README.md Signed-off-by: yuntianyi-chen <[email protected]> * style(pre-commit): autofix * Update the type of a parameter in schema file. Signed-off-by: yuntianyi-chen <[email protected]> * revert copyright info Signed-off-by: yuntianyi-chen <[email protected]> --------- Signed-off-by: yuntianyi-chen <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
zulfaqar-azmi-t4 · Sep 21, 2023 · e942c2d · e942c2d
1 parent 057c2d5
commit e942c2d
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diff --git a/...ontroller_performance_analysis.launch.xml → ...h/control_performance_analysis.launch.xml b/...ontroller_performance_analysis.launch.xml → ...h/control_performance_analysis.launch.xml
diff --git a/control/control_performance_analysis/schema/control_performance_analysis.schema.json b/control/control_performance_analysis/schema/control_performance_analysis.schema.json
@@ -0,0 +1,62 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Control Performance Analysis Node",
+  "type": "object",
+  "definitions": {
+    "control_performance_analysis": {
+      "type": "object",
+      "properties": {
+        "curvature_interval_length": {
+          "type": "number",
+          "default": 5.0,
+          "description": "Used for estimating current curvature."
+        },
+        "prevent_zero_division_value": {
+          "type": "number",
+          "default": 0.001,
+          "description": "Value to avoid zero division.."
+        },
+        "odom_interval": {
+          "type": "integer",
+          "default": 0,
+          "description": "Interval between odom messages, increase it for smoother curve."
+        },
+        "acceptable_max_distance_to_waypoint": {
+          "type": "number",
+          "default": 2.0,
+          "description": "Maximum distance between trajectory point and vehicle [m]."
+        },
+        "acceptable_max_yaw_difference_rad": {
+          "type": "number",
+          "default": 0.95,
+          "description": "Maximum yaw difference between trajectory point and vehicle [rad]."
+        },
+        "low_pass_filter_gain": {
+          "type": "number",
+          "default": 1.0472,
+          "description": "Low pass filter gain."
+        }
+      },
+      "required": [
+        "curvature_interval_length",
+        "prevent_zero_division_value",
+        "odom_interval",
+        "acceptable_max_distance_to_waypoint",
+        "acceptable_max_yaw_difference_rad",
+        "low_pass_filter_gain"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/control_performance_analysis"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/control/control_performance_analysis/src/control_performance_analysis_node.cpp b/control/control_performance_analysis/src/control_performance_analysis_node.cpp
@@ -47,7 +47,7 @@ ControlPerformanceAnalysisNode::ControlPerformanceAnalysisNode(
   // Node Parameters.
   param_.curvature_interval_length_ = declare_parameter<double>("curvature_interval_length");
   param_.prevent_zero_division_value_ = declare_parameter<double>("prevent_zero_division_value");
-  param_.odom_interval_ = declare_parameter<int>("odom_interval");
+  param_.odom_interval_ = declare_parameter<int64_t>("odom_interval");
   param_.acceptable_max_distance_to_waypoint_ =
     declare_parameter<double>("acceptable_max_distance_to_waypoint");
   param_.acceptable_max_yaw_difference_rad_ =