chore(map_loader): rework parameters of map_loader (#6199)

* Rework parameters of map_loader Signed-off-by: anhnv3991 <[email protected]> * style(pre-commit): autofix * Fixed typo in name of map_based_pediction.schema.json, which cause json-schema-check failed Signed-off-by: anhnv3991 <[email protected]> * Move path variables back to launch files Signed-off-by: anhnv3991 <[email protected]> * Update README.md Signed-off-by: anhnv3991 <[email protected]> * Undo the change in perception Signed-off-by: anhnv3991 <[email protected]> * Remove default values of declare_parameter from map_loader Signed-off-by: anhnv3991 <[email protected]> --------- Signed-off-by: anhnv3991 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Feb 7, 2024 · 9df0ff9 · 9df0ff9
1 parent 3a10282
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diff --git a/map/map_loader/README.md b/map/map_loader/README.md
@@ -111,15 +111,7 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co
 
 ### Parameters
 
-| Name                          | Type        | Description                                                                       | Default value |
-| :---------------------------- | :---------- | :-------------------------------------------------------------------------------- | :------------ |
-| enable_whole_load             | bool        | A flag to enable raw pointcloud map publishing                                    | true          |
-| enable_downsampled_whole_load | bool        | A flag to enable downsampled pointcloud map publishing                            | false         |
-| enable_partial_load           | bool        | A flag to enable partial pointcloud map server                                    | false         |
-| enable_selected_load          | bool        | A flag to enable selected pointcloud map server                                   | false         |
-| leaf_size                     | float       | Downsampling leaf size (only used when enable_downsampled_whole_load is set true) | 3.0           |
-| pcd_paths_or_directory        | std::string | Path(s) to pointcloud map file or directory                                       |               |
-| pcd_metadata_path             | std::string | Path to pointcloud metadata file                                                  |               |
+{{ json_to_markdown("map/map_loader/schema/pointcloud_map_loader.schema.json") }}
 
 ### Interfaces
 
@@ -156,10 +148,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie
 
 ### Parameters
 
-| Name                   | Type        | Description                                      | Default value |
-| :--------------------- | :---------- | :----------------------------------------------- | :------------ |
-| center_line_resolution | double      | Define the resolution of the lanelet center line | 5.0           |
-| lanelet2_map_path      | std::string | The lanelet2 map path                            | None          |
+{{ json_to_markdown("map/map_loader/schema/lanelet2_map_loader.schema.json") }}
 
 ---
 

diff --git a/map/map_loader/config/lanelet2_map_loader.param.yaml b/map/map_loader/config/lanelet2_map_loader.param.yaml
@@ -1,3 +1,4 @@
 /**:
   ros__parameters:
     center_line_resolution: 5.0         # [m]
+    lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path
diff --git a/map/map_loader/config/pointcloud_map_loader.param.yaml b/map/map_loader/config/pointcloud_map_loader.param.yaml
@@ -7,3 +7,5 @@
 
     # only used when downsample_whole_load enabled
     leaf_size: 3.0 # downsample leaf size [m]
+    pcd_paths_or_directory: [$(var pcd_paths_or_directory)] # Path to the pointcloud map file or directory
+    pcd_metadata_path: $(var pcd_metadata_path) # Path to pointcloud metadata file
diff --git a/map/map_loader/launch/lanelet2_map_loader.launch.xml b/map/map_loader/launch/lanelet2_map_loader.launch.xml
@@ -5,13 +5,12 @@
   <arg name="lanelet2_map_marker_topic" default="vector_map_marker"/>
 
   <node pkg="map_loader" exec="map_hash_generator" name="map_hash_generator">
-    <param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
+    <param from="$(var lanelet2_map_loader_param_path)" allow_substs="true"/>
   </node>
 
   <node pkg="map_loader" exec="lanelet2_map_loader" name="lanelet2_map_loader">
     <remap from="output/lanelet2_map" to="$(var lanelet2_map_topic)"/>
-    <param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
-    <param from="$(var lanelet2_map_loader_param_path)"/>
+    <param from="$(var lanelet2_map_loader_param_path)" allow_substs="true"/>
   </node>
 
   <node pkg="map_loader" exec="lanelet2_map_visualization" name="lanelet2_map_visualization">

diff --git a/map/map_loader/launch/pointcloud_map_loader.launch.xml b/map/map_loader/launch/pointcloud_map_loader.launch.xml
@@ -7,8 +7,6 @@
     <remap from="output/pointcloud_map" to="/map/pointcloud_map"/>
     <remap from="service/get_partial_pcd_map" to="/map/get_partial_pointcloud_map"/>
     <remap from="service/get_selected_pcd_map" to="/map/get_selected_pointcloud_map"/>
-    <param name="pcd_paths_or_directory" value="[$(var pointcloud_map_path)]"/>
-    <param name="pcd_metadata_path" value="$(var pcd_metadata_path)"/>
-    <param from="$(var pointcloud_map_loader_param_path)"/>
+    <param from="$(var pointcloud_map_loader_param_path)" allow_substs="true"/>
   </node>
 </launch>
diff --git a/map/map_loader/schema/lanelet2_map_loader.schema.json b/map/map_loader/schema/lanelet2_map_loader.schema.json
@@ -0,0 +1,38 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for lanelet2 map loader Node",
+  "type": "object",
+  "definitions": {
+    "lanelet2_map_loader": {
+      "type": "object",
+      "properties": {
+        "center_line_resolution": {
+          "type": "number",
+          "description": "Resolution of the Lanelet center line [m]",
+          "default": "5.0"
+        },
+        "lanelet2_map_path": {
+          "type": "string",
+          "description": "The lanelet2 map path pointing to the .osm file",
+          "default": ""
+        }
+      },
+      "required": ["center_line_resolution", "lanelet2_map_path"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/lanelet2_map_loader"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/map/map_loader/schema/pointcloud_map_loader.schema.json b/map/map_loader/schema/pointcloud_map_loader.schema.json
@@ -0,0 +1,71 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for point cloud map loader Node",
+  "type": "object",
+  "definitions": {
+    "pointcloud_map_loader": {
+      "type": "object",
+      "properties": {
+        "enable_whole_load": {
+          "type": "boolean",
+          "description": "Enable raw pointcloud map publishing",
+          "default": true
+        },
+        "enable_downsampled_whole_load": {
+          "type": "boolean",
+          "description": "Enable downsampled pointcloud map publishing",
+          "default": false
+        },
+        "enable_partial_load": {
+          "type": "boolean",
+          "description": "Enable partial pointcloud map server",
+          "default": true
+        },
+        "enable_selected_load": {
+          "type": "boolean",
+          "description": "Enable selected pointcloud map server",
+          "default": false
+        },
+        "leaf_size": {
+          "type": "number",
+          "description": "Downsampling leaf size (only used when enable_downsampled_whole_load is set true)",
+          "default": 3.0
+        },
+        "pcd_paths_or_directory": {
+          "type": "array",
+          "description": "Path(s) to pointcloud map file or directory",
+          "default": []
+        },
+        "pcd_metadata_path": {
+          "type": "string",
+          "description": "Path to pointcloud metadata file",
+          "default": ""
+        }
+      },
+      "required": [
+        "enable_whole_load",
+        "enable_downsampled_whole_load",
+        "enable_partial_load",
+        "enable_selected_load",
+        "leaf_size",
+        "pcd_paths_or_directory",
+        "pcd_metadata_path"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/pointcloud_map_loader"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
@@ -61,8 +61,8 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
     sub_map_projector_info_,
     [this](const MapProjectorInfo::Message::ConstSharedPtr msg) { on_map_projector_info(msg); });
 
-  declare_parameter("lanelet2_map_path", "");
-  declare_parameter("center_line_resolution", 5.0);
+  declare_parameter<std::string>("lanelet2_map_path");
+  declare_parameter<double>("center_line_resolution");
 }
 
 void Lanelet2MapLoaderNode::on_map_projector_info(

diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
@@ -71,7 +71,7 @@ Lanelet2MapVisualizationNode::Lanelet2MapVisualizationNode(const rclcpp::NodeOpt
 {
   using std::placeholders::_1;
 
-  viz_lanelets_centerline_ = this->declare_parameter("viz_lanelets_centerline", true);
+  viz_lanelets_centerline_ = true;
 
   sub_map_bin_ = this->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(
     "input/lanelet2_map", rclcpp::QoS{1}.transient_local(),

diff --git a/map/map_loader/test/lanelet2_map_loader_launch.test.py b/map/map_loader/test/lanelet2_map_loader_launch.test.py
@@ -34,7 +34,7 @@ def generate_test_description():
     lanelet2_map_loader = Node(
         package="map_loader",
         executable="lanelet2_map_loader",
-        parameters=[{"lanelet2_map_path": lanelet2_map_path}],
+        parameters=[{"lanelet2_map_path": lanelet2_map_path, "center_line_resolution": 5.0}],
     )
 
     context = {}