[pull] main from autowarefoundation:main

control/vehicle_cmd_gate/schema/vehicle_cmd_gate.json

@@ -0,0 +1,104 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for vehicle cmd gate",
+  "type": "object",
+  "definitions": {
+    "vehicle_cmd_gate": {
+      "type": "object",
+      "properties": {
+        "update_rate": {
+          "type": "number",
+          "default": 10.0,
+          "description": "To update period"
+        },
+        "use_emergency_handling": {
+          "type": "boolean",
+          "default": "false",
+          "description": "true when emergency handler is used."
+        },
+        "use_external_emergency_stop": {
+          "type": "boolean",
+          "default": "false",
+          "description": "true when external emergency stop information is used."
+        },
+        "system_emergency_heartbeat_timeout": {
+          "type": "number",
+          "default": 0.5,
+          "description": "timeout for system emergency."
+        },
+        "external_emergency_stop_heartbeat_timeout": {
+          "type": "number",
+          "default": 0.5,
+          "description": "timeout for external emergency."
+        },
+        "stop_hold_acceleration": {
+          "type": "number",
+          "default": -1.5,
+          "description": "longitudinal acceleration cmd when vehicle should stop"
+        },
+        "emergency_acceleration": {
+          "type": "number",
+          "default": -2.4,
+          "description": "longitudinal acceleration cmd when vehicle stop with emergency."
+        },
+        "nominal.vel_lim": {
+          "type": "number",
+          "default": 25.0,
+          "description": "limit of longitudinal velocity (activated in AUTONOMOUS operation mode)."
+        },
+        "nominal.lon_acc_lim": {
+          "type": "number",
+          "default": 5.0,
+          "description": "limit of longitudinal acceleration (activated in AUTONOMOUS operation mode)."
+        },
+        "nominal.lon_jerk_lim": {
+          "type": "number",
+          "default": 5.0,
+          "description": "limit of longitudinal jerk (activated in AUTONOMOUS operation mode)."
+        },
+        "nominal.lat_acc_lim": {
+          "type": "number",
+          "default": 5.0,
+          "description": "limit of lateral acceleration (activated in AUTONOMOUS operation mode)."
+        },
+        "nominal.lat_jerk_lim": {
+          "type": "number",
+          "default": 5.0,
+          "description": "limit of lateral jerk (activated in AUTONOMOUS operation mode)."
+        },
+        "nominal.actual_steer_diff_lim": {
+          "type": "number",
+          "default": 1.0,
+          "description": "limit of actual steer diff (activated in AUTONOMOUS operation mode)."
+        }
+      },
+      "required": [
+        "update_rate",
+        "use_emergency_handling",
+        "use_external_emergency_stop",
+        "system_emergency_heartbeat_timeout",
+        "external_emergency_stop_heartbeat_timeout",
+        "stop_hold_acceleration",
+        "emergency_acceleration",
+        "nominal.vel_lim",
+        "nominal.lon_acc_lim",
+        "nominal.lon_jerk_lim",
+        "nominal.lat_acc_lim",
+        "nominal.lat_jerk_lim",
+        "nominal.actual_steer_diff_lim"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/vehicle_cmd_gate"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml

@@ -27,6 +27,7 @@
   <arg name="behavior_velocity_planner_out_of_lane_module_param_path"/>
   <arg name="behavior_velocity_planner_no_drivable_lane_module_param_path"/>
   <!-- <arg name="behavior_velocity_planner_template_module_param_path"/> -->
+  <arg name="behavior_velocity_planner_param_file" default="$(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml"/>
 
   <node pkg="behavior_velocity_planner" exec="behavior_velocity_planner_node" name="behavior_velocity_planner" output="screen">
     <!-- topic remap -->
@@ -69,5 +70,7 @@
     <param from="$(var behavior_velocity_planner_out_of_lane_module_param_path)"/>
     <param from="$(var behavior_velocity_planner_no_drivable_lane_module_param_path)"/>
     <!-- <param from="$(var behavior_velocity_planner_template_param_path)"/> -->
+
+    <param from="$(var behavior_velocity_planner_param_file)"/>
   </node>
 </launch>

planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json

@@ -0,0 +1,77 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Behavior Velocity Planner",
+  "type": "object",
+  "definitions": {
+    "behavior_velocity_planner": {
+      "type": "object",
+      "properties": {
+        "forward_path_length": {
+          "type": "number",
+          "default": "1000.0",
+          "description": "forward path"
+        },
+        "backward_path_length": {
+          "type": "number",
+          "default": "5.0",
+          "description": "backward path"
+        },
+        "max_accel": {
+          "type": "number",
+          "default": "-2.8",
+          "description": "(to be a global parameter) max acceleration of the vehicle"
+        },
+        "system_delay": {
+          "type": "number",
+          "default": "0.5",
+          "description": "(to be a global parameter) delay time until output control command"
+        },
+        "delay_response_time": {
+          "type": "number",
+          "default": "0.5",
+          "description": "(to be a global parameter) delay time of the vehicle's response to control commands"
+        },
+        "stop_line_extend_length": {
+          "type": "number",
+          "default": "5.0",
+          "description": "extend length of stop line"
+        },
+        "max_jerk": {
+          "type": "number",
+          "default": "-5.0",
+          "description": "max jerk of the vehicle"
+        },
+        "is_publish_debug_path": {
+          "type": "number",
+          "default": "false",
+          "description": "is publish debug path?"
+        }
+      },
+      "required": [
+        "forward_path_length",
+        "backward_path_length",
+        "max_accel",
+        "system_delay",
+        "delay_response_time",
+        "stop_line_extend_length",
+        "max_jerk",
+        "is_publish_debug_path"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/behavior_velocity_planner"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

planning/behavior_velocity_planner/src/node.cpp

@@ -136,16 +136,14 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
   debug_viz_pub_ = this->create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/path", 1);
 
   // Parameters
-  forward_path_length_ = this->declare_parameter<double>("forward_path_length");
-  backward_path_length_ = this->declare_parameter<double>("backward_path_length");
-  planner_data_.stop_line_extend_length =
-    this->declare_parameter<double>("stop_line_extend_length");
+  forward_path_length_ = declare_parameter<double>("forward_path_length");
+  backward_path_length_ = declare_parameter<double>("backward_path_length");
+  planner_data_.stop_line_extend_length = declare_parameter<double>("stop_line_extend_length");
 
   // nearest search
   planner_data_.ego_nearest_dist_threshold =
-    this->declare_parameter<double>("ego_nearest_dist_threshold");
-  planner_data_.ego_nearest_yaw_threshold =
-    this->declare_parameter<double>("ego_nearest_yaw_threshold");
+    declare_parameter<double>("ego_nearest_dist_threshold");
+  planner_data_.ego_nearest_yaw_threshold = declare_parameter<double>("ego_nearest_yaw_threshold");
 
   // Initialize PlannerManager
   for (const auto & name : declare_parameter<std::vector<std::string>>("launch_modules")) {

planning/external_velocity_limit_selector/README.md

@@ -51,17 +51,7 @@ Example:
 
 ## Parameters
 
-| Parameter         | Type   | Description                                |
-| ----------------- | ------ | ------------------------------------------ |
-| `max_velocity`    | double | default max velocity [m/s]                 |
-| `normal.min_acc`  | double | minimum acceleration [m/ss]                |
-| `normal.max_acc`  | double | maximum acceleration [m/ss]                |
-| `normal.min_jerk` | double | minimum jerk [m/sss]                       |
-| `normal.max_jerk` | double | maximum jerk [m/sss]                       |
-| `limit.min_acc`   | double | minimum acceleration to be observed [m/ss] |
-| `limit.max_acc`   | double | maximum acceleration to be observed [m/ss] |
-| `limit.min_jerk`  | double | minimum jerk to be observed [m/sss]        |
-| `limit.max_jerk`  | double | maximum jerk to be observed [m/sss]        |
+{{ json_to_markdown("planning/external_velocity_limit_selector/schema/external_velocity_limit_selector.schema.json") }}
 
 ## Assumptions / Known limits
 

planning/external_velocity_limit_selector/config/external_velocity_limit_selector.param.yaml

@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+    # constraints param for normal driving
+    normal:
+      min_acc: -0.5 # min deceleration [m/ss]
+      max_acc: 1.0 # max acceleration [m/ss]
+      min_jerk: -0.5 # min jerk [m/sss]
+      max_jerk: 1.0 # max jerk [m/sss]
+
+    # constraints to be observed
+    limit:
+      min_acc: -2.5 # min deceleration limit [m/ss]
+      max_acc: 1.0 # max acceleration limit [m/ss]
+      min_jerk: -1.5 # min jerk limit [m/sss]
+      max_jerk: 1.5 # max jerk limit [m/sss]
+
+    # motion state constraints
+    max_velocity: 20.0 # max velocity limit [m/s]

planning/external_velocity_limit_selector/launch/external_velocity_limit_selector.launch.xml

@@ -1,7 +1,6 @@
 <launch>
   <!-- common param -->
-  <arg name="common_param_path" default="$(find-pkg-share external_velocity_limit_selector)/config/default_common.param.yaml"/>
-  <arg name="param_path" default="$(find-pkg-share external_velocity_limit_selector)/config/default.param.yaml"/>
+  <arg name="external_velocity_limit_selector_param_path" default="$(find-pkg-share external_velocity_limit_selector)/config/external_velocity_limit_selector.param.yaml"/>
 
   <!-- input/output -->
   <arg name="input_velocity_limit_from_api" default="/planning/scenario_planning/max_velocity_default"/>
@@ -11,8 +10,7 @@
   <arg name="output_debug_string" default="/planning/scenario_planning/external_velocity_limit_selector/debug"/>
 
   <node pkg="external_velocity_limit_selector" exec="external_velocity_limit_selector" name="external_velocity_limit_selector" output="screen">
-    <param from="$(var common_param_path)"/>
-    <param from="$(var param_path)"/>
+    <param from="$(var external_velocity_limit_selector_param_path)"/>
     <remap from="input/velocity_limit_from_api" to="$(var input_velocity_limit_from_api)"/>
     <remap from="input/velocity_limit_from_internal" to="$(var input_velocity_limit_from_internal)"/>
     <remap from="input/velocity_limit_clear_command_from_internal" to="$(var input_velocity_limit_clear_command_from_internal)"/>

planning/external_velocity_limit_selector/schema/external_velocity_limit_selector.schema.json

@@ -0,0 +1,85 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for external velocity limit selector node",
+  "type": "object",
+  "definitions": {
+    "external_velocity_limit_selector": {
+      "type": "object",
+      "properties": {
+        "max_velocity": {
+          "type": "number",
+          "description": "max velocity limit [m/s]",
+          "default": 20.0
+        },
+        "normal": {
+          "type": "object",
+          "properties": {
+            "min_acc": {
+              "type": "number",
+              "description": "min deceleration [m/ss]",
+              "default": -0.5
+            },
+            "max_acc": {
+              "type": "number",
+              "description": "max acceleration [m/ss]",
+              "default": 1.0
+            },
+            "min_jerk": {
+              "type": "number",
+              "description": "min jerk [m/sss]",
+              "default": -0.5
+            },
+            "max_jerk": {
+              "type": "number",
+              "description": "max jerk [m/sss]",
+              "default": 1.0
+            }
+          },
+          "required": ["min_acc", "max_acc", "min_jerk", "max_jerk"]
+        },
+        "limit": {
+          "type": "object",
+          "properties": {
+            "min_acc": {
+              "type": "number",
+              "description": "min deceleration to be observed [m/ss]",
+              "default": -2.5
+            },
+            "max_acc": {
+              "type": "number",
+              "description": "max acceleration to be observed [m/ss]",
+              "default": 1.0
+            },
+            "min_jerk": {
+              "type": "number",
+              "description": "min jerk to be observed [m/sss]",
+              "default": -1.5
+            },
+            "max_jerk": {
+              "type": "number",
+              "description": "max jerk to be observed [m/sss]",
+              "default": 1.5
+            }
+          },
+          "required": ["min_acc", "max_acc", "min_jerk", "max_jerk"]
+        }
+      },
+      "required": ["max_velocity", "normal", "limit"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/external_velocity_limit_selector"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

sensing/gnss_poser/README.md

@@ -28,13 +28,7 @@ The `gnss_poser` is a node that subscribes gnss sensing messages and calculates
 
 ### Core Parameters
 
-| Name                   | Type   | Default Value    | Description                                                                                            |
-| ---------------------- | ------ | ---------------- | ------------------------------------------------------------------------------------------------------ |
-| `base_frame`           | string | "base_link"      | frame id                                                                                               |
-| `gnss_frame`           | string | "gnss"           | frame id                                                                                               |
-| `gnss_base_frame`      | string | "gnss_base_link" | frame id                                                                                               |
-| `map_frame`            | string | "map"            | frame id                                                                                               |
-| `gnss_pose_pub_method` | int    | 0                | 0: Instant Value 1: Average Value 2: Median Value. If 0 is chosen buffer_epoch parameter loses affect. |
+{{ json_to_markdown("sensing/gnss_poser/schema/gnss_poser.schema.json") }}
 
 ## Assumptions / Known limits