refactor(gnss_poser): rework parameters (autowarefoundation#4693)

* refactor(gnss_poser): rework parameters Signed-off-by: PhoebeWu21 <[email protected]> * refactor(gnss_poser): rework parameters Signed-off-by: PhoebeWu21 <[email protected]> * style(pre-commit): autofix * refactor(gnss_poser): rework parameters Signed-off-by: PhoebeWu21 <[email protected]> * refactor(gnss_poser): rework parameters Signed-off-by: PhoebeWu21 <[email protected]> * refactor(gnss_poser): rework parameters Signed-off-by: PhoebeWu21 <[email protected]> --------- Signed-off-by: PhoebeWu21 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yamato Ando <[email protected]>
tier4 · Dec 15, 2023 · 6dabfc9 · 6dabfc9
1 parent fac5b76
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diff --git a/sensing/gnss_poser/README.md b/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
 

diff --git a/sensing/gnss_poser/launch/gnss_poser.launch.xml b/sensing/gnss_poser/launch/gnss_poser.launch.xml
@@ -1,10 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
   <arg name="param_file" default="$(find-pkg-share gnss_poser)/config/gnss_poser.param.yaml"/>
-
   <arg name="input_topic_fix" default="/fix"/>
   <arg name="input_topic_orientation" default="/autoware_orientation"/>
-
   <arg name="output_topic_gnss_pose" default="gnss_pose"/>
   <arg name="output_topic_gnss_pose_cov" default="gnss_pose_cov"/>
   <arg name="output_topic_gnss_fixed" default="gnss_fixed"/>
@@ -15,7 +13,6 @@
     <remap from="gnss_pose" to="$(var output_topic_gnss_pose)"/>
     <remap from="gnss_pose_cov" to="$(var output_topic_gnss_pose_cov)"/>
     <remap from="gnss_fixed" to="$(var output_topic_gnss_fixed)"/>
-
     <param from="$(var param_file)"/>
   </node>
 </launch>
diff --git a/sensing/gnss_poser/schema/gnss_poser.schema.json b/sensing/gnss_poser/schema/gnss_poser.schema.json
@@ -0,0 +1,71 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Gnss Poser Node",
+  "type": "object",
+  "definitions": {
+    "gnss_poser": {
+      "type": "object",
+      "properties": {
+        "base_frame": {
+          "type": "string",
+          "default": "base_link",
+          "description": "frame id for base_frame"
+        },
+        "gnss_frame": {
+          "type": "string",
+          "default": "gnss",
+          "description": "frame id for gnss_frame"
+        },
+        "gnss_base_frame": {
+          "type": "string",
+          "default": "gnss_base_link",
+          "description": "frame id for gnss_base_frame"
+        },
+        "map_frame": {
+          "type": "string",
+          "default": "map",
+          "description": "frame id for map_frame"
+        },
+        "use_gnss_ins_orientation": {
+          "type": "boolean",
+          "default": "true",
+          "description": "use Gnss-Ins orientation"
+        },
+        "gnss_pose_pub_method": {
+          "type": "integer",
+          "default": "0",
+          "minimum": 0,
+          "maximum": 2,
+          "description": "0: Instant Value 1: Average Value 2: Median Value. If 0 is chosen buffer_epoch parameter loses affect."
+        },
+        "buff_epoch": {
+          "type": "integer",
+          "default": "1",
+          "minimum": 0,
+          "description": "Buffer epoch"
+        }
+      },
+      "required": [
+        "base_frame",
+        "gnss_frame",
+        "gnss_base_frame",
+        "map_frame",
+        "use_gnss_ins_orientation",
+        "gnss_pose_pub_method",
+        "buff_epoch"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/gnss_poser"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}