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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]>
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{ | ||
"$schema": "http://json-schema.org/draft-07/schema#", | ||
"title": "Parameters for Gnss Poser Node", | ||
"type": "object", | ||
"definitions": { | ||
"gnss_poser": { | ||
"type": "object", | ||
"properties": { | ||
"base_frame": { | ||
"type": "string", | ||
"default": "base_link", | ||
"description": "frame id for base_frame" | ||
}, | ||
"gnss_frame": { | ||
"type": "string", | ||
"default": "gnss", | ||
"description": "frame id for gnss_frame" | ||
}, | ||
"gnss_base_frame": { | ||
"type": "string", | ||
"default": "gnss_base_link", | ||
"description": "frame id for gnss_base_frame" | ||
}, | ||
"map_frame": { | ||
"type": "string", | ||
"default": "map", | ||
"description": "frame id for map_frame" | ||
}, | ||
"use_gnss_ins_orientation": { | ||
"type": "boolean", | ||
"default": "true", | ||
"description": "use Gnss-Ins orientation" | ||
}, | ||
"gnss_pose_pub_method": { | ||
"type": "integer", | ||
"default": "0", | ||
"minimum": 0, | ||
"maximum": 2, | ||
"description": "0: Instant Value 1: Average Value 2: Median Value. If 0 is chosen buffer_epoch parameter loses affect." | ||
}, | ||
"buff_epoch": { | ||
"type": "integer", | ||
"default": "1", | ||
"minimum": 0, | ||
"description": "Buffer epoch" | ||
} | ||
}, | ||
"required": [ | ||
"base_frame", | ||
"gnss_frame", | ||
"gnss_base_frame", | ||
"map_frame", | ||
"use_gnss_ins_orientation", | ||
"gnss_pose_pub_method", | ||
"buff_epoch" | ||
] | ||
} | ||
}, | ||
"properties": { | ||
"/**": { | ||
"type": "object", | ||
"properties": { | ||
"ros__parameters": { | ||
"$ref": "#/definitions/gnss_poser" | ||
} | ||
}, | ||
"required": ["ros__parameters"] | ||
} | ||
}, | ||
"required": ["/**"] | ||
} |