refactor-traffic_light_map_based_detector

Signed-off-by: santosh-interplai <[email protected]> Signed-off-by: karishma <[email protected]>
Interplai · Jun 3, 2024 · 92e00c3 · 92e00c3
1 parent f04d70c
commit 92e00c3
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Showing 3 changed files with 97 additions and 14 deletions.
diff --git a/...ption/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml b/...ption/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml
@@ -1,8 +1,11 @@
 /**:
   ros__parameters:
-    max_vibration_pitch: 0.01745329251   # -0.5 ~ 0.5 deg
-    max_vibration_yaw: 0.01745329251     # -0.5 ~ 0.5 deg
-    max_vibration_height: 0.5            # -0.25 ~ 0.25 m
-    max_vibration_width: 0.5             # -0.25 ~ 0.25 m
-    max_vibration_depth: 0.5             # -0.25 ~ 0.25 m
+    max_vibration_pitch: 0.01745329251 # -0.5 ~ 0.5 deg
+    max_vibration_yaw: 0.01745329251 # -0.5 ~ 0.5 deg
+    max_vibration_height: 0.5 # -0.25 ~ 0.25 m
+    max_vibration_width: 0.5 # -0.25 ~ 0.25 m
+    max_vibration_depth: 0.5 # -0.25 ~ 0.25 m
     max_detection_range: 200.0
+    min_timestamp_offset: 0.0
+    max_timestamp_offset: 0.0
+    timestamp_sample_len: 0.01
diff --git a/...tion/traffic_light_map_based_detector/schema/traffic_light_map_based_detector.schema.json b/...tion/traffic_light_map_based_detector/schema/traffic_light_map_based_detector.schema.json
@@ -0,0 +1,80 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Traffic Light Map Based Detector",
+  "type": "object",
+  "definitions": {
+    "traffic_light_map_based_detector": {
+      "type": "object",
+      "properties": {
+        "max_vibration_pitch": {
+          "type": "number",
+          "default": 0.01745329251,
+          "description": "Maximum error in pitch direction. If -5~+5, it will be 10."
+        },
+        "max_vibration_yaw": {
+          "type": "number",
+          "default": 0.01745329251,
+          "description": "Maximum error in yaw direction. If -5~+5, it will be 10."
+        },
+        "max_vibration_height": {
+          "type": "number",
+          "default": 0.5,
+          "description": "Maximum error in height direction. If -5~+5, it will be 10."
+        },
+        "max_vibration_width": {
+          "type": "number",
+          "default": 0.5,
+          "description": "Maximum error in width direction. If -5~+5, it will be 10."
+        },
+        "max_vibration_depth": {
+          "type": "number",
+          "default": 0.5,
+          "description": "Maximum error in depth direction. If -5~+5, it will be 10."
+        },
+        "max_detection_range": {
+          "type": "number",
+          "default": 200.0,
+          "description": "Maximum detection range in meters. Must be positive"
+        },
+        "min_timestamp_offset": {
+          "type": "number",
+          "default": 0.0,
+          "description": "Minimum timestamp offset when searching for corresponding tf"
+        },
+        "max_timestamp_offset": {
+          "type": "number",
+          "default": 0.0,
+          "description": "Maximum timestamp offset when searching for corresponding tf"
+        },
+        "timestamp_sample_len": {
+          "type": "number",
+          "default": 0.01,
+          "description": "sampling length between min_timestamp_offset and max_timestamp_offset"
+        }
+      },
+      "required": [
+        "max_vibration_pitch",
+        "max_vibration_yaw",
+        "max_vibration_height",
+        "max_vibration_width",
+        "max_vibration_depth",
+        "max_detection_range",
+        "min_timestamp_offset",
+        "max_timestamp_offset",
+        "timestamp_sample_len"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/traffic_light_map_based_detector"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/perception/traffic_light_map_based_detector/src/node.cpp b/perception/traffic_light_map_based_detector/src/node.cpp
@@ -128,15 +128,15 @@ MapBasedDetector::MapBasedDetector(const rclcpp::NodeOptions & node_options)
   using std::placeholders::_1;
 
   // parameter declaration needs default values: are 0.0 goof defaults for this?
-  config_.max_vibration_pitch = declare_parameter<double>("max_vibration_pitch", 0.0);
-  config_.max_vibration_yaw = declare_parameter<double>("max_vibration_yaw", 0.0);
-  config_.max_vibration_height = declare_parameter<double>("max_vibration_height", 0.0);
-  config_.max_vibration_width = declare_parameter<double>("max_vibration_width", 0.0);
-  config_.max_vibration_depth = declare_parameter<double>("max_vibration_depth", 0.0);
-  config_.min_timestamp_offset = declare_parameter<double>("min_timestamp_offset", 0.0);
-  config_.max_timestamp_offset = declare_parameter<double>("max_timestamp_offset", 0.0);
-  config_.timestamp_sample_len = declare_parameter<double>("timestamp_sample_len", 0.01);
-  config_.max_detection_range = declare_parameter<double>("max_detection_range", 200.0);
+  config_.max_vibration_pitch = declare_parameter<double>("max_vibration_pitch");
+  config_.max_vibration_yaw = declare_parameter<double>("max_vibration_yaw");
+  config_.max_vibration_height = declare_parameter<double>("max_vibration_height");
+  config_.max_vibration_width = declare_parameter<double>("max_vibration_width");
+  config_.max_vibration_depth = declare_parameter<double>("max_vibration_depth");
+  config_.min_timestamp_offset = declare_parameter<double>("min_timestamp_offset");
+  config_.max_timestamp_offset = declare_parameter<double>("max_timestamp_offset");
+  config_.timestamp_sample_len = declare_parameter<double>("timestamp_sample_len");
+  config_.max_detection_range = declare_parameter<double>("max_detection_range");
 
   if (config_.max_detection_range <= 0) {
     RCLCPP_ERROR_STREAM(