From 5995801bd1de55ed4cb318d43e1fba5d79dc894d Mon Sep 17 00:00:00 2001 From: Batuhan Beytekin <71197983+batuhanbeytekin@users.noreply.github.com> Date: Wed, 24 Jul 2024 12:55:05 +0300 Subject: [PATCH] refactor(traffic_light_visualization): rework parameters (#8168) * refactor(traffic_light_visualization): rework parameters Signed-off-by: batuhanbeytekin * style(pre-commit): autofix Signed-off-by: batuhanbeytekin * style(pre-commit): autofix --------- Signed-off-by: batuhanbeytekin Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../CMakeLists.txt | 4 +-- .../traffic_light_visualization/README.md | 4 +-- .../traffic_light_visualization.param.yaml | 3 ++ .../traffic_light_visualization.schema.json | 30 +++++++++++++++++++ .../src/traffic_light_roi_visualizer/node.cpp | 2 +- 5 files changed, 37 insertions(+), 6 deletions(-) create mode 100644 perception/traffic_light_visualization/config/traffic_light_visualization.param.yaml create mode 100644 perception/traffic_light_visualization/schema/traffic_light_visualization.schema.json diff --git a/perception/traffic_light_visualization/CMakeLists.txt b/perception/traffic_light_visualization/CMakeLists.txt index 24ee442676a9e..115574a0cb360 100644 --- a/perception/traffic_light_visualization/CMakeLists.txt +++ b/perception/traffic_light_visualization/CMakeLists.txt @@ -35,7 +35,7 @@ install( DESTINATION share/${PROJECT_NAME}/images ) -ament_auto_package( - INSTALL_TO_SHARE +ament_auto_package(INSTALL_TO_SHARE + config launch ) diff --git a/perception/traffic_light_visualization/README.md b/perception/traffic_light_visualization/README.md index 059147e206169..40455931e6dae 100644 --- a/perception/traffic_light_visualization/README.md +++ b/perception/traffic_light_visualization/README.md @@ -55,9 +55,7 @@ None #### Node Parameters -| Name | Type | Default Value | Description | -| ----------------------- | ---- | ------------- | --------------------------------------------------------------- | -| `enable_fine_detection` | bool | false | whether to visualize result of the traffic light fine detection | +{{json_to_markdown("perception/traffic_light_visualization/schema/traffic_light_visualization.schema.json")}} ## Assumptions / Known limits diff --git a/perception/traffic_light_visualization/config/traffic_light_visualization.param.yaml b/perception/traffic_light_visualization/config/traffic_light_visualization.param.yaml new file mode 100644 index 0000000000000..1fc3167ef857f --- /dev/null +++ b/perception/traffic_light_visualization/config/traffic_light_visualization.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + enable_fine_detection: false diff --git a/perception/traffic_light_visualization/schema/traffic_light_visualization.schema.json b/perception/traffic_light_visualization/schema/traffic_light_visualization.schema.json new file mode 100644 index 0000000000000..6ef025692904c --- /dev/null +++ b/perception/traffic_light_visualization/schema/traffic_light_visualization.schema.json @@ -0,0 +1,30 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for traffic_light_visualization", + "type": "object", + "definitions": { + "traffic_light_visualization": { + "type": "object", + "properties": { + "enable_fine_detection": { + "type": "boolean", + "description": "whether to visualize result of the traffic light fine detection", + "default": "false" + } + }, + "required": ["enable_fine_detection"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/traffic_light_visualization" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp index 74eac71873909..1afc048bd0f30 100644 --- a/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp +++ b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp @@ -31,7 +31,7 @@ TrafficLightRoiVisualizerNode::TrafficLightRoiVisualizerNode(const rclcpp::NodeO using std::placeholders::_2; using std::placeholders::_3; using std::placeholders::_4; - enable_fine_detection_ = this->declare_parameter("enable_fine_detection", false); + enable_fine_detection_ = this->declare_parameter("enable_fine_detection"); if (enable_fine_detection_) { sync_with_rough_roi_.reset(new SyncWithRoughRoi(