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feat: add schema file for radar_threshold_filter and upadted the READ…
…ME file Signed-off-by: vish0012 <[email protected]>
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sensing/autoware_radar_threshold_filter/schema/radar_threshold_filter.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,102 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "radar_threshold_filter parameters", | ||
| "type": "object", | ||
| "definitions": { | ||
| "radar_threshold_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "is_amplitude_filter": { | ||
| "type": "boolean", | ||
| "description": "if this parameter is true, apply amplitude filter (publish amplitude_min < amplitude < amplitude_max)", | ||
| "default": true | ||
| }, | ||
| "amplitude_min": { | ||
| "type": "number", | ||
| "description": "[dBm^2]", | ||
| "default": -10.0 | ||
| }, | ||
| "amplitude_max": { | ||
| "type": "number", | ||
| "description": "[dBm^2]", | ||
| "default": 100.0 | ||
| }, | ||
| "is_range_filter": { | ||
| "type": "boolean", | ||
| "description": "if this parameter is true, apply range filter (publish range_min < range < range_max) ", | ||
| "default": false | ||
| }, | ||
| "range_min": { | ||
| "type": "number", | ||
| "description": "[m] ", | ||
| "default": 20.0 | ||
| }, | ||
| "range_max": { | ||
| "type": "number", | ||
| "description": "[m]", | ||
| "default": 300.0 | ||
| }, | ||
| "is_azimuth_filter": { | ||
| "type": "boolean", | ||
| "description": "if this parameter is true, apply angle filter (publish azimuth_min < range < azimuth_max) ", | ||
| "default": true | ||
| }, | ||
| "azimuth_min": { | ||
| "type": "number", | ||
| "description": "[rad]", | ||
| "default": -1.2 | ||
| }, | ||
| "azimuth_max": { | ||
| "type": "number", | ||
| "description": "[rad]", | ||
| "default": 1.2 | ||
| }, | ||
| "is_z_filter": { | ||
| "type": "boolean", | ||
| "description": "if this parameter is true, apply z position filter (publish z_min < z < z_max) ", | ||
| "default": false | ||
| }, | ||
| "z_min": { | ||
| "type": "number", | ||
| "description": "[m]", | ||
| "default": -2.0 | ||
| }, | ||
| "z_max": { | ||
| "type": "number", | ||
| "description": "[m]", | ||
| "default": 5.0 | ||
| } | ||
| }, | ||
| "required": [ | ||
| "is_amplitude_filter", | ||
| "amplitude_min", | ||
| "amplitude_max", | ||
| "is_range_filter", | ||
| "range_min", | ||
| "range_max", | ||
| "is_azimuth_filter", | ||
| "azimuth_min", | ||
| "azimuth_max", | ||
| "is_z_filter", | ||
| "z_min", | ||
| "z_max" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/radar_object_clustering" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } | ||
|
|