chore(schema): restrict sensor_model parameter to only the sensor m…

…odel in the current schema file
tier4 · Sep 11, 2024 · 1127491 · 1127491
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commit 1127491
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Showing 15 changed files with 60 additions and 15 deletions.
diff --git a/nebula_ros/schema/ARS548.schema.json b/nebula_ros/schema/ARS548.schema.json
@@ -52,7 +52,10 @@
           "$ref": "sub/misc.json#/definitions/configuration_vehicle_wheelbase"
         },
         "sensor_model": {
-          "$ref": "sub/radar_continental.json#/definitions/sensor_model"
+          "$ref": "sub/radar_continental.json#/definitions/sensor_model",
+          "enum": [
+            "ARS548"
+          ]
         }
       },
       "required": [

diff --git a/nebula_ros/schema/Bpearl.schema.json b/nebula_ros/schema/Bpearl.schema.json
@@ -46,7 +46,10 @@
           "$ref": "sub/misc.json#/definitions/dual_return_distance_threshold"
         },
         "sensor_model": {
-          "$ref": "sub/lidar_robosense.json#/definitions/sensor_model"
+          "$ref": "sub/lidar_robosense.json#/definitions/sensor_model",
+          "enum": [
+            "Bpearl"
+          ]
         },
         "return_mode": {
           "$ref": "sub/lidar_robosense.json#/definitions/return_mode"

diff --git a/nebula_ros/schema/Helios.schema.json b/nebula_ros/schema/Helios.schema.json
@@ -46,7 +46,10 @@
           "$ref": "sub/misc.json#/definitions/dual_return_distance_threshold"
         },
         "sensor_model": {
-          "$ref": "sub/lidar_robosense.json#/definitions/sensor_model"
+          "$ref": "sub/lidar_robosense.json#/definitions/sensor_model",
+          "enum": [
+            "Helios"
+          ]
         },
         "return_mode": {
           "$ref": "sub/lidar_robosense.json#/definitions/return_mode"

diff --git a/nebula_ros/schema/Pandar128E4X.schema.json b/nebula_ros/schema/Pandar128E4X.schema.json
@@ -52,7 +52,10 @@
           "$ref": "sub/misc.json#/definitions/scan_phase"
         },
         "sensor_model": {
-          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model"
+          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model",
+          "enum": [
+            "Pandar128E4X"
+          ]
         },
         "calibration_file": {
           "$ref": "sub/lidar_hesai.json#/definitions/calibration_file"

diff --git a/nebula_ros/schema/Pandar40P.schema.json b/nebula_ros/schema/Pandar40P.schema.json
@@ -52,7 +52,10 @@
           "$ref": "sub/misc.json#/definitions/scan_phase"
         },
         "sensor_model": {
-          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model"
+          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model",
+          "enum": [
+            "Pandar40P"
+          ]
         },
         "calibration_file": {
           "$ref": "sub/lidar_hesai.json#/definitions/calibration_file"

diff --git a/nebula_ros/schema/Pandar64.schema.json b/nebula_ros/schema/Pandar64.schema.json
@@ -52,7 +52,10 @@
           "$ref": "sub/misc.json#/definitions/scan_phase"
         },
         "sensor_model": {
-          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model"
+          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model",
+          "enum": [
+            "Pandar64"
+          ]
         },
         "rotation_speed": {
           "$ref": "sub/lidar_hesai.json#/definitions/rotation_speed"

diff --git a/nebula_ros/schema/PandarAT128.schema.json b/nebula_ros/schema/PandarAT128.schema.json
@@ -64,7 +64,10 @@
           "maximum": 150.0
         },
         "sensor_model": {
-          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model"
+          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model",
+          "enum": [
+            "PandarAT128"
+          ]
         },
         "calibration_file": {
           "$ref": "sub/lidar_hesai.json#/definitions/calibration_file"

diff --git a/nebula_ros/schema/PandarQT128.schema.json b/nebula_ros/schema/PandarQT128.schema.json
@@ -52,7 +52,10 @@
           "$ref": "sub/misc.json#/definitions/scan_phase"
         },
         "sensor_model": {
-          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model"
+          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model",
+          "enum": [
+            "PandarQT128"
+          ]
         },
         "calibration_file": {
           "$ref": "sub/lidar_hesai.json#/definitions/calibration_file"

diff --git a/nebula_ros/schema/PandarQT64.schema.json b/nebula_ros/schema/PandarQT64.schema.json
@@ -52,7 +52,10 @@
           "$ref": "sub/misc.json#/definitions/scan_phase"
         },
         "sensor_model": {
-          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model"
+          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model",
+          "enum": [
+            "PandarQT64"
+          ]
         },
         "calibration_file": {
           "$ref": "sub/lidar_hesai.json#/definitions/calibration_file"

diff --git a/nebula_ros/schema/PandarXT32.schema.json b/nebula_ros/schema/PandarXT32.schema.json
@@ -52,7 +52,10 @@
           "$ref": "sub/misc.json#/definitions/scan_phase"
         },
         "sensor_model": {
-          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model"
+          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model",
+          "enum": [
+            "PandarXT32"
+          ]
         },
         "calibration_file": {
           "$ref": "sub/lidar_hesai.json#/definitions/calibration_file"

diff --git a/nebula_ros/schema/PandarXT32M.schema.json b/nebula_ros/schema/PandarXT32M.schema.json
@@ -52,7 +52,10 @@
           "$ref": "sub/misc.json#/definitions/scan_phase"
         },
         "sensor_model": {
-          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model"
+          "$ref": "sub/lidar_hesai.json#/definitions/sensor_model",
+          "enum": [
+            "PandarXT32M"
+          ]
         },
         "calibration_file": {
           "$ref": "sub/lidar_hesai.json#/definitions/calibration_file"

diff --git a/nebula_ros/schema/SRR520.schema.json b/nebula_ros/schema/SRR520.schema.json
@@ -37,7 +37,10 @@
           "$ref": "sub/misc.json#/definitions/configuration_vehicle_wheelbase"
         },
         "sensor_model": {
-          "$ref": "sub/radar_continental.json#/definitions/sensor_model"
+          "$ref": "sub/radar_continental.json#/definitions/sensor_model",
+          "enum": [
+            "SRR520"
+          ]
         }
       },
       "required": [

diff --git a/nebula_ros/schema/VLP16.schema.json b/nebula_ros/schema/VLP16.schema.json
@@ -52,7 +52,10 @@
           "$ref": "sub/misc.json#/definitions/scan_phase"
         },
         "sensor_model": {
-          "$ref": "sub/lidar_velodyne.json#/definitions/sensor_model"
+          "$ref": "sub/lidar_velodyne.json#/definitions/sensor_model",
+          "enum": [
+            "VLP16"
+          ]
         },
         "calibration_file": {
           "$ref": "sub/lidar_velodyne.json#/definitions/calibration_file"

diff --git a/nebula_ros/schema/VLP32.schema.json b/nebula_ros/schema/VLP32.schema.json
@@ -52,7 +52,10 @@
           "$ref": "sub/misc.json#/definitions/scan_phase"
         },
         "sensor_model": {
-          "$ref": "sub/lidar_velodyne.json#/definitions/sensor_model"
+          "$ref": "sub/lidar_velodyne.json#/definitions/sensor_model",
+          "enum": [
+            "VLP32"
+          ]
         },
         "calibration_file": {
           "$ref": "sub/lidar_velodyne.json#/definitions/calibration_file"

diff --git a/nebula_ros/schema/VLS128.schema.json b/nebula_ros/schema/VLS128.schema.json
@@ -52,7 +52,10 @@
           "$ref": "sub/misc.json#/definitions/scan_phase"
         },
         "sensor_model": {
-          "$ref": "sub/lidar_velodyne.json#/definitions/sensor_model"
+          "$ref": "sub/lidar_velodyne.json#/definitions/sensor_model",
+          "enum": [
+            "VLS128"
+          ]
         },
         "calibration_file": {
           "$ref": "sub/lidar_velodyne.json#/definitions/calibration_file"