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refactor(probabilistic_occupancy_grid_map): rework parameters (#7339)
* refactor(probabilistic_occupancy_grid_map): rework parameters Signed-off-by: Boyang <[email protected]> * style(pre-commit): autofix * Solved the CI's complainment Signed-off-by: Boyang <[email protected]> --------- Signed-off-by: Boyang <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,61 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Binary Bayes Filter Updater", | ||
| "type": "object", | ||
| "definitions": { | ||
| "binary_bayes_filter_updater": { | ||
| "type": "object", | ||
| "properties": { | ||
| "probability_matrix": { | ||
| "type": "object", | ||
| "properties": { | ||
| "occupied_to_occupied": { | ||
| "type": "number", | ||
| "description": "Probability of transitioning from occupied to occupied state.", | ||
| "default": 0.95 | ||
| }, | ||
| "occupied_to_free": { | ||
| "type": "number", | ||
| "description": "Probability of transitioning from occupied to free state.", | ||
| "default": 0.05 | ||
| }, | ||
| "free_to_occupied": { | ||
| "type": "number", | ||
| "description": "Probability of transitioning from free to occupied state.", | ||
| "default": 0.2 | ||
| }, | ||
| "free_to_free": { | ||
| "type": "number", | ||
| "description": "Probability of transitioning from free to free state.", | ||
| "default": 0.8 | ||
| } | ||
| }, | ||
| "required": [ | ||
| "occupied_to_occupied", | ||
| "occupied_to_free", | ||
| "free_to_occupied", | ||
| "free_to_free" | ||
| ] | ||
| }, | ||
| "v_ratio": { | ||
| "type": "number", | ||
| "description": "Ratio of the variance used in the filter.", | ||
| "default": 0.1 | ||
| } | ||
| }, | ||
| "required": ["probability_matrix", "v_ratio"] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/binary_bayes_filter_updater" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
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perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json
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|---|---|---|
| @@ -0,0 +1,76 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Grid Map", | ||
| "type": "object", | ||
| "definitions": { | ||
| "visualization_params": { | ||
| "type": "object", | ||
| "properties": { | ||
| "type": { | ||
| "type": "string", | ||
| "description": "The type of grid map visualization.", | ||
| "default": "occupancy_grid" | ||
| }, | ||
| "params": { | ||
| "type": "object", | ||
| "properties": { | ||
| "layer": { | ||
| "type": "string", | ||
| "description": "The layer of the grid map visualization.", | ||
| "default": "filled_free_to_farthest" | ||
| }, | ||
| "data_min": { | ||
| "type": "number", | ||
| "description": "The minimum data value for the visualization.", | ||
| "default": 0.0 | ||
| }, | ||
| "data_max": { | ||
| "type": "number", | ||
| "description": "The maximum data value for the visualization.", | ||
| "default": 100.0 | ||
| } | ||
| }, | ||
| "required": ["layer", "data_min", "data_max"] | ||
| } | ||
| }, | ||
| "required": ["type", "params"] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "type": "object", | ||
| "properties": { | ||
| "grid_map_topic": { | ||
| "type": "string", | ||
| "description": "The topic name for the grid map.", | ||
| "default": "/perception/occupancy_grid_map/occupancy_grid_map_node/debug/grid_map" | ||
| }, | ||
| "grid_map_visualizations": { | ||
| "type": "array", | ||
| "description": "List of grid map visualizations.", | ||
| "items": { | ||
| "type": "string" | ||
| }, | ||
| "default": ["grid_1st_step", "grid_2nd_step", "grid_3rd_step"] | ||
| }, | ||
| "grid_1st_step": { "$ref": "#/definitions/visualization_params" }, | ||
| "grid_2nd_step": { "$ref": "#/definitions/visualization_params" }, | ||
| "grid_3rd_step": { "$ref": "#/definitions/visualization_params" } | ||
| }, | ||
| "required": [ | ||
| "grid_map_topic", | ||
| "grid_map_visualizations", | ||
| "grid_1st_step", | ||
| "grid_2nd_step", | ||
| "grid_3rd_step" | ||
| ] | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
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...on/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,94 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Laserscan Based Occupancy Grid Map", | ||
| "type": "object", | ||
| "definitions": { | ||
| "height_filter_params": { | ||
| "type": "object", | ||
| "properties": { | ||
| "use_height_filter": { | ||
| "type": "boolean", | ||
| "description": "Flag to use height filter.", | ||
| "default": true | ||
| }, | ||
| "min_height": { | ||
| "type": "number", | ||
| "description": "Minimum height for the height filter.", | ||
| "default": -1.0 | ||
| }, | ||
| "max_height": { | ||
| "type": "number", | ||
| "description": "Maximum height for the height filter.", | ||
| "default": 2.0 | ||
| } | ||
| }, | ||
| "required": ["use_height_filter", "min_height", "max_height"] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "type": "object", | ||
| "properties": { | ||
| "map_frame": { | ||
| "type": "string", | ||
| "description": "The frame ID of the map.", | ||
| "default": "map" | ||
| }, | ||
| "base_link_frame": { | ||
| "type": "string", | ||
| "description": "The frame ID of the base link.", | ||
| "default": "base_link" | ||
| }, | ||
| "gridmap_origin_frame": { | ||
| "type": "string", | ||
| "description": "The frame ID of the grid map origin.", | ||
| "default": "base_link" | ||
| }, | ||
| "scan_origin_frame": { | ||
| "type": "string", | ||
| "description": "The frame ID of the scan origin.", | ||
| "default": "base_link" | ||
| }, | ||
| "height_filter": { "$ref": "#/definitions/height_filter_params" }, | ||
| "enable_single_frame_mode": { | ||
| "type": "boolean", | ||
| "description": "Flag to enable single frame mode.", | ||
| "default": false | ||
| }, | ||
| "map_length": { | ||
| "type": "number", | ||
| "description": "The length of the map.", | ||
| "default": 150.0 | ||
| }, | ||
| "map_width": { | ||
| "type": "number", | ||
| "description": "The width of the map.", | ||
| "default": 150.0 | ||
| }, | ||
| "map_resolution": { | ||
| "type": "number", | ||
| "description": "The resolution of the map.", | ||
| "default": 0.5 | ||
| } | ||
| }, | ||
| "required": [ | ||
| "map_frame", | ||
| "base_link_frame", | ||
| "gridmap_origin_frame", | ||
| "scan_origin_frame", | ||
| "height_filter", | ||
| "enable_single_frame_mode", | ||
| "map_length", | ||
| "map_width", | ||
| "map_resolution" | ||
| ] | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
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