refactor(dummy_perception_publisher): rework parameters

Signed-off-by: batuhanbeytekin <[email protected]> refactor(dummy_perception_publisher): rework parameters Signed-off-by: batuhanbeytekin <[email protected]>
autowarefoundation · Sep 19, 2024 · 9585c55 · 9585c55
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Showing 3 changed files with 13 additions and 11 deletions.
diff --git a/simulator/dummy_perception_publisher/README.md b/simulator/dummy_perception_publisher/README.md
@@ -25,7 +25,7 @@ This node publishes the result of the dummy detection with the type of perceptio
 
 ## Parameters
 
-{{json_to_markdown("simulator/dummy_perception_publisher/schema/dummy_perception_publisher.schema.json)}}
+{{json_to_markdown("simulator/dummy_perception_publisher/schema/dummy_perception_publisher.schema.json")}}
 
 ### Node Parameters
 

diff --git a/simulator/dummy_perception_publisher/schema/dummy_perception_publisher.schema.json b/simulator/dummy_perception_publisher/schema/dummy_perception_publisher.schema.json
@@ -14,7 +14,9 @@
           "detection_successful_rate": {
             "type": "number",
             "default": 0.8,
-            "description": "sensor detection rate. (min) 0.0 - 1.0(max)"
+            "minimum": 0.0,
+            "maximum": 1.0,
+            "description": "sensor detection rate."
           },
           "enable_ray_tracing": {
             "type": "boolean",

diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/dummy_perception_publisher/src/node.cpp
@@ -127,17 +127,17 @@ TrackedObject ObjectInfo::toTrackedObject(
 DummyPerceptionPublisherNode::DummyPerceptionPublisherNode()
 : Node("dummy_perception_publisher"), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_)
 {
-  visible_range_ = this->declare_parameter("visible_range", 100.0);
-  detection_successful_rate_ = this->declare_parameter("detection_successful_rate", 0.8);
-  enable_ray_tracing_ = this->declare_parameter("enable_ray_tracing", true);
-  use_object_recognition_ = this->declare_parameter("use_object_recognition", true);
-  use_base_link_z_ = this->declare_parameter("use_base_link_z", true);
+  visible_range_ = this->declare_parameter("visible_range");
+  detection_successful_rate_ = this->declare_parameter("detection_successful_rate");
+  enable_ray_tracing_ = this->declare_parameter("enable_ray_tracing");
+  use_object_recognition_ = this->declare_parameter("use_object_recognition");
+  use_base_link_z_ = this->declare_parameter("use_base_link_z");
   const bool object_centric_pointcloud =
-    this->declare_parameter("object_centric_pointcloud", false);
-  publish_ground_truth_objects_ = this->declare_parameter("publish_ground_truth", false);
+    this->declare_parameter("object_centric_pointcloud");
+  publish_ground_truth_objects_ = this->declare_parameter("publish_ground_truth");
   const unsigned int random_seed =
-    static_cast<unsigned int>(this->declare_parameter("random_seed", 0));
-  const bool use_fixed_random_seed = this->declare_parameter("use_fixed_random_seed", false);
+    static_cast<unsigned int>(this->declare_parameter("random_seed"));
+  const bool use_fixed_random_seed = this->declare_parameter("use_fixed_random_seed");
 
   if (object_centric_pointcloud) {
     pointcloud_creator_ =