From 0f2bf09a06d4603c8fac4e3ce44bf174ba48a47c Mon Sep 17 00:00:00 2001
From: Vishal Chauhan <40782713+vish0012@users.noreply.github.com>
Date: Tue, 4 Feb 2025 16:37:47 +0900
Subject: [PATCH] feat(autoware_radar_crossing_objects_noise_filter): created
 schema file and updated readme file for parameters setting (#10001)

* feat(autoware_radar_crossing_objects_noise_filter): Created Schema file and updated ReadME file for parameters setting

Signed-off-by: vish0012 <vishalchhn42@gmail.com>

* style(pre-commit): autofix

* Update README.md

update readme file

---------

Signed-off-by: vish0012 <vishalchhn42@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../README.md                                 | 12 +-----
 ..._crossing_objects_noise_filter.schema.json | 41 +++++++++++++++++++
 2 files changed, 42 insertions(+), 11 deletions(-)
 create mode 100644 perception/autoware_radar_crossing_objects_noise_filter/schema/radar_crossing_objects_noise_filter.schema.json

diff --git a/perception/autoware_radar_crossing_objects_noise_filter/README.md b/perception/autoware_radar_crossing_objects_noise_filter/README.md
index 4039624217a5c..134aa703faa53 100644
--- a/perception/autoware_radar_crossing_objects_noise_filter/README.md
+++ b/perception/autoware_radar_crossing_objects_noise_filter/README.md
@@ -67,14 +67,4 @@ To filter the objects crossing to ego vehicle, this package filter the objects a
 
 ### Parameters
 
-- `angle_threshold` (double) [rad]
-  - Default parameter is 1.0472.
-
-This parameter is the angle threshold to filter. It has condition that 0 < `angle_threshold` < pi / 2. If the crossing angle is larger than this parameter, it can be a candidate for noise object. In other words, if it is smaller than this parameter, it is a filtered object.
-If this parameter is set smaller, more objects are considered noise. In detail, see algorithm chapter.
-
-- `velocity_threshold` (double) [m/s]
-  - Default parameter is 3.0.
-
-This parameter is the velocity threshold to filter. If velocity of an object is larger than this parameter, it can be a candidate for noise object. In other words, if velocity of an object is smaller than this parameter, it is a filtered object.
-If this parameter is set smaller, more objects are considered noise. In detail, see algorithm chapter.
+{{ json_to_markdown("perception/autoware_radar_crossing_objects_noise_filter/schema/radar_crossing_objects_noise_filter.schema.json") }}
diff --git a/perception/autoware_radar_crossing_objects_noise_filter/schema/radar_crossing_objects_noise_filter.schema.json b/perception/autoware_radar_crossing_objects_noise_filter/schema/radar_crossing_objects_noise_filter.schema.json
new file mode 100644
index 0000000000000..a83678e8d27a1
--- /dev/null
+++ b/perception/autoware_radar_crossing_objects_noise_filter/schema/radar_crossing_objects_noise_filter.schema.json
@@ -0,0 +1,41 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "autoware_radar_crossing_objects_noise_filter parameter",
+  "type": "object",
+  "definitions": {
+    "autoware_radar_crossing_objects_noise_filter": {
+      "type": "object",
+      "properties": {
+        "angle_threshold": {
+          "type": "number",
+          "description": "Angle threshold to filter noise objects. Must satisfy 0 < angle_threshold < pi/2. If the crossing angle is larger than this parameter, it can be a candidate for a noise object. If smaller, it is a filtered object. A smaller value filters more objects as noise.",
+          "default": 1.221,
+          "exclusiveMinimum": 0.0,
+          "exclusiveMaximum": 1.5708
+        },
+        "velocity_threshold": {
+          "type": "number",
+          "description": "Velocity threshold to filter noise objects. If the velocity of an object is larger than this parameter, it can be a candidate for a noise object. If smaller, it is a filtered object. A smaller value filters more objects as noise.",
+          "default": 1.5,
+          "minimum": 0.0
+        }
+      },
+      "required": ["angle_threshold", "velocity_threshold"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/autoware_radar_crossing_objects_noise_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}