chore(traffic_light_occlusion_predictor): created Schema file and upd…

…ated ReadME file for parameters setting and deleted default parameter from the node.cpp file (#9998) * feat(traffic_light_occlusion_predictor): Created Schema file and updated ReadME file for parameters setting and deleted default parameter from the node.cpp file Signed-off-by: vish0012 <[email protected]> * style(pre-commit): autofix * feat: modified the json schema and readme file as per comments Signed-off-by: vish0012 <[email protected]> --------- Signed-off-by: vish0012 <[email protected]> Co-authored-by: Masato Saeki <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Feb 4, 2025 · fd7db7b · fd7db7b
1 parent bd84834
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diff --git a/perception/autoware_traffic_light_occlusion_predictor/README.md b/perception/autoware_traffic_light_occlusion_predictor/README.md
@@ -31,11 +31,4 @@ If no point cloud is received or all point clouds have very large stamp differen
 
 ## Node parameters
 
-| Parameter                            | Type   | Description                                                   |
-| ------------------------------------ | ------ | ------------------------------------------------------------- |
-| `azimuth_occlusion_resolution_deg`   | double | azimuth resolution of LiDAR point cloud (degree)              |
-| `elevation_occlusion_resolution_deg` | double | elevation resolution of LiDAR point cloud (degree)            |
-| `max_valid_pt_dist`                  | double | The points within this distance would be used for calculation |
-| `max_image_cloud_delay`              | double | The maximum delay between LiDAR point cloud and camera image  |
-| `max_wait_t`                         | double | The maximum time waiting for the LiDAR point cloud            |
-| `max_occlusion_ratio`                | int    | The maximum occlusion ratio for setting signal as unknown     |
+{{ json_to_markdown("perception/autoware_traffic_light_occlusion_predictor/schema/traffic_light_occlusion_predictor.schema.json") }}
diff --git a/...re_traffic_light_occlusion_predictor/schema/traffic_light_occlusion_predictor.schema.json b/...re_traffic_light_occlusion_predictor/schema/traffic_light_occlusion_predictor.schema.json
@@ -0,0 +1,65 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "autoware_traffic_light_occlusion_predictor parameter",
+  "type": "object",
+  "definitions": {
+    "autoware_traffic_light_occlusion_predictor": {
+      "type": "object",
+      "properties": {
+        "azimuth_occlusion_resolution_deg": {
+          "type": "number",
+          "description": "Azimuth resolution of LiDAR point cloud (degree).",
+          "default": 0.15
+        },
+        "elevation_occlusion_resolution_deg": {
+          "type": "number",
+          "description": "Elevation resolution of LiDAR point cloud (degree).",
+          "default": 0.08
+        },
+        "max_valid_pt_dist": {
+          "type": "number",
+          "description": "The points within this distance would be used for calculation.",
+          "default": 50.0
+        },
+        "max_image_cloud_delay": {
+          "type": "number",
+          "description": "The maximum delay between LiDAR point cloud and camera image.",
+          "default": 0.5
+        },
+        "max_wait_t": {
+          "type": "number",
+          "description": "The maximum time waiting for the LiDAR point cloud.",
+          "default": 0.05
+        },
+        "max_occlusion_ratio": {
+          "type": "integer",
+          "description": "Maximum occlusion ratio for traffic lights.",
+          "default": 50
+        }
+      },
+      "required": [
+        "azimuth_occlusion_resolution_deg",
+        "elevation_occlusion_resolution_deg",
+        "max_valid_pt_dist",
+        "max_image_cloud_delay",
+        "max_wait_t",
+        "max_occlusion_ratio"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/autoware_traffic_light_occlusion_predictor"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/perception/autoware_traffic_light_occlusion_predictor/src/node.cpp b/perception/autoware_traffic_light_occlusion_predictor/src/node.cpp
@@ -62,13 +62,13 @@ TrafficLightOcclusionPredictorNode::TrafficLightOcclusionPredictorNode(
 
   // configuration parameters
   config_.azimuth_occlusion_resolution_deg =
-    declare_parameter<double>("azimuth_occlusion_resolution_deg", 0.15);
+    declare_parameter<double>("azimuth_occlusion_resolution_deg");
   config_.elevation_occlusion_resolution_deg =
-    declare_parameter<double>("elevation_occlusion_resolution_deg", 0.08);
-  config_.max_valid_pt_dist = declare_parameter<double>("max_valid_pt_dist", 50.0);
-  config_.max_image_cloud_delay = declare_parameter<double>("max_image_cloud_delay", 1.0);
-  config_.max_wait_t = declare_parameter<double>("max_wait_t", 0.02);
-  config_.max_occlusion_ratio = declare_parameter<int>("max_occlusion_ratio", 50);
+    declare_parameter<double>("elevation_occlusion_resolution_deg");
+  config_.max_valid_pt_dist = declare_parameter<double>("max_valid_pt_dist");
+  config_.max_image_cloud_delay = declare_parameter<double>("max_image_cloud_delay");
+  config_.max_wait_t = declare_parameter<double>("max_wait_t");
+  config_.max_occlusion_ratio = declare_parameter<int>("max_occlusion_ratio");
 
   cloud_occlusion_predictor_ = std::make_shared<CloudOcclusionPredictor>(
     this, config_.max_valid_pt_dist, config_.azimuth_occlusion_resolution_deg,