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feat(autoware_traffic_light_multi_camera_fusion): Created Schema file and updated ReadME file for parameters setting #9994

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feat(autoware_traffic_light_multi_camera_fusion): Created Schema file and updated ReadME file for parameters setting #9994

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2f91cac
feat(autoware_traffic_light_multi_camera_fusion): Created Schema file…
vish0012 Jan 21, 2025
e0c72de
style(pre-commit): autofix
pre-commit-ci[bot] Jan 21, 2025
6f07ca7
Merge branch 'main' into add-schema-autoware_traffic_light_multi_came…
MasatoSaeki Jan 21, 2025
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7 changes: 1 addition & 6 deletions perception/autoware_traffic_light_multi_camera_fusion/README.md
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Expand Up @@ -34,9 +34,4 @@ You don't need to configure these topics manually. Just provide the `camera_name

## Node parameters

| Parameter | Type | Description |
| ---------------------- | --------------- | ------------------------------------------------ |
| `camera_namespaces` | vector\<string> | Camera Namespaces to be fused |
| `message_lifespan` | double | The maximum timestamp span to be fused |
| `approximate_sync` | bool | Whether work in Approximate Synchronization Mode |
| `perform_group_fusion` | bool | Whether perform Group Fusion |
{{ json_to_markdown("perception/autoware_traffic_light_multi_camera_fusion/schema/traffic_light_multi_camera_fusion.schema.json") }}
56 changes: 56 additions & 0 deletions ...re_traffic_light_multi_camera_fusion/schema/traffic_light_multi_camera_fusion.schema.json
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@@ -0,0 +1,56 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "autoware_traffic_light_multi_camera_fusion parameter",
"type": "object",
"definitions": {
"autoware_traffic_light_multi_camera_fusion": {
"type": "object",
"properties": {
"camera_namespaces": {
"type": "array",
"description": "Camera namespaces to be fused.",
"items": {
"type": "string"
},
"default": []
},
"message_lifespan": {
"type": "number",
"description": "The maximum timestamp span to be fused.",
"default": 0.0
},
"approximate_sync": {
"type": "boolean",
"description": "Whether to work in Approximate Synchronization Mode.",
"default": false
},
"perform_group_fusion": {
"type": "boolean",
"description": "Whether to perform Group Fusion.",
"default": false
}
Comment on lines +27 to +31
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Suggested change
"perform_group_fusion": {
"type": "boolean",
"description": "Whether to perform Group Fusion.",
"default": false
}

This parameter is not used. So delete it

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And could you delete perform_group_fusion in ***.param.yaml too?

},
"required": [
"camera_namespaces",
"message_lifespan",
"approximate_sync",
"perform_group_fusion"
],
Comment on lines +33 to +38
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Suggested change
"required": [
"camera_namespaces",
"message_lifespan",
"approximate_sync",
"perform_group_fusion"
],
"required": [
"camera_namespaces",
"message_lifespan",
"approximate_sync",
],

"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/autoware_traffic_light_multi_camera_fusion"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
2 changes: 1 addition & 1 deletion ...autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp
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Expand Up @@ -150,7 +150,7 @@ MultiCameraFusion::MultiCameraFusion(const rclcpp::NodeOptions & node_options)
std::vector<std::string> camera_namespaces =
this->declare_parameter("camera_namespaces", std::vector<std::string>{});
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this->declare_parameter("camera_namespaces", std::vector<std::string>{});
this->declare_parameter<std::vector<std::string>>("camera_namespaces");

is_approximate_sync_ = this->declare_parameter<bool>("approximate_sync", false);
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is_approximate_sync_ = this->declare_parameter<bool>("approximate_sync", false);
is_approximate_sync_ = this->declare_parameter<bool>("approximate_sync");

message_lifespan_ = this->declare_parameter<double>("message_lifespan", 0.09);
message_lifespan_ = this->declare_parameter<double>("message_lifespan");
for (const std::string & camera_ns : camera_namespaces) {
std::string signal_topic = camera_ns + "/classification/traffic_signals";
std::string roi_topic = camera_ns + "/detection/rois";
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