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

perception/autoware_bytetrack/README.md

@@ -65,17 +65,9 @@ Kalman filter settings can be controlled by the parameters in `config/bytetrack_
 
 ## Parameters
 
-### bytetrack_node
-
-| Name                  | Type | Default Value | Description                                              |
-| --------------------- | ---- | ------------- | -------------------------------------------------------- |
-| `track_buffer_length` | int  | 30            | The frame count that a tracklet is considered to be lost |
-
-### bytetrack_visualizer
-
-| Name      | Type | Default Value | Description                                                                                   |
-| --------- | ---- | ------------- | --------------------------------------------------------------------------------------------- |
-| `use_raw` | bool | false         | The flag for the node to switch `sensor_msgs/Image` or `sensor_msgs/CompressedImage` as input |
+{{ json_to_markdown("perception/autoware_bytetrack/schema/bytetrack_visualizer.schema.json") }}
+{{ json_to_markdown("perception/autoware_bytetrack/schema/bytetrack.schema.json") }}
+{{ json_to_markdown("perception/autoware_bytetrack/schema/kalman_filter.schema.json") }}
 
 ## Assumptions/Known limits
 

perception/autoware_bytetrack/schema/bytetrack.schema.json

@@ -0,0 +1,33 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "autoware_bytetrack parameter",
+  "type": "object",
+  "definitions": {
+    "bytetrack": {
+      "type": "object",
+      "properties": {
+        "track_buffer_length": {
+          "type": "integer",
+          "description": "The frame count that a tracklet is considered to be lost.",
+          "default": 30
+        }
+      },
+      "required": ["track_buffer_length"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/bytetrack"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

perception/autoware_bytetrack/schema/bytetrack_visualizer.schema.json

@@ -0,0 +1,33 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "autoware_bytetrack parameter",
+  "type": "object",
+  "definitions": {
+    "bytetrack_visualizer": {
+      "type": "object",
+      "properties": {
+        "use_raw": {
+          "type": "boolean",
+          "description": "The flag for the node to switch between `sensor_msgs/Image` or `sensor_msgs/CompressedImage` as input.",
+          "default": false
+        }
+      },
+      "required": ["use_raw"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/bytetrack_visualizer"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

perception/autoware_bytetrack/schema/kalman_filter.schema.json

@@ -0,0 +1,107 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "autoware_bytetrack parameter",
+  "type": "object",
+  "definitions": {
+    "kalman_filter": {
+      "type": "object",
+      "properties": {
+        "dt": {
+          "type": "number",
+          "description": "Time step [s].",
+          "default": 0.1
+        },
+        "dim_x": {
+          "type": "integer",
+          "description": "State dimension (tlbr + velocity).",
+          "default": 8
+        },
+        "dim_z": {
+          "type": "integer",
+          "description": "Measurement dimension (tlbr).",
+          "default": 4
+        },
+        "q_cov_x": {
+          "type": "number",
+          "description": "Process noise covariance for x.",
+          "default": 0.1
+        },
+        "q_cov_y": {
+          "type": "number",
+          "description": "Process noise covariance for y.",
+          "default": 0.1
+        },
+        "q_cov_vx": {
+          "type": "number",
+          "description": "Process noise covariance for velocity x.",
+          "default": 0.1
+        },
+        "q_cov_vy": {
+          "type": "number",
+          "description": "Process noise covariance for velocity y.",
+          "default": 0.1
+        },
+        "r_cov_x": {
+          "type": "number",
+          "description": "Measurement noise covariance for x.",
+          "default": 0.1
+        },
+        "r_cov_y": {
+          "type": "number",
+          "description": "Measurement noise covariance for y.",
+          "default": 0.1
+        },
+        "p0_cov_x": {
+          "type": "number",
+          "description": "Initial covariance for x.",
+          "default": 100.0
+        },
+        "p0_cov_y": {
+          "type": "number",
+          "description": "Initial covariance for y.",
+          "default": 100.0
+        },
+        "p0_cov_vx": {
+          "type": "number",
+          "description": "Initial covariance for velocity x.",
+          "default": 100.0
+        },
+        "p0_cov_vy": {
+          "type": "number",
+          "description": "Initial covariance for velocity y.",
+          "default": 100.0
+        }
+      },
+      "required": [
+        "dt",
+        "dim_x",
+        "dim_z",
+        "q_cov_x",
+        "q_cov_y",
+        "q_cov_vx",
+        "q_cov_vy",
+        "r_cov_x",
+        "r_cov_y",
+        "p0_cov_x",
+        "p0_cov_y",
+        "p0_cov_vx",
+        "p0_cov_vy"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/kalman_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

perception/autoware_bytetrack/src/bytetrack_node.cpp

@@ -33,7 +33,7 @@ ByteTrackNode::ByteTrackNode(const rclcpp::NodeOptions & node_options)
   using std::placeholders::_1;
   using std::chrono_literals::operator""ms;
 
-  int track_buffer_length = declare_parameter("track_buffer_length", 30);
+  int track_buffer_length = declare_parameter("track_buffer_length");
 
   this->bytetrack_ = std::make_unique<autoware::bytetrack::ByteTrack>(track_buffer_length);