refactor(ground_segmentation): rework parameter

perception/autoware_ground_segmentation/README.md

@@ -43,6 +43,22 @@ Detail description of each ground segmentation algorithm is in the following lin
 | `latched_indices`    | bool   | false         | flag to latch pointcloud indices      |
 | `approximate_sync`   | bool   | false         | flag to use approximate sync option   |
 
+### Ground Segmentation
+
+{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ground_segmentation.schema.json") }}
+
+### RANSAC Ground Filter
+
+{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ransac_ground_filter.schema.json") }}
+
+### Ray Ground Filter
+
+{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ray_ground_filter.schema.json") }}
+
+### Scan Ground Filter
+
+{{ json_to_markdown("perception/autoware_ground_segmentation/schema/scan_ground_filter.schema.json") }}
+
 ## Assumptions / Known limits
 
 `autoware::pointcloud_preprocessor::Filter` is implemented based on pcl_perception [1] because of [this issue](https://github.com/ros-perception/perception_pcl/issues/9).

perception/autoware_ground_segmentation/schema/ground_segmentation.schema.json

@@ -0,0 +1,131 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Ground Segmentation Node Params",
+  "type": "object",
+  "definitions": {
+    "ground_segmentation": {
+      "type": "object",
+      "properties": {
+        "global_slope_max_angle_deg": {
+          "type": "number",
+          "description": "global_slope_max_angle_deg",
+          "default": 10.0
+        },
+        "local_slope_max_angle_deg": {
+          "type": "number",
+          "description": "local_slope_max_angle_deg",
+          "default": 13.0
+        },
+        "split_points_distance_tolerance": {
+          "type": "number",
+          "description": "split_points_distance_tolerance",
+          "default": 0.2
+        },
+        "use_virtual_ground_point": {
+          "type": "boolean",
+          "description": "use_virtual_ground_point",
+          "default": true
+        },
+        "split_height_distance": {
+          "type": "number",
+          "description": "split_height_distance",
+          "default": 0.2
+        },
+        "non_ground_height_threshold": {
+          "type": "number",
+          "description": "non_ground_height_threshold",
+          "default": 0.2
+        },
+        "grid_size_m": {
+          "type": "number",
+          "description": "grid_size_m",
+          "default": 0.1
+        },
+        "grid_mode_switch_radius": {
+          "type": "number",
+          "description": "grid_mode_switch_radius",
+          "default": 20.0
+        },
+        "gnd_grid_buffer_size": {
+          "type": "integer",
+          "description": "gnd_grid_buffer_size",
+          "default": 4
+        },
+        "detection_range_z_max": {
+          "type": "number",
+          "description": "detection_range_z_max",
+          "default": 2.5
+        },
+        "elevation_grid_mode": {
+          "type": "boolean",
+          "description": "elevation_grid_mode",
+          "default": true
+        },
+        "low_priority_region_x": {
+          "type": "number",
+          "description": "low_priority_region_x",
+          "default": -20.0
+        },
+        "center_pcl_shift": {
+          "type": "number",
+          "description": "center_pcl_shift",
+          "default": 0.0
+        },
+        "radial_divider_angle_deg": {
+          "type": "number",
+          "description": "radial_divider_angle_deg",
+          "default": 1.0
+        },
+        "use_recheck_ground_cluster": {
+          "type": "boolean",
+          "description": "use_recheck_ground_cluster",
+          "default": true
+        },
+        "use_lowest_point": {
+          "type": "boolean",
+          "description": "use_lowest_point",
+          "default": true
+        },
+        "publish_processing_time_detail": {
+          "type": "boolean",
+          "description": "publish_processing_time_detail",
+          "default": false
+        }
+      },
+      "required": [
+        "global_slope_max_angle_deg",
+        "local_slope_max_angle_deg",
+        "split_points_distance_tolerance",
+        "use_virtual_ground_point",
+        "split_height_distance",
+        "non_ground_height_threshold",
+        "grid_size_m",
+        "grid_mode_switch_radius",
+        "gnd_grid_buffer_size",
+        "detection_range_z_max",
+        "elevation_grid_mode",
+        "low_priority_region_x",
+        "center_pcl_shift",
+        "radial_divider_angle_deg",
+        "use_recheck_ground_cluster",
+        "use_lowest_point",
+        "publish_processing_time_detail"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/ground_segmentation"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

perception/autoware_ground_segmentation/schema/ransac_ground_filter.schema.json

@@ -0,0 +1,107 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "RANSAC Ground Filter Node Params",
+  "type": "object",
+  "definitions": {
+    "ransac_ground_filter": {
+      "type": "object",
+      "properties": {
+        "base_frame": {
+          "type": "string",
+          "description": "base_frame",
+          "default": "base_link"
+        },
+        "unit_axis": {
+          "type": "string",
+          "description": "unit_axis",
+          "default": "z"
+        },
+        "max_iterations": {
+          "type": "integer",
+          "description": "max_iterations",
+          "default": 1000
+        },
+        "min_trial": {
+          "type": "integer",
+          "description": "min_trial",
+          "default": 5000
+        },
+        "min_points": {
+          "type": "integer",
+          "description": "min_points",
+          "default": 1000
+        },
+        "outlier_threshold": {
+          "type": "number",
+          "description": "outlier_threshold",
+          "default": 0.01
+        },
+        "plane_slope_threshold": {
+          "type": "number",
+          "description": "plane_slope_threshold",
+          "default": 10.0
+        },
+        "voxel_size_x": {
+          "type": "number",
+          "description": "voxel_size_x",
+          "default": 0.04
+        },
+        "voxel_size_y": {
+          "type": "number",
+          "description": "voxel_size_y",
+          "default": 0.04
+        },
+        "voxel_size_z": {
+          "type": "number",
+          "description": "voxel_size_z",
+          "default": 0.04
+        },
+        "height_threshold": {
+          "type": "number",
+          "description": "height_threshold",
+          "default": 0.01
+        },
+        "debug": {
+          "type": "boolean",
+          "description": "debug",
+          "default": false
+        },
+        "publish_processing_time_detail": {
+          "type": "boolean",
+          "description": "publish_processing_time_detail",
+          "default": false
+        }
+      },
+      "required": [
+        "base_frame",
+        "unit_axis",
+        "max_iterations",
+        "min_trial",
+        "min_points",
+        "outlier_threshold",
+        "plane_slope_threshold",
+        "voxel_size_x",
+        "voxel_size_y",
+        "voxel_size_z",
+        "height_threshold",
+        "debug",
+        "publish_processing_time_detail"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/ransac_ground_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

perception/autoware_ground_segmentation/schema/ray_ground_filter.schema.json

@@ -0,0 +1,107 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Ray Ground Filter Node Params",
+  "type": "object",
+  "definitions": {
+    "ray_ground_filter": {
+      "type": "object",
+      "properties": {
+        "min_x": {
+          "type": "number",
+          "description": "min_x",
+          "default": -0.01
+        },
+        "max_x": {
+          "type": "number",
+          "description": "max_x",
+          "default": 0.01
+        },
+        "min_y": {
+          "type": "number",
+          "description": "min_y",
+          "default": -0.01
+        },
+        "max_y": {
+          "type": "number",
+          "description": "max_y",
+          "default": 0.01
+        },
+        "use_vehicle_footprint": {
+          "type": "boolean",
+          "description": "use_vehicle_footprint",
+          "default": false
+        },
+        "general_max_slope": {
+          "type": "number",
+          "description": "general_max_slope",
+          "default": 8.0
+        },
+        "local_max_slope": {
+          "type": "number",
+          "description": "local_max_slope",
+          "default": 6.0
+        },
+        "initial_max_slope": {
+          "type": "number",
+          "description": "initial_max_slope",
+          "default": 3.0
+        },
+        "radial_divider_angle": {
+          "type": "number",
+          "description": "radial_divider_angle",
+          "default": 1.0
+        },
+        "min_height_threshold": {
+          "type": "number",
+          "description": "min_height_threshold",
+          "default": 0.15
+        },
+        "concentric_divider_distance": {
+          "type": "number",
+          "description": "concentric_divider_distance",
+          "default": 0.0
+        },
+        "reclass_distance_threshold": {
+          "type": "number",
+          "description": "reclass_distance_threshold",
+          "default": 0.1
+        },
+        "publish_processing_time_detail": {
+          "type": "boolean",
+          "description": "publish_processing_time_detail",
+          "default": false
+        }
+      },
+      "required": [
+        "min_x",
+        "max_x",
+        "min_y",
+        "max_y",
+        "use_vehicle_footprint",
+        "general_max_slope",
+        "local_max_slope",
+        "initial_max_slope",
+        "radial_divider_angle",
+        "min_height_threshold",
+        "concentric_divider_distance",
+        "reclass_distance_threshold",
+        "publish_processing_time_detail"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/ray_ground_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}