feat(autoware_radar_tracks_noise_filter): Created Schema file and upd…

…ated ReadME file for parameters setting (#9992) * feat: Created Schema file and updated ReadME file for parameters settings Signed-off-by: vish0012 <[email protected]> * Update radar_tracks_noise_filter.param.yaml * style(pre-commit): autofix * fix: updated launch and schema for autoware_radar_tracks_noise_filter as per review comments Signed-off-by: vish0012 <[email protected]> * Update README.md Updated README File --------- Signed-off-by: vish0012 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Feb 4, 2025 · 9d965fb · 9d965fb
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diff --git a/sensing/autoware_radar_tracks_noise_filter/README.md b/sensing/autoware_radar_tracks_noise_filter/README.md
@@ -29,6 +29,4 @@ In y-axis threshold filter, if y-axis velocity of RadarTrack is more than `veloc
 
 ## Parameters
 
-| Name                   | Type   | Description                                                                                                                        | Default value |
-| :--------------------- | :----- | :--------------------------------------------------------------------------------------------------------------------------------- | :------------ |
-| `velocity_y_threshold` | double | Y-axis velocity threshold [m/s]. If y-axis velocity of RadarTrack is more than `velocity_y_threshold`, it treats as noise objects. | 7.0           |
+{{ json_to_markdown("sensing/autoware_radar_tracks_noise_filter/schema/<radar_tracks_noise_filter.schema.json") }}
diff --git a/sensing/autoware_radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml b/sensing/autoware_radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml
@@ -5,9 +5,9 @@
   <arg name="param_path" default="$(find-pkg-share autoware_radar_tracks_noise_filter)/config/radar_tracks_noise_filter.param.yaml"/>
 
   <node pkg="autoware_radar_tracks_noise_filter" exec="radar_tracks_noise_filter_node" name="radar_tracks_noise_filter" output="screen">
-    <remap from="~/input/tracks" to="$(var input/tracks)"/>
-    <remap from="~/output/noise_tracks" to="$(var output/noise_tracks)"/>
-    <remap from="~/output/filtered_tracks" to="$(var output/filtered_tracks)"/>
-    <param from="$(var param_path)"/>
+    <remap from="~/input/tracks" to="$(arg input/tracks)"/>
+    <remap from="~/output/noise_tracks" to="$(arg output/noise_tracks)"/>
+    <remap from="~/output/filtered_tracks" to="$(arg output/filtered_tracks)"/>
+    <param file="$(arg param_path)"/>
   </node>
 </launch>
diff --git a/sensing/autoware_radar_tracks_noise_filter/schema/radar_tracks_noise_filter.schema.json b/sensing/autoware_radar_tracks_noise_filter/schema/radar_tracks_noise_filter.schema.json
@@ -0,0 +1,33 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "autoware_radar_tracks_noise_filter parameters",
+  "type": "object",
+  "definitions": {
+    "autoware_radar_tracks_noise_filter": {
+      "type": "object",
+      "properties": {
+        "velocity_y_threshold": {
+          "type": "number",
+          "description": "If the y-axis velocity of a RadarTrack exceeds `velocity_y_threshold`, it is treated as a noise object.",
+          "default": 7.0
+        }
+      },
+      "required": ["velocity_y_threshold"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/autoware_radar_tracks_noise_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}