chore(sensing, perception): fix universe documentation

perception/autoware_object_merger/README.md

@@ -25,8 +25,16 @@ The successive shortest path algorithm is used to solve the data association pro
 
 ## Parameters
 
+- object association merger
+
 {{ json_to_markdown("perception/autoware_object_merger/schema/object_association_merger.schema.json") }}
+
+- data association matrix
+
 {{ json_to_markdown("perception/autoware_object_merger/schema/data_association_matrix.schema.json") }}
+
+- overlapped judge
+
 {{ json_to_markdown("perception/autoware_object_merger/schema/overlapped_judge.schema.json") }}
 
 ## Tips

perception/autoware_object_merger/schema/data_association_matrix.schema.json

@@ -2,7 +2,7 @@
   "$schema": "http://json-schema.org/draft-07/schema#",
   "title": "Data Association Matrix Parameters",
   "type": "object",
-  "properties": {
+  "definitions": {
     "ros__parameters": {
       "type": "object",
       "properties": {
@@ -11,27 +11,52 @@
           "items": {
             "type": "number"
           },
+          "default": [
+            0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1,
+            0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0,
+            0, 0, 0, 1, 1, 1
+          ],
           "description": "Assignment table for data association"
         },
         "max_dist_matrix": {
           "type": "array",
           "items": {
             "type": "number"
           },
+          "default": [
+            4.0, 4.0, 5.0, 5.0, 5.0, 2.0, 2.0, 2.0, 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 5.0,
+            5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 5.0, 5.0,
+            5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, 2.0, 1.0, 1.0,
+            1.0, 1.0, 3.0, 3.0, 3.0, 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0
+          ],
           "description": "Maximum distance table for data association"
         },
         "max_rad_matrix": {
           "type": "array",
           "items": {
             "type": "number"
           },
+          "default": [
+            3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15,
+            3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047,
+            1.047, 1.047, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15,
+            3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15,
+            3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15
+          ],
+
           "description": "Maximum angle table for data association. If value is greater than pi, it will be ignored."
         },
         "min_iou_matrix": {
           "type": "array",
           "items": {
             "type": "number"
           },
+          "default": [
+            0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.3, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, 0.1,
+            0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.2,
+            0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1,
+            0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1
+          ],
           "description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored."
         }
       },

perception/autoware_object_merger/schema/overlapped_judge.schema.json

@@ -2,7 +2,7 @@
   "$schema": "http://json-schema.org/draft-07/schema#",
   "title": "Overlapped Judge Parameters",
   "type": "object",
-  "properties": {
+  "definitions": {
     "ros__parameters": {
       "type": "object",
       "properties": {
@@ -11,13 +11,15 @@
           "items": {
             "type": "number"
           },
+          "default": [9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0],
           "description": "Distance threshold for each class used in judging overlap."
         },
         "generalized_iou_threshold": {
           "type": "array",
           "items": {
             "type": "number"
           },
+          "default": [-0.1, -0.1, -0.1, -0.6, -0.6, -0.1, -0.1, -0.1],
           "description": "Generalized IoU threshold for each class."
         }
       },

perception/autoware_occupancy_grid_map_outlier_filter/README.md

@@ -40,7 +40,7 @@ The following video is a sample. Yellow points are high occupancy probability, g
 
 ## Parameters
 
-{{ json_to_markdown("perception/occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }}
+{{ json_to_markdown("perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }}
 
 ## Assumptions / Known limits
 

perception/autoware_probabilistic_occupancy_grid_map/README.md

@@ -21,12 +21,29 @@ You may need to choose `scan_origin_frame` and `gridmap_origin_frame` which mean
 
 ### Parameters
 
-{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }}
-{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }}
-{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }}
-{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }}
-{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }}
-{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }}
+- binary bayes filter updater
+
+  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }}
+
+- grid map
+
+  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }}
+
+- laserscan based occupancy grid map
+
+  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }}
+
+- multi lidar pointcloud based occupancy grid map
+
+  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }}
+
+- pointcloud based occupancy grid map
+
+  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }}
+
+- synchronized grid map fusion
+
+  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }}
 
 ### Downsample input pointcloud(Optional)
 

perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json

@@ -2,7 +2,7 @@
   "$schema": "http://json-schema.org/draft-07/schema#",
   "title": "Parameters for Synchronized Grid Map Fusion Node",
   "type": "object",
-  "properties": {
+  "definitions": {
     "/**": {
       "type": "object",
       "properties": {

sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md

@@ -48,7 +48,7 @@ These implementations inherit `autoware::pointcloud_preprocessor::Filter` class,
 
 ### Pickup Based Voxel Grid Downsample Filter
 
-{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json") }}
 
 ## Assumptions / Known limits
 

sensing/autoware_pointcloud_preprocessor/docs/passthrough-filter.md

@@ -25,8 +25,7 @@ The `passthrough_filter` is a node that removes points on the outside of a range
 
 ### Core Parameters
 
-{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json
-") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json") }}
 
 ## Assumptions / Known limits
 

sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json

@@ -99,7 +99,8 @@
             "type": "number",
             "minimum": 0.0,
             "maximum": 360.0
-          }
+          },
+          "default": [0.0, 360.0]
         },
         "vertical_bins": {
           "type": "integer",