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feat(autoware_radar_tracks_noise_filter): Created Schema file and updated ReadME file for parameters setting #9992

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Feb 4, 2025
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feat(autoware_radar_tracks_noise_filter): Created Schema file and updated ReadME file for parameters setting #9992

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d66e02d
feat: Created Schema file and updated ReadME file for parameters set…
vish0012 Jan 21, 2025
db22192
Update radar_tracks_noise_filter.param.yaml
vish0012 Jan 21, 2025
87e45c9
style(pre-commit): autofix
pre-commit-ci[bot] Jan 21, 2025
62d2230
fix: updated launch and schema for autoware_radar_tracks_noise_filte…
vish0012 Jan 28, 2025
7ea82b0
Update README.md
vish0012 Feb 3, 2025
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4 changes: 1 addition & 3 deletions sensing/autoware_radar_tracks_noise_filter/README.md
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Expand Up @@ -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") }}
8 changes: 4 additions & 4 deletions sensing/autoware_radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml
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Expand Up @@ -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>
33 changes: 33 additions & 0 deletions sensing/autoware_radar_tracks_noise_filter/schema/radar_tracks_noise_filter.schema.json
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@@ -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
}
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