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1 change: 0 additions & 1 deletion perception/probabilistic_occupancy_grid_map/README.md
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Expand Up @@ -28,7 +28,6 @@ You may need to choose `scan_origin_frame` and `gridmap_origin_frame` which mean
{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }}
{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }}


### Downsample input pointcloud(Optional)

If you set `downsample_input_pointcloud` to `true`, the input pointcloud will be downsampled and following topics are also used. This feature is currently only for the pointcloud based occupancy grid map.
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110 changes: 57 additions & 53 deletions perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json
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@@ -1,57 +1,61 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Binary Bayes Filter Updater",
"type": "object",
"definitions": {
"binary_bayes_filter_updater": {
"type": "object",
"properties": {
"probability_matrix": {
"type": "object",
"properties": {
"occupied_to_occupied": {
"type": "number",
"description": "Probability of transitioning from occupied to occupied state.",
"default": 0.95
},
"occupied_to_free": {
"type": "number",
"description": "Probability of transitioning from occupied to free state.",
"default": 0.05
},
"free_to_occupied": {
"type": "number",
"description": "Probability of transitioning from free to occupied state.",
"default": 0.2
},
"free_to_free": {
"type": "number",
"description": "Probability of transitioning from free to free state.",
"default": 0.8
}
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Binary Bayes Filter Updater",
"type": "object",
"definitions": {
"binary_bayes_filter_updater": {
"type": "object",
"properties": {
"probability_matrix": {
"type": "object",
"properties": {
"occupied_to_occupied": {
"type": "number",
"description": "Probability of transitioning from occupied to occupied state.",
"default": 0.95
},
"required": ["occupied_to_occupied", "occupied_to_free", "free_to_occupied", "free_to_free"]
"occupied_to_free": {
"type": "number",
"description": "Probability of transitioning from occupied to free state.",
"default": 0.05
},
"free_to_occupied": {
"type": "number",
"description": "Probability of transitioning from free to occupied state.",
"default": 0.2
},
"free_to_free": {
"type": "number",
"description": "Probability of transitioning from free to free state.",
"default": 0.8
}
},
"v_ratio": {
"type": "number",
"description": "Ratio of the variance used in the filter.",
"default": 0.1
}
},
"required": ["probability_matrix", "v_ratio"]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/binary_bayes_filter_updater"
}
"required": [
"occupied_to_occupied",
"occupied_to_free",
"free_to_occupied",
"free_to_free"
]
},
"required": ["ros__parameters"]
}
},
"required": ["/**"]
}

"v_ratio": {
"type": "number",
"description": "Ratio of the variance used in the filter.",
"default": 0.1
}
},
"required": ["probability_matrix", "v_ratio"]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/binary_bayes_filter_updater"
}
},
"required": ["ros__parameters"]
}
},
"required": ["/**"]
}
143 changes: 71 additions & 72 deletions perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json
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@@ -1,77 +1,76 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Grid Map",
"type": "object",
"definitions": {
"visualization_params": {
"type": "object",
"properties": {
"type": {
"type": "string",
"description": "The type of grid map visualization.",
"default": "occupancy_grid"
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Grid Map",
"type": "object",
"definitions": {
"visualization_params": {
"type": "object",
"properties": {
"type": {
"type": "string",
"description": "The type of grid map visualization.",
"default": "occupancy_grid"
},
"params": {
"type": "object",
"properties": {
"layer": {
"type": "string",
"description": "The layer of the grid map visualization.",
"default": "filled_free_to_farthest"
},
"data_min": {
"type": "number",
"description": "The minimum data value for the visualization.",
"default": 0.0
},
"data_max": {
"type": "number",
"description": "The maximum data value for the visualization.",
"default": 100.0
}
},
"params": {
"type": "object",
"properties": {
"layer": {
"type": "string",
"description": "The layer of the grid map visualization.",
"default": "filled_free_to_farthest"
},
"data_min": {
"type": "number",
"description": "The minimum data value for the visualization.",
"default": 0.0
},
"data_max": {
"type": "number",
"description": "The maximum data value for the visualization.",
"default": 100.0
}
"required": ["layer", "data_min", "data_max"]
}
},
"required": ["type", "params"]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"grid_map_topic": {
"type": "string",
"description": "The topic name for the grid map.",
"default": "/perception/occupancy_grid_map/occupancy_grid_map_node/debug/grid_map"
},
"required": ["layer", "data_min", "data_max"]
}
},
"required": ["type", "params"]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"grid_map_topic": {
"type": "string",
"description": "The topic name for the grid map.",
"default": "/perception/occupancy_grid_map/occupancy_grid_map_node/debug/grid_map"
},
"grid_map_visualizations": {
"type": "array",
"description": "List of grid map visualizations.",
"items": {
"type": "string"
},
"default": ["grid_1st_step", "grid_2nd_step", "grid_3rd_step"]
"grid_map_visualizations": {
"type": "array",
"description": "List of grid map visualizations.",
"items": {
"type": "string"
},
"grid_1st_step": { "$ref": "#/definitions/visualization_params" },
"grid_2nd_step": { "$ref": "#/definitions/visualization_params" },
"grid_3rd_step": { "$ref": "#/definitions/visualization_params" }
"default": ["grid_1st_step", "grid_2nd_step", "grid_3rd_step"]
},
"required": [
"grid_map_topic",
"grid_map_visualizations",
"grid_1st_step",
"grid_2nd_step",
"grid_3rd_step"
]
}
},
"required": ["ros__parameters"]
}
},
"required": ["/**"]
}

"grid_1st_step": { "$ref": "#/definitions/visualization_params" },
"grid_2nd_step": { "$ref": "#/definitions/visualization_params" },
"grid_3rd_step": { "$ref": "#/definitions/visualization_params" }
},
"required": [
"grid_map_topic",
"grid_map_visualizations",
"grid_1st_step",
"grid_2nd_step",
"grid_3rd_step"
]
}
},
"required": ["ros__parameters"]
}
},
"required": ["/**"]
}
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