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refactor(localization_error_monitor): rework parameters #6156

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8 changes: 1 addition & 7 deletions localization/localization_error_monitor/README.md
Original file line number Diff line number Diff line change
Expand Up @@ -29,10 +29,4 @@ The package monitors the following two values:

## Parameters

| Name | Type | Description |
| -------------------------------------- | ------ | -------------------------------------------------------------------------------------------- |
| `scale` | double | scale factor for monitored values (default: 3.0) |
| `error_ellipse_size` | double | error threshold for long radius of confidence ellipse [m] (default: 1.0) |
| `warn_ellipse_size` | double | warning threshold for long radius of confidence ellipse [m] (default: 0.8) |
| `error_ellipse_size_lateral_direction` | double | error threshold for size of confidence ellipse along lateral direction [m] (default: 0.3) |
| `warn_ellipse_size_lateral_direction` | double | warning threshold for size of confidence ellipse along lateral direction [m] (default: 0.25) |
{{ json_to_markdown("localization/localization_error_monitor/schema/localization_error_monitor.schema.json") }}
Original file line number Diff line number Diff line change
@@ -0,0 +1,56 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Localization Error Monitor node",
"type": "object",
"definitions": {
"localization_error_monitor": {
"type": "object",
"properties": {
"scale": {
"type": "number",
"default": 3.0,
"description": "scale factor for monitored values"
},
"error_ellipse_size": {
"type": "number",
"default": 1.5,
"description": "error threshold for long radius of confidence ellipse [m]"
},
"warn_ellipse_size": {
"type": "number",
"default": 1.2,
"description": "warning threshold for long radius of confidence ellipse [m]"
},
"error_ellipse_size_lateral_direction": {
"type": "number",
"default": 0.3,
"description": "error threshold for size of confidence ellipse along lateral direction [m]"
},
"warn_ellipse_size_lateral_direction": {
"type": "number",
"default": 0.25,
"description": "warning threshold for size of confidence ellipse along lateral direction [m]"
}
},
"required": [
"scale",
"error_ellipse_size",
"warn_ellipse_size",
"error_ellipse_size_lateral_direction",
"warn_ellipse_size_lateral_direction"
]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/localization_error_monitor"
}
},
"required": ["ros__parameters"]
}
},
"required": ["/**"]
}
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