refactor(traffic_light_visualization): rework parameters (#8168)

* refactor(traffic_light_visualization): rework parameters Signed-off-by: batuhanbeytekin <batuhanbeytekin@gmail.com> * style(pre-commit): autofix Signed-off-by: batuhanbeytekin <batuhanbeytekin@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: batuhanbeytekin <batuhanbeytekin@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Jul 24, 2024 · 5995801 · 5995801
1 parent 3e501cf
commit 5995801
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Showing 5 changed files with 37 additions and 6 deletions.
diff --git a/perception/traffic_light_visualization/CMakeLists.txt b/perception/traffic_light_visualization/CMakeLists.txt
@@ -35,7 +35,7 @@ install(
     DESTINATION share/${PROJECT_NAME}/images
 )
 
-ament_auto_package(
-  INSTALL_TO_SHARE
+ament_auto_package(INSTALL_TO_SHARE
+  config
   launch
 )
diff --git a/perception/traffic_light_visualization/README.md b/perception/traffic_light_visualization/README.md
@@ -55,9 +55,7 @@ None
 
 #### Node Parameters
 
-| Name                    | Type | Default Value | Description                                                     |
-| ----------------------- | ---- | ------------- | --------------------------------------------------------------- |
-| `enable_fine_detection` | bool | false         | whether to visualize result of the traffic light fine detection |
+{{json_to_markdown("perception/traffic_light_visualization/schema/traffic_light_visualization.schema.json")}}
 
 ## Assumptions / Known limits
 

diff --git a/perception/traffic_light_visualization/config/traffic_light_visualization.param.yaml b/perception/traffic_light_visualization/config/traffic_light_visualization.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    enable_fine_detection: false
diff --git a/perception/traffic_light_visualization/schema/traffic_light_visualization.schema.json b/perception/traffic_light_visualization/schema/traffic_light_visualization.schema.json
@@ -0,0 +1,30 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for traffic_light_visualization",
+  "type": "object",
+  "definitions": {
+    "traffic_light_visualization": {
+      "type": "object",
+      "properties": {
+        "enable_fine_detection": {
+          "type": "boolean",
+          "description": "whether to visualize result of the traffic light fine detection",
+          "default": "false"
+        }
+      },
+      "required": ["enable_fine_detection"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/traffic_light_visualization"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp
@@ -31,7 +31,7 @@ TrafficLightRoiVisualizerNode::TrafficLightRoiVisualizerNode(const rclcpp::NodeO
   using std::placeholders::_2;
   using std::placeholders::_3;
   using std::placeholders::_4;
-  enable_fine_detection_ = this->declare_parameter("enable_fine_detection", false);
+  enable_fine_detection_ = this->declare_parameter<bool>("enable_fine_detection");
 
   if (enable_fine_detection_) {
     sync_with_rough_roi_.reset(new SyncWithRoughRoi(