refactor(ad_api_adaptors): rework parameter (#8796)

* refactor(ad_api_adaptors): rework parameter * <refactor(ad_api_adaptors): rework parameter> * ad_api_adaptors.schema.json * style(pre-commit): autofix * refactor(ad_api_adaptors): rework parameter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Sep 24, 2024 · 897e2a9 · 897e2a9
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diff --git a/system/default_ad_api_helpers/ad_api_adaptors/README.md b/system/default_ad_api_helpers/ad_api_adaptors/README.md
@@ -29,3 +29,7 @@ The clear API is called automatically before setting the route.
 | Client       | -                  | /api/routing/clear_route              | The route clear API.                               |
 | Client       | -                  | /api/routing/set_route_points         | The route points set API.                          |
 | Client       | -                  | /api/routing/change_route_points      | The route points change API.                       |
+
+## parameters
+
+{{ json_to_markdown("/system/default_ad_api_helpers/ad_api_adaptors/schema/ad_api_adaptors.schema.json") }}
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/schema/ad_api_adaptors.schema.json b/system/default_ad_api_helpers/ad_api_adaptors/schema/ad_api_adaptors.schema.json
@@ -0,0 +1,37 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "ad_api_adaptors parameter",
+  "type": "object",
+  "definitions": {
+    "ad_api_adaptors": {
+      "type": "object",
+      "properties": {
+        "initial_pose_particle_covariance": {
+          "type": "array",
+          "description": "initial_pose_particle_covariance",
+          "default": [
+            4.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,
+            0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,
+            0.0, 1.0
+          ]
+        }
+      },
+      "required": ["initial_pose_particle_covariance"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/initial_pose_particle_covariance"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}