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feat(continental): add radar json schema
Signed-off-by: amadeuszsz <[email protected]>
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13 changes: 7 additions & 6 deletions
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nebula_ros/config/continental/ARS548.yaml → ...onfig/radar/continental/ARS548.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Radar Continental ARS548 parameters.", | ||
| "type": "object", | ||
| "definitions": { | ||
| "ARS548": { | ||
| "type": "object", | ||
| "properties": { | ||
| }, | ||
| "allOf": [ | ||
| { | ||
| "$ref": "sub/continental.json#/definitions/continental" | ||
| } | ||
| ], | ||
| "required": [ | ||
| ] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/ARS548" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "ros__parameters" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": [ | ||
| "/**" | ||
| ], | ||
| "additionalProperties": false | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,91 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Radar Continental common parameters.", | ||
| "type": "object", | ||
| "definitions": { | ||
| "continental": { | ||
| "type": "object", | ||
| "properties": { | ||
| "multicast_ip": { | ||
| "type": "string", | ||
| "default": "224.0.0.2", | ||
| "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$", | ||
| "readOnly": true, | ||
| "description": "Multicast IPv4 address." | ||
| }, | ||
| "sensor_model": { | ||
| "type": "string", | ||
| "readOnly": true, | ||
| "enum": [ | ||
| "ARS548" | ||
| ], | ||
| "description": "Radar Continental model." | ||
| }, | ||
| "configuration_host_port": { | ||
| "type": "integer", | ||
| "default": 42401, | ||
| "minimum": 0, | ||
| "readOnly": true, | ||
| "description": "Host configuration port." | ||
| }, | ||
| "configuration_sensor_port": { | ||
| "type": "integer", | ||
| "default": 42101, | ||
| "minimum": 0, | ||
| "readOnly": true, | ||
| "description": "Sensor configuration port." | ||
| }, | ||
| "use_sensor_time": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "readOnly": true, | ||
| "description": "Use sensor time." | ||
| }, | ||
| "configuration_vehicle_length": { | ||
| "type": "number", | ||
| "default": 4.9, | ||
| "minimum": 0.0, | ||
| "readOnly": true, | ||
| "description": "New vehicle length." | ||
| }, | ||
| "configuration_vehicle_width": { | ||
| "type": "number", | ||
| "default": 1.9, | ||
| "minimum": 0.0, | ||
| "readOnly": true, | ||
| "description": "New vehicle width." | ||
| }, | ||
| "configuration_vehicle_height": { | ||
| "type": "number", | ||
| "default": 2.5, | ||
| "minimum": 0.0, | ||
| "readOnly": true, | ||
| "description": "New vehicle height." | ||
| }, | ||
| "configuration_vehicle_wheelbase": { | ||
| "type": "number", | ||
| "default": 2.8, | ||
| "minimum": 0.0, | ||
| "readOnly": true, | ||
| "description": "New vehicle wheelbase" | ||
| } | ||
| }, | ||
| "allOf": [ | ||
| { | ||
| "$ref": "radar.json#/definitions/radar" | ||
| } | ||
| ], | ||
| "required": [ | ||
| "multicast_ip", | ||
| "sensor_model", | ||
| "configuration_host_port", | ||
| "configuration_sensor_port", | ||
| "use_sensor_time", | ||
| "configuration_vehicle_length", | ||
| "configuration_vehicle_width", | ||
| "configuration_vehicle_height", | ||
| "configuration_vehicle_wheelbase" | ||
| ] | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Radar common parameters.", | ||
| "type": "object", | ||
| "definitions": { | ||
| "radar": { | ||
| "type": "object", | ||
| "properties": { | ||
| "base_frame": { | ||
| "type": "string", | ||
| "default": "base_link", | ||
| "description": "Frame with true sensor pose. The final sensor data is transformed by base_frame -> frame_id." | ||
| }, | ||
| "object_frame": { | ||
| "type": "string", | ||
| "default": "base_link", | ||
| "description": "Tracked objects frame." | ||
| }, | ||
| "launch_hw": { | ||
| "type": "boolean", | ||
| "readOnly": true, | ||
| "description": "Launch hardware." | ||
| } | ||
| }, | ||
| "allOf": [ | ||
| { | ||
| "$ref": "nebula.json#/definitions/nebula" | ||
| } | ||
| ], | ||
| "required": [ | ||
| "base_frame", | ||
| "object_frame", | ||
| "launch_hw" | ||
| ] | ||
| } | ||
| } | ||
| } |