refactor(evaluator/localization_evaluator): rework parameters (autowa…

…refoundation#6744)

* add param file and schema

Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com>

* style(pre-commit): autofix

* .

Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com>

* .

Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com>

* .

Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com>

---------

Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com>
Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

evaluator/localization_evaluator/CMakeLists.txt

@@ -40,6 +40,6 @@ endif()
 
 ament_auto_package(
   INSTALL_TO_SHARE
-    param
+    config
     launch
 )

evaluator/localization_evaluator/README.md

@@ -1,3 +1,7 @@
 # Localization Evaluator
 
-TBD
+The Localization Evaluator evaluates the performance of the localization system and provides metrics
+
+## Parameters
+
+{{ json_to_markdown("evaluator/localization_evaluator/schema/localization_evaluator.schema.json") }}

evaluator/localization_evaluator/launch/localization_evaluator.launch.xml

@@ -3,7 +3,7 @@
   <arg name="input/localization/ref" default="/geometry_msgs/PoseWithCovarianceStampedGt"/>
 
   <node name="localization_evaluator" exec="localization_evaluator" pkg="localization_evaluator" output="screen">
-    <param from="$(find-pkg-share localization_evaluator)/param/localization_evaluator.defaults.yaml"/>
+    <param from="$(find-pkg-share localization_evaluator)/config/localization_evaluator.param.yaml"/>
     <remap from="~/input/localization" to="$(var input/localization)"/>
     <remap from="~/input/localization/ref" to="$(var input/localization/ref)"/>
   </node>

evaluator/localization_evaluator/schema/localization_evaluator.schema.json

@@ -0,0 +1,35 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Localization Evaluator",
+  "type": "object",
+  "definitions": {
+    "localization_evaluator": {
+      "type": "object",
+      "properties": {
+        "output_file": {
+          "type": "string",
+          "default": "loc_metrics.results",
+          "description": "if empty, metrics are not written to file"
+        },
+        "selected_metrics": {
+          "type": "array",
+          "default": "['lateral_error', 'absolute_error']",
+          "description": "metrics to be calculated"
+        }
+      },
+      "required": ["output_file", "selected_metrics"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/localization_evaluator"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

evaluator/localization_evaluator/test/test_localization_evaluator_node.cpp

@@ -47,7 +47,7 @@ class EvalTest : public ::testing::Test
     rclcpp::NodeOptions options;
     const auto share_dir = ament_index_cpp::get_package_share_directory("localization_evaluator");
     options.arguments(
-      {"--ros-args", "--params-file", share_dir + "/param/localization_evaluator.defaults.yaml"});
+      {"--ros-args", "--params-file", share_dir + "/config/localization_evaluator.param.yaml"});
 
     dummy_node = std::make_shared<rclcpp::Node>("localization_evaluator_test_node");
     eval_node = std::make_shared<EvalNode>(options);