refactor(autoware_planning_evaluator): devops node dojo (autowarefoun…

…dation#8746)

Signed-off-by: odra <me@lrossetti.com>

evaluator/autoware_planning_evaluator/CMakeLists.txt

@@ -31,6 +31,6 @@ endif()
 
 ament_auto_package(
  INSTALL_TO_SHARE
- param
  launch
+ config
 )

evaluator/autoware_planning_evaluator/README.md

@@ -67,15 +67,7 @@ to a file as specified by the `output_file` parameter.
 
 ## Parameters
 
-| Name | Type | Description |
-| :-------------------------------- | :------- | :-------------------------------------------------------------------------- |
-| `output_file` | `string` | file used to write metrics |
-| `ego_frame` | `string` | frame used for the ego pose |
-| `selected_metrics` | List | metrics to measure and publish |
-| `trajectory.min_point_dist_m` | `double` | minimum distance between two successive points to use for angle calculation |
-| `trajectory.lookahead.max_dist_m` | `double` | maximum distance from ego along the trajectory to use for calculation |
-| `trajectory.lookahead.max_time_m` | `double` | maximum time ahead of ego along the trajectory to use for calculation |
-| `obstacle.dist_thr_m` | `double` | distance between ego and the obstacle below which a collision is considered |
+{{ json_to_markdown("evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json") }}
 
 ## Assumptions / Known limits
 

evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml

@@ -12,7 +12,7 @@
  <!-- planning evaluator -->
  <group>
  <node name="planning_evaluator" exec="planning_evaluator" pkg="autoware_planning_evaluator">
- <param from="$(find-pkg-share autoware_planning_evaluator)/param/planning_evaluator.defaults.yaml"/>
+ <param from="$(find-pkg-share autoware_planning_evaluator)/config/planning_evaluator.param.yaml"/>
  <remap from="~/input/odometry" to="$(var input/odometry)"/>
  <remap from="~/input/acceleration" to="$(var input/acceleration)"/>
  <remap from="~/input/trajectory" to="$(var input/trajectory)"/>

evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json

@@ -0,0 +1,100 @@
+{
+ "$schema": "http://json-schema.org/draft-07/schema#",
+ "title": "Parameters for Autoware Planning Evaluator Nodes",
+ "type": "object",
+ "definitions": {
+ "autoware_planning_evaluator": {
+ "type": "object",
+ "properties": {
+ "output_file": {
+ "description": "output metrics file path",
+ "type": "string",
+ "default": ""
+ },
+ "ego_frame": {
+ "description": "reference frame of ego",
+ "type": "string",
+ "default": "base_link"
+ },
+ "selected_metrics": {
+ "description": "metrics to collect/record",
+ "type": "array",
+ "items": {
+ "type": "string"
+ },
+ "default": [
+ "curvature",
+ "point_interval",
+ "relative_angle",
+ "length",
+ "duration",
+ "velocity",
+ "acceleration",
+ "jerk",
+ "lateral_deviation",
+ "yaw_deviation",
+ "velocity_deviation",
+ "stability",
+ "stability_frechet",
+ "obstacle_distance",
+ "obstacle_ttc",
+ "modified_goal_longitudinal_deviation",
+ "modified_goal_lateral_deviation",
+ "modified_goal_yaw_deviation"
+ ]
+ },
+ "trajectory": {
+ "description": "trajectory object",
+ "type": "object",
+ "properties": {
+ "min_point_dist_m": {
+ "description": "minimum distance between two successive points to use for angle calculation",
+ "type": "number",
+ "default": 0.1
+ },
+ "lookahead": {
+ "description": "lookahead object",
+ "type": "object",
+ "properties": {
+ "max_dist_m": {
+ "description": "maximum distance from ego along the trajectory to use for calculation",
+ "type": "number",
+ "default": 5.0
+ },
+ "max_time_s": {
+ "description": "maximum time ahead of ego along the trajectory to use for calculation",
+ "type": "number",
+ "default": 3.0
+ }
+ }
+ }
+ }
+ },
+ "obstacle": {
+ "description": "obstacle object",
+ "type": "object",
+ "properties": {
+ "dist_thr_m": {
+ "description": "distance between ego and the obstacle below which a collision is considered",
+ "type": "number",
+ "default": 1.0
+ }
+ }
+ }
+ },
+ "required": ["ego_frame", "selected_metrics", "trajectory", "obstacle"]
+ }
+ },
+ "properties": {
+ "/**": {
+ "type": "object",
+ "properties": {
+ "ros__parameters": {
+ "$ref": "#/definitions/autoware_planning_evaluator"
+ }
+ },
+ "required": ["ros__parameters"]
+ }
+ },
+ "required": ["/**"]
+}

evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp

@@ -53,7 +53,7 @@ class EvalTest : public ::testing::Test
  const auto share_dir =
  ament_index_cpp::get_package_share_directory("autoware_planning_evaluator");
  options.arguments(
- {"--ros-args", "--params-file", share_dir + "/param/planning_evaluator.defaults.yaml"});
+ {"--ros-args", "--params-file", share_dir + "/config/planning_evaluator.param.yaml"});
 
  dummy_node = std::make_shared<rclcpp::Node>("planning_evaluator_test_node");
  eval_node = std::make_shared<EvalNode>(options);