feat(autoware_pointcloud_preprocessor): update the readme file and schema file #10193

vish0012 · 2025-02-25T04:26:48Z

Description

Implement the ROS Node configuration layout described in https://github.com/orgs/autowarefoundation/discussions/3371 for the autoware_pointcloud_preprocessor package.

update json schema
update readme file

How was this PR tested?

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to autoware_pointcloud_preprocessor
ros2 launch launch/autoware_pointcloud_preprocessor.launch.xml

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

…hema file Signed-off-by: vish0012 <vishalchhn42@gmail.com>

github-actions · 2025-02-25T04:27:28Z

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github-actions · 2025-02-25T04:53:41Z

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-10193/
Modified URLs:

https://autowarefoundation.github.io/autoware.universe/pr-10193/sensing/autoware_pointcloud_preprocessor/

Signed-off-by: vish0012 <vishalchhn42@gmail.com>

ambroise-arm · 2025-02-28T13:55:30Z

https://autowarefoundation.github.io/autoware.universe/pr-10193/sensing/autoware_pointcloud_preprocessor/ shows "Macro Rendering Error", is that expected?

mojomex

Thank you for the PR! A few of the schemas seem to have the wrong structure at the bottom (ROS 2 is expecting a namespace like /** as the schema root). I added a few other minor comments too.

You can always check the rendered documentation here: https://autowarefoundation.github.io/autoware.universe/pr-10193/sensing/autoware_pointcloud_preprocessor/

mojomex · 2025-03-05T01:32:29Z

sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json

-          "description": "enable dust diagnostic",
-          "default": "false"
+          "description": "Enable dust diagnostic",
+          "default": false


Some IDEs or plugins interpret false, 0, null, "" as an empty value and auto-fill these fields as in param files. (The VS Code YAML plugin is one such offender)

Thus, please keep quotes around values like the ones mentioned above.

mojomex · 2025-03-05T01:33:58Z

...re_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json

-          "exclusiveMinimum": 0.0
+          "description": "Voxel size along the x-axis [m].",
+          "default": 1.0,
+          "minimum": 0.0


0.0 should stay eclusiveMinimum, right? A voxel size of 0 is not valid as far as I'm aware.

mojomex · 2025-03-05T01:38:52Z

sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json

+    "ros__parameters": {
+      "$ref": "#/definitions/passthrough_filter_uint16_node"
    }
  },
-  "required": ["/**"],
+  "required": ["ros__parameters"],
  "additionalProperties": false


This should stay the same as before, otherwise it will not be read correctly by ROS or the markdown generator.

mojomex · 2025-03-05T01:39:01Z

...re_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json

+    "ros__parameters": {
+      "$ref": "#/definitions/pickup_based_voxel_grid_downsample_filter_node"
    }
  },
-  "required": ["/**"],
+  "required": ["ros__parameters"],


This should stay the same as before, otherwise it will not be read correctly by ROS or the markdown generator.

mojomex · 2025-03-05T01:42:55Z

sensing/autoware_pointcloud_preprocessor/README.md

+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/approximate_downsample_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/dual_return_outlier_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_Filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pointcloud_accumulator_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/radius_search_2d_outlier_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/random_downsample_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/ring_outlier_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_downsample_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter_node.schema.json") }}


As the linked pages (lines 19-27) already contain parameter tables, the parameters section can be removed entirely.

Updated schema as directed. Changed 0 -> "0" and false -> "false"

feat(autoware_pointcloud_preprocessor): update the readme file and sc…

dd7cab9

…hema file Signed-off-by: vish0012 <vishalchhn42@gmail.com>

vish0012 requested review from amc-nu, badai-nguyen, drwnz, knzo25, kyoichi-sugahara, meliketanrikulu, miursh, vividf, YoshiRi and yukkysaito as code owners February 25, 2025 04:26

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) labels Feb 25, 2025

style(pre-commit): autofix

2d6b2ec

vividf added the run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Feb 25, 2025

vish0012 added 2 commits February 26, 2025 06:47

fix: updated README and schema for autoware_pointcloud_preprocessor

7783e98

Signed-off-by: vish0012 <vishalchhn42@gmail.com>

Added missing schema file for occupancy grid map outlier filter

4966257

Added and updated sensing schema files

20a4667

vish0012 requested a review from mojomex as a code owner March 4, 2025 02:07

github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Mar 4, 2025

vish0012 and others added 2 commits March 4, 2025 11:09

Merge branch 'main' into add-schema-autoware_pointcloud_preprocessor

0b84cd1

style(pre-commit): autofix

cd14b24

mojomex requested changes Mar 5, 2025

View reviewed changes

vish0012 requested a review from mojomex March 5, 2025 02:21

Update blockage_diag_node.schema.json

d91ee0a

Updated schema as directed. Changed 0 -> "0" and false -> "false"

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feat(autoware_pointcloud_preprocessor): update the readme file and schema file #10193

feat(autoware_pointcloud_preprocessor): update the readme file and schema file #10193

vish0012 commented Feb 25, 2025

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feat(autoware_pointcloud_preprocessor): update the readme file and schema file #10193

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feat(autoware_pointcloud_preprocessor): update the readme file and schema file #10193

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vish0012 commented Feb 25, 2025

Description

Related links

How was this PR tested?

Notes for reviewers

Interface changes

Effects on system behavior

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ambroise-arm commented Feb 28, 2025

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github-actions bot commented Feb 25, 2025 •

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