pure_pursuit.schema.json

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "Parameters for pure_pursuit",
  "type": "object",
  "definitions": {
    "pure_pursuit_params": {
      "type": "object",
      "properties": {
        "ld_velocity_ratio": {
          "type": "number",
          "default": 2.4,
          "description": "Velocity ratio for lookahead distance."
        },
        "ld_lateral_error_ratio": {
          "type": "number",
          "default": 3.6,
          "description": "Lateral error ratio for lookahead distance."
        },
        "ld_curvature_ratio": {
          "type": "number",
          "default": 120.0,
          "description": "Curvature ratio for lookahead distance."
        },
        "long_ld_lateral_error_threshold": {
          "type": "number",
          "default": 0.5,
          "description": "Threshold for lateral error in long lookahead distance."
        },
        "min_lookahead_distance": {
          "type": "number",
          "default": 4.35,
          "description": "Minimum lookahead distance."
        },
        "max_lookahead_distance": {
          "type": "number",
          "default": 15.0,
          "description": "Maximum lookahead distance."
        },
        "converged_steer_rad": {
          "type": "number",
          "default": 0.1,
          "description": "Steering angle considered as converged."
        },
        "reverse_min_lookahead_distance": {
          "type": "number",
          "default": 7.0,
          "description": "Minimum lookahead distance for reversing."
        },
        "prediction_ds": {
          "type": "number",
          "default": 0.3,
          "description": "Prediction step size."
        },
        "prediction_distance_length": {
          "type": "number",
          "default": 21.0,
          "description": "Prediction distance length."
        },
        "resampling_ds": {
          "type": "number",
          "default": 0.1,
          "description": "Resampling step size."
        },
        "curvature_calculation_distance": {
          "type": "number",
          "default": 4.0,
          "description": "Distance for curvature calculation."
        },
        "enable_path_smoothing": {
          "type": "boolean",
          "default": false,
          "description": "Enable or disable path smoothing."
        },
        "path_filter_moving_ave_num": {
          "type": "number",
          "default": 25,
          "description": "Number of points for moving average path filter."
        },
        "control_period": {
          "type": "number",
          "default": 0.03,
          "description": "Control period."
        }
      },
      "required": [
        "ld_velocity_ratio",
        "ld_lateral_error_ratio",
        "ld_curvature_ratio",
        "long_ld_lateral_error_threshold",
        "min_lookahead_distance",
        "max_lookahead_distance",
        "converged_steer_rad",
        "reverse_min_lookahead_distance",
        "prediction_ds",
        "prediction_distance_length",
        "resampling_ds",
        "curvature_calculation_distance",
        "enable_path_smoothing",
        "path_filter_moving_ave_num",
        "control_period"
      ]
    }
  },
  "properties": {
    "/**": {
      "type": "object",
      "properties": {
        "ros__parameters": {
          "$ref": "#/definitions/pure_pursuit_params"
        }
      },
      "required": ["ros__parameters"]
    }
  },
  "required": ["/**"]
}