blockage_diag_node.schema.json

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "Parameters for Blockage Diag Node",
  "type": "object",
  "definitions": {
    "blockage_diag": {
      "type": "object",
      "properties": {
        "blockage_ratio_threshold": {
          "type": "number",
          "description": "The threshold of blockage area ratio. If the blockage value exceeds this threshold, the diagnostic state will be set to ERROR.",
          "default": "0.1",
          "minimum": 0
        },
        "blockage_count_threshold": {
          "type": "number",
          "description": "The threshold of number continuous blockage frames",
          "default": "50",
          "minimum": 0
        },
        "blockage_buffering_frames": {
          "type": "integer",
          "description": "The number of buffering about blockage detection [range:1-200]",
          "default": "2",
          "minimum": 1,
          "maximum": 200
        },
        "blockage_buffering_interval": {
          "type": "integer",
          "description": "The interval of buffering about blockage detection",
          "default": "1",
          "minimum": 0
        },
        "enable_dust_diag": {
          "type": "boolean",
          "description": "enable dust diagnostic",
          "default": false
        },
        "publish_debug_image": {
          "type": "boolean",
          "description": "publish debug image",
          "default": false
        },
        "dust_ratio_threshold": {
          "type": "number",
          "description": "The threshold of dusty area ratio",
          "default": "0.2",
          "minimum": 0
        },
        "dust_count_threshold": {
          "type": "integer",
          "description": "The threshold of number continuous frames include dusty area",
          "default": "10",
          "minimum": 0
        },
        "dust_kernel_size": {
          "type": "integer",
          "description": "The kernel size of morphology processing in dusty area detection",
          "default": "2",
          "minimum": 0
        },
        "dust_buffering_frames": {
          "type": "integer",
          "description": "The number of buffering about dusty area detection [range:1-200]",
          "default": "10",
          "minimum": 1,
          "maximum": 200
        },
        "dust_buffering_interval": {
          "type": "integer",
          "description": "The interval of buffering about dusty area detection",
          "default": "1",
          "minimum": 0
        },
        "max_distance_range": {
          "type": "number",
          "description": "Maximum view range for the LiDAR",
          "default": "200.0",
          "minimum": 0
        },
        "horizontal_resolution": {
          "type": "number",
          "description": "The horizontal resolution of depth map image [deg/pixel]",
          "default": "0.4",
          "minimum": 0
        },
        "blockage_kernel": {
          "type": "integer",
          "description": "The kernel size of morphology processing the detected blockage area",
          "default": "10",
          "minimum": 0
        },
        "angle_range": {
          "type": "array",
          "description": "The effective range of LiDAR",
          "minItems": 2,
          "maxItems": 2,
          "items": {
            "type": "number",
            "minimum": 0.0,
            "maximum": 360.0
          },
          "default": [0.0, 360.0]
        },
        "vertical_bins": {
          "type": "integer",
          "description": "The LiDAR channel",
          "default": "40",
          "minimum": 0
        },
        "is_channel_order_top2down": {
          "type": "boolean",
          "description": "If the lidar channels are indexed from top to down",
          "default": true
        },
        "horizontal_ring_id": {
          "type": "integer",
          "description": "The id of horizontal ring of the LiDAR",
          "default": "18",
          "minimum": 0
        }
      },
      "required": [
        "blockage_ratio_threshold",
        "blockage_count_threshold",
        "blockage_buffering_frames",
        "blockage_buffering_interval",
        "enable_dust_diag",
        "publish_debug_image",
        "dust_ratio_threshold",
        "dust_count_threshold",
        "dust_kernel_size",
        "dust_buffering_frames",
        "dust_buffering_interval",
        "max_distance_range",
        "horizontal_resolution",
        "blockage_kernel",
        "angle_range",
        "vertical_bins",
        "is_channel_order_top2down",
        "horizontal_ring_id"
      ],
      "additionalProperties": false
    }
  },
  "properties": {
    "/**": {
      "type": "object",
      "properties": {
        "ros__parameters": {
          "$ref": "#/definitions/blockage_diag"
        }
      },
      "required": ["ros__parameters"],
      "additionalProperties": false
    }
  },
  "required": ["/**"],
  "additionalProperties": false
}