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fix: fix perception docs
Signed-off-by: vividf <yihsiang.fang@tier4.jp>
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‎perception/autoware_object_merger/schema/data_association_matrix.schema.json

+31-10
Original file line numberDiff line numberDiff line change
@@ -2,40 +2,61 @@
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Data Association Matrix Parameters",
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"type": "object",
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"properties": {
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"ros__parameters": {
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"definitions": {
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"data_association_matrix": {
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"type": "object",
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"properties": {
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"can_assign_matrix": {
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"type": "array",
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"items": {
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"type": "number"
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},
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"description": "Assignment table for data association"
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"description": "Assignment table for data association.",
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"default": []
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},
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"max_dist_matrix": {
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"type": "array",
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"items": {
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"type": "number"
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},
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"description": "Maximum distance table for data association"
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"description": "Maximum distance table for data association.",
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"default": []
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},
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"max_rad_matrix": {
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"type": "array",
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"items": {
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"type": "number"
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"type": "number",
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"minimum": 0.0
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},
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"description": "Maximum angle table for data association. If value is greater than pi, it will be ignored."
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"description": "Maximum angle table for data association. If value is greater than pi, it will be ignored.",
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"default": []
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},
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"min_iou_matrix": {
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"type": "array",
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"items": {
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"type": "number"
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"type": "number",
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"minimum": 0.0
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},
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"description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored."
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"description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored.",
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"default": []
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}
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},
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"required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/data_association_matrix"
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}
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},
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"required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"]
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

‎perception/autoware_object_merger/schema/object_association_merger.schema.json

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Original file line numberDiff line numberDiff line change
@@ -45,7 +45,8 @@
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"remove_overlapped_unknown_objects",
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"base_link_frame_id",
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"priority_mode"
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]
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],
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"additionalProperties": false
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}
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},
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"properties": {
@@ -56,8 +57,10 @@
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"$ref": "#/definitions/object_association_merger"
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}
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},
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"required": ["ros__parameters"]
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"]
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"required": ["/**"],
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"additionalProperties": false
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}

‎perception/autoware_object_merger/schema/overlapped_judge.schema.json

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Original file line numberDiff line numberDiff line change
@@ -2,26 +2,45 @@
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Overlapped Judge Parameters",
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"type": "object",
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"properties": {
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"ros__parameters": {
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"definitions": {
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"overlapped_judge": {
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"type": "object",
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"properties": {
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"distance_threshold_list": {
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"type": "array",
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"items": {
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"type": "number"
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},
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"description": "Distance threshold for each class used in judging overlap."
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"description": "Distance threshold for each class used in judging overlap.",
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"default": [9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0]
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},
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"generalized_iou_threshold": {
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"type": "array",
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"items": {
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"type": "number"
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"type": "number",
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"minimum": -1.0,
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"maximum": 1.0
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},
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"description": "Generalized IoU threshold for each class."
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"description": "Generalized IoU threshold for each class.",
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"default": [-0.1, -0.1, -0.1, -0.6, -0.6, -0.1, -0.1, -0.1]
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}
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},
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"required": ["distance_threshold_list", "generalized_iou_threshold"],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/overlapped_judge"
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}
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},
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"required": ["distance_threshold_list", "generalized_iou_threshold"]
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

‎perception/autoware_occupancy_grid_map_outlier_filter/README.md

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@@ -40,7 +40,7 @@ The following video is a sample. Yellow points are high occupancy probability, g
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## Parameters
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{{ json_to_markdown("perception/occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }}
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{{ json_to_markdown("perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }}
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## Assumptions / Known limits
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‎perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json

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@@ -2,104 +2,112 @@
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Synchronized Grid Map Fusion Node",
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"type": "object",
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"definitions": {
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"synchronized_grid_map_fusion": {
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"type": "object",
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"properties": {
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"fusion_input_ogm_topics": {
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"type": "array",
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"description": "List of fusion input occupancy grid map topics.",
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"items": {
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"type": "string"
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},
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"default": ["topic1", "topic2"]
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},
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"input_ogm_reliabilities": {
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"type": "array",
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"description": "Reliability of each sensor for fusion.",
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"items": {
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"type": "number",
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"minimum": 0.0,
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"maximum": 1.0
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},
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"default": [0.8, 0.2]
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},
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"fusion_method": {
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"type": "string",
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"description": "Method for occupancy grid map fusion.",
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"enum": ["overwrite", "log-odds", "dempster-shafer"],
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"default": "overwrite"
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},
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"match_threshold_sec": {
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"type": "number",
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"description": "Time threshold for matching in seconds.",
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"default": 0.01
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},
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"timeout_sec": {
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"type": "number",
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"description": "Timeout for synchronization in seconds.",
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"default": 0.1
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},
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"input_offset_sec": {
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"type": "array",
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"description": "Offset for each input in seconds.",
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"items": {
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"type": "number"
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},
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"default": [0.0, 0.0]
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},
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"map_frame_": {
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"type": "string",
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"description": "The frame ID of the map.",
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"default": "map"
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},
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"base_link_frame_": {
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"type": "string",
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"description": "The frame ID of the base link.",
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"default": "base_link"
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},
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"grid_map_origin_frame_": {
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"type": "string",
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"description": "The frame ID of the grid map origin.",
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"default": "base_link"
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},
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"fusion_map_length_x": {
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"type": "number",
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"description": "The length of the fusion map in the x direction.",
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"default": 100.0
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},
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"fusion_map_length_y": {
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"type": "number",
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"description": "The length of the fusion map in the y direction.",
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"default": 100.0
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},
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"fusion_map_resolution": {
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"type": "number",
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"description": "The resolution of the fusion map.",
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"default": 0.5
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}
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},
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"required": [
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"fusion_input_ogm_topics",
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"input_ogm_reliabilities",
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"fusion_method",
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"match_threshold_sec",
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"timeout_sec",
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"input_offset_sec",
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"map_frame_",
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"base_link_frame_",
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"grid_map_origin_frame_",
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"fusion_map_length_x",
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"fusion_map_length_y",
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"fusion_map_resolution"
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],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"type": "object",
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"properties": {
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"fusion_input_ogm_topics": {
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"type": "array",
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"description": "List of fusion input occupancy grid map topics.",
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"items": {
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"type": "string"
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},
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"default": ["topic1", "topic2"]
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},
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"input_ogm_reliabilities": {
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"type": "array",
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"description": "Reliability of each sensor for fusion.",
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"items": {
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"type": "number",
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"minimum": 0.0,
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"maximum": 1.0
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},
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"default": [0.8, 0.2]
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},
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"fusion_method": {
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"type": "string",
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"description": "Method for occupancy grid map fusion.",
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"enum": ["overwrite", "log-odds", "dempster-shafer"],
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"default": "overwrite"
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},
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"match_threshold_sec": {
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"type": "number",
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"description": "Time threshold for matching in seconds.",
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"default": 0.01
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},
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"timeout_sec": {
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"type": "number",
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"description": "Timeout for synchronization in seconds.",
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"default": 0.1
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},
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"input_offset_sec": {
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"type": "array",
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"description": "Offset for each input in seconds.",
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"items": {
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"type": "number"
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},
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"default": [0.0, 0.0]
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},
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"map_frame_": {
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"type": "string",
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"description": "The frame ID of the map.",
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"default": "map"
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},
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"base_link_frame_": {
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"type": "string",
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"description": "The frame ID of the base link.",
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"default": "base_link"
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},
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"grid_map_origin_frame_": {
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"type": "string",
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"description": "The frame ID of the grid map origin.",
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"default": "base_link"
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},
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"fusion_map_length_x": {
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"type": "number",
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"description": "The length of the fusion map in the x direction.",
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"default": 100.0
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},
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"fusion_map_length_y": {
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"type": "number",
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"description": "The length of the fusion map in the y direction.",
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"default": 100.0
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},
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"fusion_map_resolution": {
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"type": "number",
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"description": "The resolution of the fusion map.",
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"default": 0.5
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}
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},
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"required": [
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"fusion_input_ogm_topics",
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"input_ogm_reliabilities",
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"fusion_method",
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"match_threshold_sec",
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"timeout_sec",
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"input_offset_sec",
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"map_frame_",
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"base_link_frame_",
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"grid_map_origin_frame_",
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"fusion_map_length_x",
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"fusion_map_length_y",
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"fusion_map_resolution"
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]
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"$ref": "#/definitions/synchronized_grid_map_fusion"
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}
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},
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"required": ["ros__parameters"]
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"]
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"required": ["/**"],
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"additionalProperties": false
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}

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