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refactor(mrm_comfortable_stop_operator): rework parameter #8936

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refactor(mrm_comfortable_stop_operator): rework parameter #8936

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58bd1ec
refactor/mrm_comfortable_stop_operator
prakash-kannaiah Sep 21, 2024
a35d0d7
Merge branch 'main' into refactor/mrm_comfortable_stop_operator
prakash-kannaiah Sep 29, 2024
ae9904d
style(pre-commit): autofix
pre-commit-ci[bot] Sep 29, 2024
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14 changes: 1 addition & 13 deletions system/mrm_comfortable_stop_operator/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -24,19 +24,7 @@ MRM comfortable stop operator is a node that generates comfortable stop commands

## Parameters

### Node Parameters

| Name | Type | Default value | Explanation |
| ----------- | ---- | ------------- | ----------------------------- |
| update_rate | int | `10` | Timer callback frequency [Hz] |

### Core Parameters

| Name | Type | Default value | Explanation |
| ---------------- | ------ | ------------- | ------------------------------------------------- |
| min_acceleration | double | `-1.0` | Minimum acceleration for comfortable stop [m/s^2] |
| max_jerk | double | `0.3` | Maximum jerk for comfortable stop [m/s^3] |
| min_jerk | double | `-0.3` | Minimum jerk for comfortable stop [m/s^3] |
{{ json_to_markdown("system/mrm_comfortable_stop_operator/schema/mrm_comfortable_stop_operator.schema.json") }}

## Assumptions / Known limits

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8 changes: 4 additions & 4 deletions system/mrm_comfortable_stop_operator/config/mrm_comfortable_stop_operator.param.yaml
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@@ -1,6 +1,6 @@
/**:
ros__parameters:
update_rate: 10
min_acceleration: -1.0
max_jerk: 0.3
min_jerk: -0.3
update_rate: 10 # Node Parameters
min_acceleration: -1.0 # Code Parameters
max_jerk: 0.3 # Code Parameters
min_jerk: -0.3 # Code Parameters
48 changes: 48 additions & 0 deletions system/mrm_comfortable_stop_operator/schema/mrm_comfortable_stop_operator.schema.json
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@@ -0,0 +1,48 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "MRM Comfortable Stop Operator",
"type": "object",
"definitions": {
"mrm_comfortable_stop_operator": {
"type": "object",
"properties": {
"update_rate": {
"type": "integer",
"description": "Timer callback frequency [Hz]",
"default": 10
},
"min_acceleration": {
"type": "number",
"description": "Minimum acceleration for comfortable stop [m/s^2]",
"default": -1.0
},
"max_jerk": {
"type": "number",
"description": "Maximum jerk for comfortable stop [m/s^3]",
"default": 0.3
},
"min_jerk": {
"type": "number",
"description": "Minimum jerk for comfortable stop [m/s^3]",
"default": -0.3
}
},
"required": ["update_rate", "min_acceleration", "max_jerk", "min_jerk"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/mrm_comfortable_stop_operator"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
8 changes: 4 additions & 4 deletions ...le_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp
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Expand Up @@ -21,10 +21,10 @@ MrmComfortableStopOperator::MrmComfortableStopOperator(const rclcpp::NodeOptions
: Node("mrm_comfortable_stop_operator", node_options)
{
// Parameter
params_.update_rate = static_cast<int>(declare_parameter<int>("update_rate", 1));
params_.min_acceleration = declare_parameter<double>("min_acceleration", -1.0);
params_.max_jerk = declare_parameter<double>("max_jerk", 0.3);
params_.min_jerk = declare_parameter<double>("min_jerk", 0.3);
params_.update_rate = static_cast<int>(declare_parameter<int>("update_rate"));
params_.min_acceleration = declare_parameter<double>("min_acceleration");
params_.max_jerk = declare_parameter<double>("max_jerk");
params_.min_jerk = declare_parameter<double>("min_jerk");

// Server
service_operation_ = create_service<tier4_system_msgs::srv::OperateMrm>(
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