refactor(autoware_planning_evaluator): devops node dojo (#8746)

Signed-off-by: odra <[email protected]>

evaluator/autoware_planning_evaluator/CMakeLists.txt

@@ -31,6 +31,6 @@ endif()
 
 ament_auto_package(
   INSTALL_TO_SHARE
-    param
     launch
+    config
 )

evaluator/autoware_planning_evaluator/README.md

@@ -67,15 +67,7 @@ to a file as specified by the `output_file` parameter.
 
 ## Parameters
 
-| Name                              | Type     | Description                                                                 |
-| :-------------------------------- | :------- | :-------------------------------------------------------------------------- |
-| `output_file`                     | `string` | file used to write metrics                                                  |
-| `ego_frame`                       | `string` | frame used for the ego pose                                                 |
-| `selected_metrics`                | List     | metrics to measure and publish                                              |
-| `trajectory.min_point_dist_m`     | `double` | minimum distance between two successive points to use for angle calculation |
-| `trajectory.lookahead.max_dist_m` | `double` | maximum distance from ego along the trajectory to use for calculation       |
-| `trajectory.lookahead.max_time_m` | `double` | maximum time ahead of ego along the trajectory to use for calculation       |
-| `obstacle.dist_thr_m`             | `double` | distance between ego and the obstacle below which a collision is considered |
+{{ json_to_markdown("evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json") }}
 
 ## Assumptions / Known limits
 

evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml

@@ -12,7 +12,7 @@
   <!-- planning evaluator -->
   <group>
     <node name="planning_evaluator" exec="planning_evaluator" pkg="autoware_planning_evaluator">
-      <param from="$(find-pkg-share autoware_planning_evaluator)/param/planning_evaluator.defaults.yaml"/>
+      <param from="$(find-pkg-share autoware_planning_evaluator)/config/planning_evaluator.param.yaml"/>
       <remap from="~/input/odometry" to="$(var input/odometry)"/>
       <remap from="~/input/acceleration" to="$(var input/acceleration)"/>
       <remap from="~/input/trajectory" to="$(var input/trajectory)"/>

evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json

@@ -0,0 +1,100 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Autoware Planning Evaluator Nodes",
+  "type": "object",
+  "definitions": {
+    "autoware_planning_evaluator": {
+      "type": "object",
+      "properties": {
+        "output_file": {
+          "description": "output metrics file path",
+          "type": "string",
+          "default": ""
+        },
+        "ego_frame": {
+          "description": "reference frame of ego",
+          "type": "string",
+          "default": "base_link"
+        },
+        "selected_metrics": {
+          "description": "metrics to collect/record",
+          "type": "array",
+          "items": {
+            "type": "string"
+          },
+          "default": [
+            "curvature",
+            "point_interval",
+            "relative_angle",
+            "length",
+            "duration",
+            "velocity",
+            "acceleration",
+            "jerk",
+            "lateral_deviation",
+            "yaw_deviation",
+            "velocity_deviation",
+            "stability",
+            "stability_frechet",
+            "obstacle_distance",
+            "obstacle_ttc",
+            "modified_goal_longitudinal_deviation",
+            "modified_goal_lateral_deviation",
+            "modified_goal_yaw_deviation"
+          ]
+        },
+        "trajectory": {
+          "description": "trajectory object",
+          "type": "object",
+          "properties": {
+            "min_point_dist_m": {
+              "description": "minimum distance between two successive points to use for angle calculation",
+              "type": "number",
+              "default": 0.1
+            },
+            "lookahead": {
+              "description": "lookahead object",
+              "type": "object",
+              "properties": {
+                "max_dist_m": {
+                  "description": "maximum distance from ego along the trajectory to use for calculation",
+                  "type": "number",
+                  "default": 5.0
+                },
+                "max_time_s": {
+                  "description": "maximum time ahead of ego along the trajectory to use for calculation",
+                  "type": "number",
+                  "default": 3.0
+                }
+              }
+            }
+          }
+        },
+        "obstacle": {
+          "description": "obstacle object",
+          "type": "object",
+          "properties": {
+            "dist_thr_m": {
+              "description": "distance between ego and the obstacle below which a collision is considered",
+              "type": "number",
+              "default": 1.0
+            }
+          }
+        }
+      },
+      "required": ["ego_frame", "selected_metrics", "trajectory", "obstacle"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/autoware_planning_evaluator"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp

@@ -53,7 +53,7 @@ class EvalTest : public ::testing::Test
     const auto share_dir =
       ament_index_cpp::get_package_share_directory("autoware_planning_evaluator");
     options.arguments(
-      {"--ros-args", "--params-file", share_dir + "/param/planning_evaluator.defaults.yaml"});
+      {"--ros-args", "--params-file", share_dir + "/config/planning_evaluator.param.yaml"});
 
     dummy_node = std::make_shared<rclcpp::Node>("planning_evaluator_test_node");
     eval_node = std::make_shared<EvalNode>(options);