refactor(dummy_infrastructure): rework parameters (#5275)

Signed-off-by: Yuntianyi Chen <[email protected]>

system/dummy_infrastructure/CMakeLists.txt

@@ -15,6 +15,6 @@ rclcpp_components_register_node(dummy_infrastructure_node_component
 
 ament_auto_package(
   INSTALL_TO_SHARE
-    config
-    launch
+  launch
+  config
 )

system/dummy_infrastructure/README.md

@@ -29,8 +29,9 @@ ros2 run rqt_reconfigure rqt_reconfigure
 
 | Name                | Type   | Default Value | Explanation                                       |
 | ------------------- | ------ | ------------- | ------------------------------------------------- |
-| `update_rate`       | int    | `10`          | Timer callback period [Hz]                        |
+| `update_rate`       | double | `10.0`        | Timer callback period [Hz]                        |
 | `use_first_command` | bool   | `true`        | Consider instrument id or not                     |
+| `use_command_state` | bool   | `false`       | Consider command state or not                     |
 | `instrument_id`     | string | ``            | Used as command id                                |
 | `approval`          | bool   | `false`       | set approval filed to ros param                   |
 | `is_finalized`      | bool   | `false`       | Stop at stop_line if finalization isn't completed |

system/dummy_infrastructure/config/dummy_infrastructure.param.yaml

@@ -1,8 +1,8 @@
 /**:
   ros__parameters:
     update_rate_hz: 10.0
-    use_first_command: false
-    use_command_state: true
-    instrument_id: '0'
-    approval: true
-    is_finalized: true
+    use_first_command: true
+    use_command_state: false
+    instrument_id: ""
+    approval: false
+    is_finalized: false

system/dummy_infrastructure/launch/dummy_infrastructure.launch.xml

@@ -1,3 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
 <launch>
   <!-- Input -->
   <arg name="input/command_array" default="/planning/scenario_planning/status/infrastructure_commands"/>

system/dummy_infrastructure/schema/dummy_infrastructure_node.schema.json

@@ -0,0 +1,65 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Dummy Infrastructure Node",
+  "type": "object",
+  "definitions": {
+    "dummy_infrastructure": {
+      "type": "object",
+      "properties": {
+        "update_rate_hz": {
+          "type": "number",
+          "default": "10.0",
+          "description": "Timer callback period [Hz]"
+        },
+        "use_first_command": {
+          "type": "boolean",
+          "default": "true",
+          "description": "Consider instrument id or not"
+        },
+        "use_command_state": {
+          "type": "boolean",
+          "default": "false",
+          "description": "Consider command state or not"
+        },
+        "instrument_id": {
+          "type": "string",
+          "default": "",
+          "description": "Used as command id"
+        },
+        "approval": {
+          "type": "boolean",
+          "default": "false",
+          "description": "set approval filed to ros param"
+        },
+        "is_finalized": {
+          "type": "boolean",
+          "default": "false",
+          "description": "Stop at stop_line if finalization isn't completed"
+        }
+      },
+      "required": [
+        "update_rate_hz",
+        "use_first_command",
+        "use_command_state",
+        "instrument_id",
+        "approval",
+        "is_finalized"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/dummy_infrastructure"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

system/dummy_infrastructure/src/dummy_infrastructure_node/dummy_infrastructure_node.cpp

@@ -89,12 +89,12 @@ DummyInfrastructureNode::DummyInfrastructureNode(const rclcpp::NodeOptions & nod
     this->add_on_set_parameters_callback(std::bind(&DummyInfrastructureNode::onSetParam, this, _1));
 
   // Parameter
-  node_param_.update_rate_hz = declare_parameter<double>("update_rate_hz", 10.0);
-  node_param_.use_first_command = declare_parameter<bool>("use_first_command", true);
-  node_param_.use_command_state = declare_parameter<bool>("use_command_state", false);
-  node_param_.instrument_id = declare_parameter<std::string>("instrument_id", "");
-  node_param_.approval = declare_parameter<bool>("approval", false);
-  node_param_.is_finalized = declare_parameter<bool>("is_finalized", false);
+  node_param_.update_rate_hz = declare_parameter<double>("update_rate_hz");
+  node_param_.use_first_command = declare_parameter<bool>("use_first_command");
+  node_param_.use_command_state = declare_parameter<bool>("use_command_state");
+  node_param_.instrument_id = declare_parameter<std::string>("instrument_id");
+  node_param_.approval = declare_parameter<bool>("approval");
+  node_param_.is_finalized = declare_parameter<bool>("is_finalized");
 
   // Subscriber
   sub_command_array_ = create_subscription<InfrastructureCommandArray>(