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feat(autoware_ground_segmentation): Created the schema file, updated …
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…the readme file and deleted the default paramter in node files

Signed-off-by: vish0012 <vishalchhn42@gmail.com>
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vish0012 committed Feb 10, 2025
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17 changes: 6 additions & 11 deletions perception/autoware_ground_segmentation/README.md
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Expand Up @@ -30,18 +30,13 @@ Detail description of each ground segmentation algorithm is in the following lin
| `~/output/points` | `sensor_msgs::msg::PointCloud2` | filtered points |

## Parameters
{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ground_segmentation.schema.json") }}
{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ransac_ground_filter.schema.json") }}
{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ray_ground_filter.schema.json") }}
{{ json_to_markdown("perception/autoware_ground_segmentation/schema/scan_ground_filter.schema.json") }}



### Node Parameters

| Name | Type | Default Value | Description |
| -------------------- | ------ | ------------- | ------------------------------------- |
| `input_frame` | string | " " | input frame id |
| `output_frame` | string | " " | output frame id |
| `has_static_tf_only` | bool | false | flag to listen TF only once |
| `max_queue_size` | int | 5 | max queue size of input/output topics |
| `use_indices` | bool | false | flag to use pointcloud indices |
| `latched_indices` | bool | false | flag to latch pointcloud indices |
| `approximate_sync` | bool | false | flag to use approximate sync option |

## Assumptions / Known limits

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151 changes: 151 additions & 0 deletions perception/autoware_ground_segmentation/schema/ground_segmentation.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "autoware_ground_segmentation",
"type": "object",
"definitions": {
"ground_segmentation": {
"type": "object",
"properties": {
"plugin": {
"type": "string",
"description": "The plugin name used for ground segmentation.",
"default": "autoware::ground_segmentation::ScanGroundFilterComponent"
},
"parameters": {
"type": "object",
"properties": {
"global_slope_max_angle_deg": {
"type": "number",
"description": "Maximum allowable global slope angle in degrees.",
"default": 10.0
},
"local_slope_max_angle_deg": {
"type": "number",
"description": "Maximum allowable local slope angle in degrees. Recommended 30.0 for non-elevation grid mode.",
"default": 13.0
},
"split_points_distance_tolerance": {
"type": "number",
"description": "Distance tolerance for split points.",
"default": 0.2
},
"use_virtual_ground_point": {
"type": "boolean",
"description": "Enable the use of virtual ground points.",
"default": true
},
"split_height_distance": {
"type": "number",
"description": "Height distance threshold for splitting.",
"default": 0.2
},
"non_ground_height_threshold": {
"type": "number",
"description": "Height threshold for non-ground points.",
"default": 0.20
},
"grid_size_m": {
"type": "number",
"description": "Size of the grid in meters.",
"default": 0.1
},
"grid_mode_switch_radius": {
"type": "number",
"description": "Radius for switching grid mode.",
"default": 20.0
},
"gnd_grid_buffer_size": {
"type": "integer",
"description": "Buffer size for ground grid processing.",
"default": 4
},
"detection_range_z_max": {
"type": "number",
"description": "Maximum detection range in the Z direction.",
"default": 2.5
},
"elevation_grid_mode": {
"type": "boolean",
"description": "Enable elevation grid mode for ground filtering.",
"default": true
},
"low_priority_region_x": {
"type": "number",
"description": "X-coordinate defining the low-priority region.",
"default": -20.0
},
"center_pcl_shift": {
"type": "number",
"description": "Shift applied to the center of the point cloud.",
"default": 0.0
},
"radial_divider_angle_deg": {
"type": "number",
"description": "Angle step for radial segmentation in degrees.",
"default": 1.0
},
"use_recheck_ground_cluster": {
"type": "boolean",
"description": "Enable rechecking of ground clusters for refinement.",
"default": true
},
"use_lowest_point": {
"type": "boolean",
"description": "Use the lowest point for ground estimation.",
"default": true
},
"publish_processing_time_detail": {
"type": "boolean",
"description": "Enable publishing of detailed processing time for debugging.",
"default": false
}
},
"required": [
"global_slope_max_angle_deg",
"local_slope_max_angle_deg",
"split_points_distance_tolerance",
"use_virtual_ground_point",
"split_height_distance",
"non_ground_height_threshold",
"grid_size_m",
"grid_mode_switch_radius",
"gnd_grid_buffer_size",
"detection_range_z_max",
"elevation_grid_mode",
"low_priority_region_x",
"center_pcl_shift",
"radial_divider_angle_deg",
"use_recheck_ground_cluster",
"use_lowest_point",
"publish_processing_time_detail"
],
"additionalProperties": false
}
},
"required": ["plugin", "parameters"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"common_ground_filter": {
"$ref": "#/definitions/ground_segmentation"
}
},
"required": ["common_ground_filter"],
"additionalProperties": false
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}

115 changes: 115 additions & 0 deletions perception/autoware_ground_segmentation/schema/ransac_ground_filter.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "autoware_ground_segmentation parameters",
"type": "object",
"definitions": {
"ransac_ground_filter": {
"type": "object",
"properties": {
"base_frame": {
"type": "string",
"description": "The reference coordinate frame for the base.",
"default": "base_link"
},
"unit_axis": {
"type": "string",
"description": "The primary axis used for unit vector computations.",
"default": "z"
},
"max_iterations": {
"type": "integer",
"description": "The maximum number of iterations for the segmentation algorithm.",
"default": 1000
},
"min_trial": {
"type": "integer",
"description": "The minimum number of trials required for segmentation.",
"default": 5000
},
"min_points": {
"type": "integer",
"description": "The minimum number of points required to fit a plane.",
"default": 1000
},
"outlier_threshold": {
"type": "number",
"description": "Threshold for detecting outliers in the plane segmentation process.",
"default": 0.01
},
"plane_slope_threshold": {
"type": "number",
"description": "Maximum allowable slope angle for detected planes (in degrees).",
"default": 10.0
},
"voxel_size_x": {
"type": "number",
"description": "Voxel grid size in the X direction.",
"default": 0.04
},
"voxel_size_y": {
"type": "number",
"description": "Voxel grid size in the Y direction.",
"default": 0.04
},
"voxel_size_z": {
"type": "number",
"description": "Voxel grid size in the Z direction.",
"default": 0.04
},
"height_threshold": {
"type": "number",
"description": "Height difference threshold for plane segmentation.",
"default": 0.01
},
"debug": {
"type": "boolean",
"description": "Enable debug mode for additional logging and output.",
"default": false
},
"publish_processing_time_detail": {
"type": "boolean",
"description": "Enable publishing of detailed processing time for debugging.",
"default": false
}
},
"required": [
"base_frame",
"unit_axis",
"max_iterations",
"min_trial",
"min_points",
"outlier_threshold",
"plane_slope_threshold",
"voxel_size_x",
"voxel_size_y",
"voxel_size_z",
"height_threshold",
"debug",
"publish_processing_time_detail"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"plane_segmentation": {
"$ref": "#/definitions/ransac_ground_filter"
}
},
"required": ["plane_segmentation"],
"additionalProperties": false
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}

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