Update config validation schemas for CropMapOperation

interfaces/ros1/wavemap_ros/include/wavemap_ros/map_operations/crop_map_operation.h

@@ -21,7 +21,7 @@ struct CropMapOperationConfig : public ConfigBase<CropMapOperationConfig, 5> {
   Seconds<FloatingPoint> once_every = 10.f;
 
   //! Name of the TF frame to treat as the center point. Usually the robot's
-  //! body frame. When the cropper runs, all voxels that are further than
+  //! body frame. When the cropper runs, all cells that are further than
   //! `radius` from this point are deleted.
   std::string body_frame = "body";
 

tooling/schemas/wavemap/map_operations/crop_map_operation.json

@@ -12,14 +12,22 @@
       "$ref": "../value_with_unit/convertible_to_seconds.json"
     },
     "body_frame": {
-      "description": "Name of the TF frame to treat as the center point. Usually the robot's body frame. When the cropper runs, all blocks that are further than remove_blocks_beyond_distance from this point are deleted.",
+      "description": "Name of the TF frame to treat as the center point. Usually the robot's body frame. When the cropper runs, all cells that are further than `radius` from this point are deleted.",
       "type": "string",
       "examples": [
         "body"
       ]
     },
-    "remove_blocks_beyond_distance": {
-      "description": "Distance beyond which blocks are deleted when the cropper is executed.",
+    "tf_time_offset": {
+      "description": "Time offset applied when retrieving the transform from body_frame to world_frame. Set to -1 to use the most recent transform available in ROS TF, ignoring timestamps (default). If set to a non-negative value, the transform lookup uses a timestamp of `ros::Time::now() - tf_time_offset`.",
+      "$ref": "../value_with_unit/convertible_to_seconds.json"
+    },
+    "radius": {
+      "description": "Distance beyond which to remove cells from the map.",
+      "$ref": "../value_with_unit/convertible_to_meters.json"
+    },
+    "max_update_resolution": {
+      "description": "Maximum resolution at which the crop is applied. Set to 0 to match the map's maximum resolution (default). Setting a higher value reduces computation but produces more jagged borders.",
       "$ref": "../value_with_unit/convertible_to_meters.json"
     }
   }