Merge branch '2024.05' into 2024.10

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -8,7 +8,7 @@
     use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory
 
     # -- path smoothing --
-    enable_path_smoothing: false   # flag for path smoothing
+    enable_path_smoothing: false   # flag for path smoothing LJ false
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
@@ -46,7 +46,8 @@
 
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
-    input_delay: 0.24                # steering input delay time for delay compensation
+    # input_delay: 0.24                # steering input delay time for delay compensation
+    input_delay: 0.1                # LJ JIRA OET-4 steering delay is roughly 0.75ms
     vehicle_model_steer_tau: 0.27     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]

autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -2,7 +2,7 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
-    use_emergency_handling: true
+    use_emergency_handling: true #default false YH
     check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
     enable_cmd_limit_filter: true
     filter_activated_count_threshold: 5

autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml

@@ -35,7 +35,7 @@
       max_iterations: 30
 
       # Number of threads used for parallel computing
-      num_threads: 4
+      num_threads: 8
 
       regularization:
         enable: false
@@ -46,26 +46,26 @@
 
     initial_pose_estimation:
       # The number of particles to estimate initial pose
-      particles_num: 200
+      particles_num: 100
 
       # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator).
       # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0.
       # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search.
-      n_startup_trials: 100
+      n_startup_trials: 10
 
 
     validation:
       # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec]
       initial_pose_timeout_sec: 1.0
 
       # Tolerance of distance difference between two initial poses used for linear interpolation. [m]
-      initial_pose_distance_tolerance_m: 10.0
+      initial_pose_distance_tolerance_m: 5.0
 
       # Tolerance of distance difference from initial pose to result pose. [m]
       initial_to_result_distance_tolerance_m: 3.0
 
       # The execution time which means probably NDT cannot matches scans properly. [ms]
-      critical_upper_bound_exe_time_ms: 100.0
+      critical_upper_bound_exe_time_ms: 200.0
 
       # Tolerance for the number of times rejected estimation results consecutively
       skipping_publish_num: 5
@@ -82,11 +82,11 @@
 
       # If converged_param_type is 1
       # Threshold for deciding whether to trust the estimation result
-      converged_param_nearest_voxel_transformation_likelihood: 2.3
+      converged_param_nearest_voxel_transformation_likelihood: 2.8 # LJ FDV-135
 
       # Scan matching score based on no ground LiDAR scan
       no_ground_points:
-        enable: false
+        enable: true
 
         # If lidar_point.z - base_link.z <= this threshold , the point will be removed
         z_margin_for_ground_removal: 0.8

autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml

@@ -1,17 +1,17 @@
 /**:
   ros__parameters:
-    tolerance: 0.7
-    voxel_leaf_size: 0.3
+    tolerance: 0.25
+    voxel_leaf_size: 0.03
     min_points_number_per_voxel: 1
-    min_cluster_size: 10
-    max_cluster_size: 3000
+    min_cluster_size: 5
+    max_cluster_size: 5000 #default 3000 AS
     use_height: false
     input_frame: "base_link"
 
     # low height crop box filter param
     max_x: 200.0
     min_x: -200.0
-    max_y: 200.0
+    max_y: 200.0                                                                                                                                    
     min_y: -200.0
     max_z: 2.0
     min_z: -10.0

autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml

@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    tracker_ignore_label.UNKNOWN : true
+    tracker_ignore_label.UNKNOWN : false #default true YH
     tracker_ignore_label.CAR : false
     tracker_ignore_label.TRUCK : false
     tracker_ignore_label.BUS : false

autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     filter_target_label:
-      UNKNOWN : true
+      UNKNOWN : true #default true YH
       CAR : false
       TRUCK : false
       BUS : false

autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml

@@ -2,13 +2,13 @@
   ros__parameters:
 
     # voxel size for downsample filter
-    down_sample_voxel_size: 0.1
+    down_sample_voxel_size: 0.05
 
     # distance threshold for compare compare
-    distance_threshold: 0.5
+    distance_threshold: 0.3
 
     # ratio to reduce voxel_leaf_size and neighbor points distance threshold in z axis
-    downsize_ratio_z_axis: 0.6
+    downsize_ratio_z_axis: 0.2
 
     # publish voxelized map pointcloud for debug
     publish_debug_pcd: False
@@ -23,4 +23,4 @@
     map_update_distance_threshold: 10.0
 
     # radius map for dynamic map loading
-    map_loader_radius: 150.0
+    map_loader_radius: 100.0

autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml

@@ -24,25 +24,25 @@
     max_area_matrix:
       # NOTE: The size of truck is 12 m length x 3 m width.
       # NOTE: The size of trailer is 20 m length x 3 m width.
-      #UNKNOWN,  CAR,      TRUCK,    BUS,      TRAILER,   MOTORBIKE, BICYCLE,  PEDESTRIAN
+      #UNKNOWN,  CAR,      TRUCK,    BUS,      TRAILER,   MOTORBIKE, BICYCLE,  PEDESTRIAN  default PEDESTRIAN x PEDESTRIAN 1.500 YH
         [100.00,   100.00,   100.00,   100.00,   100.00,    100.00,    100.00,   100.00,   #UNKNOWN
           12.10,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #CAR
           36.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #TRUCK
           60.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #BUS
           60.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #TRAILER
            2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.50,   #MOTORBIKE
            2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.50,   #BICYCLE
-           2.00, 10000.00, 10000.00, 10000.00, 10000.00,      2.00,      2.00,     1.50]   #PEDESTRIAN
+           2.00, 10000.00, 10000.00, 10000.00, 10000.00,      2.00,      2.00,     100.50]   #PEDESTRIAN
     min_area_matrix:
-      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
+      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN  default PEDESTRIAN x PEDESTRIAN 0.100 YH
       [ 0.000,  0.000, 0.000,  0.000, 0.000,    0.000,     0.000,   0.000,      #UNKNOWN
         3.600,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #CAR
         6.000,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #TRUCK
        10.000,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #BUS
        10.000,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #TRAILER
         0.001,  0.000, 0.000,  0.000, 0.000,    0.100,     0.100,   0.100,      #MOTORBIKE
         0.001,  0.000, 0.000,  0.000, 0.000,    0.100,     0.100,   0.100,      #BICYCLE
-        0.001,  0.000, 0.000,  0.000, 0.000,    0.100,     0.100,   0.100]      #PEDESTRIAN
+        0.001,  0.000, 0.000,  0.000, 0.000,    0.100,     0.100,   0.000]      #PEDESTRIAN
     max_rad_matrix: # If value is greater than pi, it will be ignored.
       #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
       [3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150,      #UNKNOWN

autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml

@@ -16,7 +16,7 @@
 
     # debug parameters
     publish_processing_time: true
-    publish_tentative_objects: false
+    publish_tentative_objects: true
     publish_debug_markers: true
     diagnostics_warn_delay: 0.5      # [sec]
     diagnostics_error_delay: 1.0     # [sec]

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -7,31 +7,31 @@
 
     common_crop_box_filter:
       parameters:
-        min_x: -100.0
-        max_x: 150.0
-        min_y: -70.0
-        max_y: 70.0
+        min_x: -5.0
+        max_x: 12.0
+        min_y: -6.0
+        max_y: 6.0
         margin_max_z: 0.0  # to extend the crop box max_z from vehicle_height
-        margin_min_z: -2.5 # to extend the crop box min_z from ground
+        margin_min_z: -1.5 # to extend the crop box min_z from ground
         negative: False
 
     common_ground_filter:
       plugin: "ground_segmentation::ScanGroundFilterComponent"
       parameters:
-        global_slope_max_angle_deg: 10.0
-        local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode
-        split_points_distance_tolerance: 0.2
-        use_virtual_ground_point: True
-        split_height_distance: 0.2
-        non_ground_height_threshold: 0.20
+        global_slope_max_angle_deg: 7.0
+        local_slope_max_angle_deg: 9.0 # recommended 30.0 for non elevation_grid_mode
+        split_points_distance_tolerance: 0.1
+        use_virtual_ground_point: true
+        split_height_distance: 0.05
+        non_ground_height_threshold: 0.2
         grid_size_m: 0.1
         grid_mode_switch_radius: 20.0
-        gnd_grid_buffer_size: 4
-        detection_range_z_max: 2.5
+        gnd_grid_buffer_size: 1500
+        detection_range_z_max: 1.5
         elevation_grid_mode: true
         use_recheck_ground_cluster: true
         use_lowest_point: true
-        low_priority_region_x: -20.0
+        low_priority_region_x: -5.0
         center_pcl_shift: 0.0
         radial_divider_angle_deg: 1.0
 

autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
-    map_length: 150.0     # [m]
-    map_resolution: 0.5 # [m]
+    map_length: 20.0     # [m]
+    map_resolution: 0.1 # [m]
 
     height_filter:
       use_height_filter: true
@@ -10,7 +10,7 @@
 
     # downsample input pointcloud
     downsample_input_pointcloud: true
-    downsample_voxel_size: 0.125 # [m]
+    downsample_voxel_size: 0.05 # [m]
 
     enable_single_frame_mode: false
     # use sensor pointcloud to filter obstacle pointcloud
@@ -20,10 +20,12 @@
     map_frame: "map"
     base_link_frame: "base_link"
     # center of the grid map
-    gridmap_origin_frame: "base_link"
+    # gridmap_origin_frame: "base_link"
+    gridmap_origin_frame: "sensor_kit_base_link"
+
     # ray-tracing center: main sensor frame is preferable like: "velodyne_top"
     # base_link should not be used with "OccupancyGridMapProjectiveBlindSpot"
-    scan_origin_frame: "base_link"
+    scan_origin_frame: "sensor_kit_base_link"
 
     grid_map_type: "OccupancyGridMapFixedBlindSpot"
     OccupancyGridMapFixedBlindSpot:

autoware_launch/config/planning/preset/default_preset.yaml

@@ -14,10 +14,10 @@ launch:
       default: "false" # Warning, experimental module, use only in simulations
   - arg:
       name: launch_lane_change_right_module
-      default: "true"
+      default: "false" #default true YH
   - arg:
       name: launch_lane_change_left_module
-      default: "true"
+      default: "false" #default true YH
   - arg:
       name: launch_external_request_lane_change_right_module
       default: "false"
@@ -32,7 +32,7 @@ launch:
       default: "true"
   - arg:
       name: launch_side_shift_module
-      default: "true"
+      default: "false" #default true YH
 
   # behavior velocity modules
   - arg:
@@ -43,7 +43,7 @@ launch:
       default: "true"
   - arg:
       name: launch_traffic_light_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_intersection_module
       default: "true"
@@ -52,7 +52,7 @@ launch:
       default: "true"
   - arg:
       name: launch_blind_spot_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_detection_area_module
       default: "true"

autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml

@@ -24,14 +24,14 @@
 
     # engage & replan parameters
     replan_vel_deviation: 5.53         # velocity deviation to replan initial velocity [m/s]
-    engage_velocity: 0.25              # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed)
+    engage_velocity: 0.15 # 0.25              # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed)
     engage_acceleration: 0.5           # engage acceleration [m/ss] (use this acceleration when engagement)
     engage_exit_ratio: 0.5             # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity.
-    stop_dist_to_prohibit_engage: 0.5  # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]
+    stop_dist_to_prohibit_engage: 0.2  # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]
 
     # stop velocity
-    stopping_velocity: 2.778  # change target velocity to this value before v=0 point [m/s]
-    stopping_distance: 0.0    # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied.
+    stopping_velocity: 0.25  # change target velocity to this value before v=0 point [m/s]
+    stopping_distance: 1.2    # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied.
 
     # path extraction parameters
     extract_ahead_dist: 200.0         # forward trajectory distance used for planning [m]

autoware_launch/config/planning/scenario_planning/common/common.param.yaml

@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    max_vel: 4.17           # max velocity limit [m/s]
+    max_vel: 0.50          # max velocity limit [m/s]
 
     # constraints param for normal driving
     normal:

autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml

@@ -26,7 +26,7 @@
       steering_rate: 10.0
       velocity_deviation: 100.0
       distance_deviation: 100.0
-      longitudinal_distance_deviation: 1.0
+      longitudinal_distance_deviation: 3.0 #default 1.0 YH
 
     parameters:
       # The required trajectory length is calculated as the distance needed