From db57d520305921c5f1f3d7eda04b9c36cbe9f81f Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Tue, 29 Nov 2022 16:48:49 +0900 Subject: [PATCH 1/3] feat: change operation mode transition timeout (#584) Signed-off-by: Takagi, Isamu Signed-off-by: Takagi, Isamu --- .../operation_mode_transition_manager.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml index be18812b59..45014428d0 100644 --- a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml +++ b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - transition_timeout: 3.0 + transition_timeout: 10.0 frequency_hz: 10.0 engage_acceptable_limits: allow_autonomous_in_stopped: true # no check if the velocity is zero, always allowed. From 5e394870327ebb38581c80a4258a4275e0ab947e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 29 Nov 2022 16:59:15 +0900 Subject: [PATCH 2/3] feat(planning_launch): add option of clipping fixed trajectory (#580) * feat(planning_launch): add option of clipping fixed trajectory Signed-off-by: Takayuki Murooka * Update obstacle_avoidance_planner.param.yaml Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 9290aa3c0a..a18e531806 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -39,6 +39,7 @@ num_fix_points_for_extending: 50 # number of fixing points when extending max_dist_for_extending_end_point: 0.0001 # minimum delta dist thres for extending last point [m] + enable_clipping_fixed_traj: false non_fixed_trajectory_length: 5.0 # length of the trajectory merging optimized mpt trajectory to original(not optimized) trajectory object: # avoiding object From 894d26a59ec07db7ef25c32dedab2532cfa4d684 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 30 Nov 2022 11:34:37 +0900 Subject: [PATCH 3/3] feat!: replace HADMap with Lanelet (#571) Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- system_launch/config/component_state_monitor/topics.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system_launch/config/component_state_monitor/topics.yaml b/system_launch/config/component_state_monitor/topics.yaml index b55dfa5aec..5a5f2e880b 100644 --- a/system_launch/config/component_state_monitor/topics.yaml +++ b/system_launch/config/component_state_monitor/topics.yaml @@ -82,7 +82,7 @@ args: node_name_suffix: mission_planning_route topic: /planning/mission_planning/route - topic_type: autoware_auto_planning_msgs/msg/HADMapRoute + topic_type: autoware_planning_msgs/msg/LaneletRoute best_effort: false transient_local: true warn_rate: 0.0