Merge branch 'main' into feat/add_dynamic_lanelet_loading

autoware_launch/config/planning/preset/default_preset.yaml

@@ -74,9 +74,6 @@ launch:
   - arg:
       name: launch_speed_bump_module
       default: "false"
-  - arg:
-      name: launch_out_of_lane_module
-      default: "false"
   - arg:
       name: launch_no_drivable_lane_module
       default: "false"
@@ -100,7 +97,7 @@ launch:
 
   # motion velocity planner modules
   - arg:
-      name: launch_motion_out_of_lane_module
+      name: launch_out_of_lane_module
       default: "true"
 
   - arg:

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml

@@ -88,7 +88,7 @@
 
       stop:
         max_lat_margin: 0.3 # lateral margin between the obstacles and ego's footprint
-        max_lat_margin_against_unknown: -0.3 # lateral margin between the unknown obstacles and ego's footprint
+        max_lat_margin_against_unknown: 0.3 # lateral margin between the unknown obstacles and ego's footprint
         crossing_obstacle:
           collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
 
@@ -206,3 +206,15 @@
       lpf_gain_slow_down_vel: 0.99 # low-pass filter gain for slow down velocity
       lpf_gain_lat_dist: 0.999 # low-pass filter gain for lateral distance from obstacle to ego's path
       lpf_gain_dist_to_slow_down: 0.7 # low-pass filter gain for distance to slow down start
+    stop:
+      type_specified_params:
+        labels: # For the listed types, the node try to read the following type specified values
+          - "default"
+          - "unknown"
+        # default: For the default type, which denotes the other types listed above, the following param is defined implicitly, and the other type-specified parameters are not defined.
+          # limit_min_acc: common_param.yaml/limit.min_acc
+        unknown:
+          limit_min_acc: -1.2 # overwrite the deceleration limit, in usually, common_param.yaml/limit.min_acc is referred.
+          sudden_object_acc_threshold: -1.1 # If a stop can be achieved by a deceleration smaller than this value, it is not considered as “sudden stop".
+          sudden_object_dist_threshold: 1000.0 # If a stop distance is longer than this value, it is not considered as “sudden stop".
+          abandon_to_stop: false # If true, the planner gives up to stop when it cannot avoid to run over while maintaining the deceleration limit.

autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml

@@ -35,6 +35,7 @@
         /autoware/planning/performance_monitoring/trajectory_validation: default
 
         # /autoware/sensing/node_alive_monitoring: default
+        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default

autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml

@@ -35,6 +35,7 @@
         /autoware/planning/performance_monitoring/trajectory_validation: default
 
         # /autoware/sensing/node_alive_monitoring: default
+        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default

autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml

@@ -25,7 +25,7 @@
         /autoware/localization/node_alive_monitoring: default
         # /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
         # /autoware/localization/performance_monitoring/localization_error_ellipse: default
-
+        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
         /autoware/map/node_alive_monitoring: default
 
         /autoware/perception/node_alive_monitoring: default

autoware_launch/launch/components/tier4_control_component.launch.xml

@@ -39,7 +39,7 @@
     <arg name="shift_decider_param_path" value="$(find-pkg-share autoware_launch)/config/control/shift_decider/shift_decider.param.yaml"/>
     <arg name="obstacle_collision_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml"/>
     <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
-    <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
+    <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
     <arg name="enable_autonomous_emergency_braking" value="$(var enable_autonomous_emergency_braking)"/>
     <arg name="enable_predicted_path_checker" value="$(var enable_predicted_path_checker)"/>
     <arg name="predicted_path_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/predicted_path_checker/predicted_path_checker.param.yaml"/>

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -59,7 +59,6 @@
     <arg name="behavior_velocity_planner_no_stopping_area_module_param_path" value="$(var behavior_velocity_config_path)/no_stopping_area.param.yaml"/>
     <arg name="behavior_velocity_planner_run_out_module_param_path" value="$(var behavior_velocity_config_path)/run_out.param.yaml"/>
     <arg name="behavior_velocity_planner_speed_bump_module_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
-    <arg name="behavior_velocity_planner_out_of_lane_module_param_path" value="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
     <arg name="behavior_velocity_planner_no_drivable_lane_module_param_path" value="$(var behavior_velocity_config_path)/no_drivable_lane.param.yaml"/>
     <arg name="behavior_velocity_planner_dynamic_obstacle_stop_module_param_path" value="$(var behavior_velocity_config_path)/dynamic_obstacle_stop.param.yaml"/>
     <arg name="compare_map_filter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml"/>

autoware_launch/rviz/autoware.rviz

@@ -1605,18 +1605,6 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump
                           Value: true
-                        - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
-                          Name: VirtualWall (OutOfLane)
-                          Namespaces:
-                            {}
-                          Topic:
-                            Depth: 5
-                            Durability Policy: Volatile
-                            History Policy: Keep Last
-                            Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane
-                          Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
                           Name: VirtualWall (NoDrivableLane)
@@ -1873,18 +1861,6 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump
                           Value: false
-                        - Class: rviz_default_plugins/MarkerArray
-                          Enabled: false
-                          Name: OutOfLane
-                          Namespaces:
-                            {}
-                          Topic:
-                            Depth: 5
-                            Durability Policy: Volatile
-                            History Policy: Keep Last
-                            Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane
-                          Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
                           Name: DynamicObstacleAvoidance
@@ -2589,7 +2565,6 @@ Visualization Manager:
                           NoDrivableLane: true
                           NoStoppingArea: true
                           OcclusionSpot: true
-                          OutOfLane: true
                           RightLaneChange: true
                           RunOut: true
                           SideShift: true
@@ -2643,7 +2618,6 @@ Visualization Manager:
                           VirtualWall (NoDrivableLane): true
                           VirtualWall (NoStoppingArea): true
                           VirtualWall (OcclusionSpot): true
-                          VirtualWall (OutOfLane): true
                           VirtualWall (RunOut): true
                           VirtualWall (SpeedBump): true
                           VirtualWall (StartPlanner): true