From 7f675e21bcf486c8d2e5d2007a6b2378ddca4a6b Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 13 Sep 2023 16:08:52 +0900 Subject: [PATCH 1/9] chore(localization_error_monitor): update default parameter (#565) Signed-off-by: kminoda --- .../config/localization/localization_error_monitor.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/localization_error_monitor.param.yaml b/autoware_launch/config/localization/localization_error_monitor.param.yaml index 026daf0532..2aa28014ea 100644 --- a/autoware_launch/config/localization/localization_error_monitor.param.yaml +++ b/autoware_launch/config/localization/localization_error_monitor.param.yaml @@ -4,4 +4,4 @@ error_ellipse_size: 1.0 warn_ellipse_size: 0.8 error_ellipse_size_lateral_direction: 0.3 - warn_ellipse_size_lateral_direction: 0.2 + warn_ellipse_size_lateral_direction: 0.25 From 405e5fbe3a21446d57959faf01b76432a79a3743 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 13 Sep 2023 16:09:15 +0900 Subject: [PATCH 2/9] feat(tier4_system_rviz_plugin): add package (#564) * feat(tier4_system_rviz_plugin): add package Signed-off-by: kminoda * fix Signed-off-by: kminoda --------- Signed-off-by: kminoda --- autoware_launch/rviz/autoware.rviz | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 0013fc36ca..00e924da39 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -319,6 +319,22 @@ Visualization Manager: Value: true Enabled: true Name: Vehicle + - Class: rviz_plugins/MrmSummaryOverlayDisplay + Enabled: false + Font Size: 10 + Left: 512 + Max Letter Num: 100 + Name: MRM Summary + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /system/emergency/hazard_status + Value: false + Value height offset: 0 Enabled: true Name: System - Class: rviz_common/Group From a576ad2ca3f77e3fd179f8d80fa295608bbd6f5f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 14 Sep 2023 16:56:05 +0900 Subject: [PATCH 3/9] feat(goal_planner): add options of occupancy grid map to use only for goal search (#563) Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index c1fd848857..f298406792 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -21,8 +21,9 @@ # occupancy grid map occupancy_grid: - use_occupancy_grid: true - use_occupancy_grid_for_longitudinal_margin: false + use_occupancy_grid_for_goal_search: true + use_occupancy_grid_for_goal_longitudinal_margin: false + use_occupancy_grid_for_path_collision_check: false occupancy_grid_collision_check_margin: 0.0 theta_size: 360 obstacle_threshold: 60 From 79af6a9e34939c3ed28b58b76a791b3ac164495e Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Sat, 16 Sep 2023 18:17:57 +0900 Subject: [PATCH 4/9] fix(behavior_path_planner): define hysteresis_factor_expand_rate (#569) * hysteresis_factor_expand_rate Signed-off-by: kyoichi-sugahara * style(pre-commit): autofix * add hysteresis_factor_expand_rate in SafetyCheckParams Signed-off-by: kyoichi-sugahara * delete setting files Signed-off-by: kyoichi-sugahara * revert unnecessary change Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 ++ .../start_planner/start_planner.param.yaml | 2 ++ 2 files changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index f298406792..da42efc7f9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -162,6 +162,8 @@ lateral_distance_max_threshold: 1.0 longitudinal_distance_min_threshold: 1.0 longitudinal_velocity_delta_time: 1.0 + # hysteresis factor to expand/shrink polygon with the value + hysteresis_factor_expand_rate: 1.0 # temporary backward_path_length: 30.0 forward_path_length: 100.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index b62262423f..586676fbbb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -129,6 +129,8 @@ lateral_distance_max_threshold: 1.0 longitudinal_distance_min_threshold: 1.0 longitudinal_velocity_delta_time: 1.0 + # hysteresis factor to expand/shrink polygon + hysteresis_factor_expand_rate: 1.0 # temporary backward_path_length: 30.0 forward_path_length: 100.0 From 9256a1322f233883c92ba36c09f03c38ceedf291 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 18 Sep 2023 16:28:12 +0900 Subject: [PATCH 5/9] feat(behavior_path_planner): update start_goal_planner's parameter (#571) update start_goal_planner's parameter Signed-off-by: kyoichi-sugahara --- .../goal_planner/goal_planner.param.yaml | 7 ++++--- .../start_planner/start_planner.param.yaml | 7 ++++--- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index da42efc7f9..c4d1b7bb1b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -112,12 +112,13 @@ path_safety_check: # EgoPredictedPath ego_predicted_path: + min_velocity: 0.0 acceleration: 1.0 - time_horizon: 10.0 + max_velocity: 1.0 + time_horizon_for_front_object: 10.0 + time_horizon_for_rear_object: 10.0 time_resolution: 0.5 - min_slow_speed: 0.0 delay_until_departure: 1.0 - target_velocity: 1.0 # For target object filtering target_filtering: safety_check_time_horizon: 5.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 586676fbbb..492bf1ddca 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -79,12 +79,13 @@ path_safety_check: # EgoPredictedPath ego_predicted_path: + min_velocity: 0.0 acceleration: 1.0 - time_horizon: 10.0 + max_velocity: 1.0 + time_horizon_for_front_object: 10.0 + time_horizon_for_rear_object: 10.0 time_resolution: 0.5 - min_slow_speed: 0.0 delay_until_departure: 1.0 - target_velocity: 1.0 # For target object filtering target_filtering: safety_check_time_horizon: 5.0 From 17f9cea1334afba763133286752d7c3aa95c6acd Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 18 Sep 2023 21:19:39 +0900 Subject: [PATCH 6/9] fix(behavior_path_planner): change safety check default disable (#572) * change safety check default disable Signed-off-by: kyoichi-sugahara * add warning message Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 +- .../start_planner/start_planner.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index c4d1b7bb1b..94ae9fa6d9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -153,7 +153,7 @@ # For safety check safety_check_params: # safety check configuration - enable_safety_check: true + enable_safety_check: false # Don't set to true if auto_mode is enabled # collision check parameters check_all_predicted_path: true publish_debug_marker: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 492bf1ddca..e12a1a3519 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -120,7 +120,7 @@ # For safety check safety_check_params: # safety check configuration - enable_safety_check: true + enable_safety_check: false # Don't set to true if auto_mode is enabled # collision check parameters check_all_predicted_path: true publish_debug_marker: false From c085625ae13afd850fe401c0603f6cf9c6c36904 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 18 Sep 2023 21:19:53 +0900 Subject: [PATCH 7/9] feat(behavior_path_planner): set param ignore_object_velocity_threshold (#573) set param ignore_object_velocity_threshold Signed-off-by: kyoichi-sugahara --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 +- .../start_planner/start_planner.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 94ae9fa6d9..0c11077ea6 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -126,7 +126,7 @@ # detection range object_check_forward_distance: 10.0 object_check_backward_distance: 100.0 - ignore_object_velocity_threshold: 0.0 + ignore_object_velocity_threshold: 1.0 # ObjectTypesToCheck object_types_to_check: check_car: true diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index e12a1a3519..4fa1c09958 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -93,7 +93,7 @@ # detection range object_check_forward_distance: 10.0 object_check_backward_distance: 100.0 - ignore_object_velocity_threshold: 0.0 + ignore_object_velocity_threshold: 1.0 # ObjectTypesToCheck object_types_to_check: check_car: true From 34e4ac35bde3cf2dbec366f9b4f02e6837277ebf Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 19 Sep 2023 09:38:37 +0900 Subject: [PATCH 8/9] refactor(perception): rearrange clustering pipeline parameters (#567) * fix: use downsample before compare map Signed-off-by: badai-nguyen * fix: remove downsample after compare map Signed-off-by: badai-nguyen * fix: add low range crop filter param Signed-off-by: badai-nguyen * chore: refactor Signed-off-by: badai-nguyen * chore: typo Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- .../clustering/compare_map.param.yaml | 20 ------------------- .../detection/clustering/outlier.param.yaml | 8 -------- .../clustering/voxel_grid.param.yaml | 7 ------- ...el_grid_based_euclidean_cluster.param.yaml | 14 +++++++------ .../pointcloud_map_filter.param.yaml | 2 -- .../tier4_perception_component.launch.xml | 5 ----- 6 files changed, 8 insertions(+), 48 deletions(-) delete mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml delete mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml delete mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml deleted file mode 100644 index 3dd303464a..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml +++ /dev/null @@ -1,20 +0,0 @@ -/**: - ros__parameters: - - # distance threshold for compare compare - distance_threshold: 0.5 - - # publish voxelized map pointcloud for debug - publish_debug_pcd: False - - # use dynamic map loading - use_dynamic_map_loading: True - - # time interval to check dynamic map loading - timer_interval_ms: 100 - - # distance threshold for dynamic map update - map_update_distance_threshold: 10.0 - - # radius map for dynamic map loading - map_loader_radius: 150.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml deleted file mode 100644 index 1962fba1f3..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - input_frame: base_link - output_frame: base_link - voxel_size_x: 0.3 - voxel_size_y: 0.3 - voxel_size_z: 100.0 - voxel_points_threshold: 3 diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml deleted file mode 100644 index 3ff32bfbb7..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml +++ /dev/null @@ -1,7 +0,0 @@ -/**: - ros__parameters: - input_frame: base_link - output_frame: base_link - voxel_size_x: 0.15 - voxel_size_y: 0.15 - voxel_size_z: 0.15 diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml index 2f3de2b789..26b027f007 100644 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml @@ -7,9 +7,11 @@ max_cluster_size: 3000 use_height: false input_frame: "base_link" - max_x: 70.0 - min_x: -70.0 - max_y: 70.0 - min_y: -70.0 - max_z: 4.5 - min_z: -4.5 + + # low height crop box filter param + max_x: 200.0 + min_x: -200.0 + max_y: 200.0 + min_y: -200.0 + max_z: 2.0 + min_z: -10.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml index 0423217582..62b3074c15 100644 --- a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml @@ -1,7 +1,5 @@ /**: ros__parameters: - # use downsample filter before compare map - use_down_sample_filter: False # voxel size for downsample filter down_sample_voxel_size: 0.1 diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index cf5b2dd98c..3b133bdf0f 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -21,16 +21,11 @@ - - Date: Tue, 19 Sep 2023 12:11:33 +0900 Subject: [PATCH 9/9] fix(autoware_launch): add radar lanelet filter parameter (#566) Signed-off-by: scepter914 --- .../object_filter/radar_lanelet_filter.param.yaml | 11 +++++++++++ .../components/tier4_perception_component.launch.xml | 4 ++++ 2 files changed, 15 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml new file mode 100644 index 0000000000..62051e1c5e --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + filter_target_label: + UNKNOWN : true + CAR : true + TRUCK : true + BUS : true + TRAILER : true + MOTORCYCLE : true + BICYCLE : true + PEDESTRIAN : true diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 3b133bdf0f..10da418468 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -58,6 +58,10 @@ name="object_recognition_detection_object_merger_distance_threshold_list_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml" /> +