Merge remote-tracking branch 'upstream/main'

autoware_launch/config/control/control_validator/control_validator.param.yaml

@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+
+    publish_diag: false  # if true, diagnostic msg is published
+
+    # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.
+    # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if
+    #  the next predicted_path is valid.)
+    diag_error_count_threshold: 0
+
+    display_on_terminal: false # show error msg on terminal
+
+    thresholds:
+      max_distance_deviation: 1.0

autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml

@@ -1,12 +1,18 @@
 /**:
   ros__parameters:
+    # Enable feature
+    will_out_of_lane_checker: true
+    out_of_lane_checker: true
+    boundary_departure_checker: false
+
     # Node
     update_rate: 10.0
     visualize_lanelet: false
     include_right_lanes: false
     include_left_lanes: false
     include_opposite_lanes: false
     include_conflicting_lanes: false
+    boundary_types_to_detect: [road_border]
 
     # Core
     footprint_margin_scale: 1.0

autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml

@@ -2,6 +2,10 @@
   ros__parameters:
     transition_timeout: 10.0
     frequency_hz: 10.0
+
+    # set true if you want to engage the autonomous driving mode while the vehicle is driving. If set to false, it will deny Engage in any situation where the vehicle speed is not zero. Note that if you use this feature without adjusting the parameters, it may cause issues like sudden deceleration. Before using, please ensure the engage condition and the vehicle_cmd_gate transition filter are appropriately adjusted.
+    enable_engage_on_driving: false
+
     check_engage_condition: false # set false if you do not want to care about the engage condition.
     nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
     nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index

autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml

@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    # Node
+    update_rate: 10.0
+    delay_time: 0.17
+    max_deceleration: 1.5
+    resample_interval: 0.5
+    stop_margin: 0.5 # [m]
+    ego_nearest_dist_threshold: 3.0 # [m]
+    ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]
+    min_trajectory_check_length: 1.5 # [m]
+    trajectory_check_time: 3.0
+    distinct_point_distance_threshold: 0.3
+    distinct_point_yaw_threshold: 5.0 # [deg]
+    filtering_distance_threshold: 1.5 # [m]
+    use_object_prediction: true
+
+    collision_checker_params:
+      width_margin: 0.2
+      chattering_threshold: 0.2
+      z_axis_filtering_buffer: 0.3
+      enable_z_axis_obstacle_filtering: false

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

@@ -3,7 +3,9 @@
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
     use_emergency_handling: false
+    check_external_emergency_heartbeat: false
     use_start_request: false
+    enable_cmd_limit_filter: true
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4
@@ -12,15 +14,21 @@
     stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0
-      lon_acc_lim: 5.0
-      lon_jerk_lim: 5.0
-      lat_acc_lim: 5.0
-      lat_jerk_lim: 5.0
-      actual_steer_diff_lim: 1.0
+      reference_speed_points: [20.0, 30.0]
+      steer_lim: [1.0, 0.8]
+      steer_rate_lim: [1.0, 0.8]
+      lon_acc_lim: [5.0, 4.0]
+      lon_jerk_lim: [5.0, 4.0]
+      lat_acc_lim: [5.0, 4.0]
+      lat_jerk_lim: [7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 0.8]
     on_transition:
       vel_lim: 50.0
-      lon_acc_lim: 1.0
-      lon_jerk_lim: 0.5
-      lat_acc_lim: 2.0
-      lat_jerk_lim: 7.0
-      actual_steer_diff_lim: 1.0
+      reference_speed_points: [20.0, 30.0]
+      steer_lim: [1.0, 0.8]
+      steer_rate_lim: [1.0, 0.8]
+      lon_acc_lim: [1.0, 0.9]
+      lon_jerk_lim: [0.5, 0.4]
+      lat_acc_lim: [2.0, 1.8]
+      lat_jerk_lim: [7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 0.8]

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     show_debug_info: false
-    enable_yaw_bias_estimation: True
+    enable_yaw_bias_estimation: true
     predict_frequency: 50.0
     tf_rate: 50.0
     extend_state_step: 50
@@ -21,3 +21,12 @@
     proc_stddev_yaw_c: 0.005
     proc_stddev_vx_c: 10.0
     proc_stddev_wz_c: 5.0
+
+    # for diagnostics
+    pose_no_update_count_threshold_warn: 50
+    pose_no_update_count_threshold_error: 250
+    twist_no_update_count_threshold_warn: 50
+    twist_no_update_count_threshold_error: 250
+
+    # for velocity measurement limitation (Set 0.0 if you want to ignore)
+    threshold_observable_velocity_mps: 0.0 # [m/s]

autoware_launch/config/localization/localization_error_monitor.param.yaml

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     scale: 3.0
-    error_ellipse_size: 1.0
-    warn_ellipse_size: 0.8
+    error_ellipse_size: 1.5
+    warn_ellipse_size: 1.2
     error_ellipse_size_lateral_direction: 0.3
-    warn_ellipse_size_lateral_direction: 0.2
+    warn_ellipse_size_lateral_direction: 0.25

autoware_launch/config/localization/ndt_scan_matcher.param.yaml

@@ -6,6 +6,12 @@
     # Vehicle reference frame
     base_frame: "base_link"
 
+    # NDT reference frame
+    ndt_base_frame: "ndt_base_link"
+
+    # map frame
+    map_frame: "map"
+
     # Subscriber queue size
     input_sensor_points_queue_size: 1
 
@@ -35,18 +41,22 @@
     converged_param_nearest_voxel_transformation_likelihood: 2.3
 
     # The number of particles to estimate initial pose
-    initial_estimate_particles_num: 100
+    initial_estimate_particles_num: 200
+
+    # 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: 20
+
+    # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
+    lidar_topic_timeout_sec: 1.0
 
     # 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
 
-    # neighborhood search method
-    # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1
-    neighborhood_search_method: 0
-
     # Number of threads used for parallel computing
     num_threads: 4
 
@@ -82,8 +92,12 @@
     # Radius of input LiDAR range (used for diagnostics of dynamic map loading)
     lidar_radius: 100.0
 
+    # cspell: ignore degrounded
     # A flag for using scan matching score based on de-grounded LiDAR scan
     estimate_scores_for_degrounded_scan: false
 
     # If lidar_point.z - base_link.z <= this threshold , the point will be removed
     z_margin_for_ground_removal: 0.8
+
+    # The execution time which means probably NDT cannot matches scans properly. [ms]
+    critical_upper_bound_exe_time_ms: 100

autoware_launch/config/map/lanelet2_map_loader.param.yaml

@@ -1,7 +1,3 @@
 /**:
   ros__parameters:
-    lanelet2_map_projector_type: MGRS   # Options: MGRS, UTM, local
-    latitude: 40.81187906        # Latitude of map_origin, using in UTM
-    longitude: 29.35810110          # Longitude of map_origin, using in UTM
-
     center_line_resolution: 5.0         # [m]

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

autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml

@@ -0,0 +1,13 @@
+/**:
+  ros__parameters:
+    min_points_num:
+    #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+      [10,     10,  10,    10,         10,10,    10,         10]
+
+    max_points_num:
+    #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+      [10,     10,  10,    10,         10,10,    10,         10]
+
+    min_points_and_distance_ratio:
+    #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+      [800.0,     880.0,     800.0,    800.0,         800.0, 800.0,    800.0,         800.0]

autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml

@@ -1,15 +1,16 @@
 /**:
   ros__parameters:
     class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-    point_feature_size: 9  # x, y, z, time-lag and car, pedestrian, bicycle
+    paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
+    point_feature_size: 7  # x, y, z, time-lag and car, pedestrian, bicycle
     max_voxel_size: 40000
-    point_cloud_range: [-102.4, -102.4, -4.0, 102.4, 102.4, 6.0]
-    voxel_size: [0.32, 0.32, 10.0]
+    point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
+    voxel_size: [0.32, 0.32, 8.0]
     downsample_factor: 1
-    encoder_in_feature_size: 14
+    encoder_in_feature_size: 12
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
     # post-process params
-    circle_nms_dist_threshold: 0.5
+    circle_nms_dist_threshold: 0.3
     iou_nms_target_class_names: ["CAR"]
     iou_nms_search_distance_2d: 10.0
     iou_nms_threshold: 0.1

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

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

autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml

@@ -1,17 +1,21 @@
 /**:
   ros__parameters:
     enable_delay_compensation: true
-    prediction_time_horizon: 7.8 #[s]
+    prediction_time_horizon: 10.0 #[s]
     prediction_sampling_delta_time: 0.5 #[s]
     min_velocity_for_map_based_prediction: 1.39 #[m/s]
     min_crosswalk_user_velocity: 1.39 #[m/s]
+    max_crosswalk_user_delta_yaw_threshold_for_lanelet: 0.785 #[m/s]
     dist_threshold_for_searching_lanelet: 3.0 #[m]
     delta_yaw_threshold_for_searching_lanelet: 0.785 #[rad]
     sigma_lateral_offset: 0.5 #[m]
     sigma_yaw_angle_deg: 5.0 #[angle degree]
     object_buffer_time_length: 2.0 #[s]
     history_time_length: 1.0 #[s]
+    # parameter for shoulder lane prediction
+    prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
 
+    # parameters for lc prediction
     lane_change_detection:
       method: "lat_diff_distance" # choose from "lat_diff_distance" or "time_to_change_lane"
       time_to_change_lane:

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

@@ -30,9 +30,9 @@
           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,     1.00,   #MOTORBIKE
-           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #BICYCLE
-           2.00, 10000.00, 10000.00, 10000.00, 10000.00,      1.50,      1.50,     1.00]   #PEDESTRIAN
+           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
     min_area_matrix:
       #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
       [ 0.000,  0.000, 0.000,  0.000, 0.000,    0.000,     0.000,   0.000,      #UNKNOWN

autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml

@@ -0,0 +1,27 @@
+# general parameters for radar_object_tracker node
+/**:
+  ros__parameters:
+    # basic settings
+    world_frame_id: "map"
+    tracker_lifetime: 1.0  # [sec]
+    # if empty, use default config declared in this package
+    tracking_config_directory: ""
+
+    # delay compensate parameters
+    publish_rate: 10.0
+    enable_delay_compensation: false
+
+    # logging
+    enable_logging: false
+    logging_file_path: "/tmp/association_log.json"
+
+    # filtering
+    ## 1. distance based filtering: remove closer objects than this threshold
+    use_distance_based_noise_filtering: true
+    minimum_range_threshold: 70.0 # [m]
+
+    ## 2. lanelet map based filtering
+    use_map_based_noise_filtering: true
+    max_distance_from_lane: 5.0 # [m]
+    max_angle_diff_from_lane: 0.785398 # [rad] (45 deg)
+    max_lateral_velocity: 5.0 # [m/s]