chore(package.xml): bump version to 0.39.0 (#1248)

Signed-off-by: Go Sakayori <[email protected]> Signed-off-by: Go Sakayori <[email protected]> Signed-off-by: kosuke55 <[email protected]> Signed-off-by: Taekjin LEE <[email protected]> Signed-off-by: Shintaro Sakoda <[email protected]> Signed-off-by: Zulfaqar Azmi <[email protected]> Signed-off-by: satoshi-ota <[email protected]> Signed-off-by: takeshi.iwanari <[email protected]> Signed-off-by: Yuki Takagi <[email protected]> Signed-off-by: Takayuki Murooka <[email protected]> Signed-off-by: Daniel Sanchez <[email protected]> Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: xtk8532704 <[email protected]> Signed-off-by: Yutaka Kondo <[email protected]> Co-authored-by: Yuki TAKAGI <[email protected]> Co-authored-by: Go Sakayori <[email protected]> Co-authored-by: Kosuke Takeuchi <[email protected]> Co-authored-by: Taekjin LEE <[email protected]> Co-authored-by: SakodaShintaro <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]> Co-authored-by: Satoshi OTA <[email protected]> Co-authored-by: iwatake <[email protected]> Co-authored-by: ito-san <[email protected]> Co-authored-by: Takayuki Murooka <[email protected]> Co-authored-by: danielsanchezaran <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]> Co-authored-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: xtk8532704 <[email protected]>
autowarefoundation · Nov 26, 2024 · c445de5 · c445de5
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diff --git a/.prettierignore b/.prettierignore
@@ -1,2 +1,3 @@
 *.param.yaml
 *.rviz
+**/diagnostic_graph_aggregator/
diff --git a/autoware_launch/CHANGELOG.rst b/autoware_launch/CHANGELOG.rst
@@ -2,6 +2,49 @@
 Changelog for package autoware_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* autowarefoundation username
+* Merge commit '9d0e7055a' into release-0.39.0
+* feat: change the old diagnostic_convertor to scenario_simulator_v2_adapter (`#1227 <https://github.com/autowarefoundation/autoware_launch/issues/1227>`_)
+  Co-authored-by: xtk8532704 <[email protected]>
+* feat(costmap_generator): change lidar height thresholds to vehicle frame (`#1225 <https://github.com/autowarefoundation/autoware_launch/issues/1225>`_)
+* revert(obstacle_cruise): disable ouside stop feature (`#1222 <https://github.com/autowarefoundation/autoware_launch/issues/1222>`_)
+* feat(aeb): set global param to override autoware state check (`#1218 <https://github.com/autowarefoundation/autoware_launch/issues/1218>`_)
+  * set global param to override autoware state check
+  * change variable for a more generic name
+  * set var to false by default
+  * move param to control component launch
+  * change param name to be more straightforward
+  ---------
+* fix(pid_longitudinal_controller): revive hysteresis of state transition (`#1219 <https://github.com/autowarefoundation/autoware_launch/issues/1219>`_)
+* feat(detection_area)!: add retruction feature (`#1216 <https://github.com/autowarefoundation/autoware_launch/issues/1216>`_)
+* feat(system_monitor): add on/off config for network traffic monitor (`#1186 <https://github.com/autowarefoundation/autoware_launch/issues/1186>`_)
+  feat(system_monitor): add config for network traffic monitor
+  Co-authored-by: ito-san <[email protected]>
+* feat(goal_planner): set lane departure check margin 0.20 (`#1214 <https://github.com/autowarefoundation/autoware_launch/issues/1214>`_)
+* fix(autoware_ekf_localizer): removed `publish_tf` (`#1212 <https://github.com/autowarefoundation/autoware_launch/issues/1212>`_)
+  Removed `publish_tf`
+* feat(rviz): add rviz config for debugging (`#1213 <https://github.com/autowarefoundation/autoware_launch/issues/1213>`_)
+  * feat(rviz): add rviz config for debugging
+  * feat(launch): select rviz config name
+  ---------
+* feat(lane_change): enable cancel when ego in turn direction lane main (RT0-33893) (`#1209 <https://github.com/autowarefoundation/autoware_launch/issues/1209>`_)
+  RT0-33893 add dist from prev intersection
+* fix: changed `loc_config_path` declaration from let to arg (`#1204 <https://github.com/autowarefoundation/autoware_launch/issues/1204>`_)
+  Changed loc_config_path declaration from let to arg
+* chore: update fusion_common.param.yaml with new image projection sett… (`#1207 <https://github.com/autowarefoundation/autoware_launch/issues/1207>`_)
+  chore: update fusion_common.param.yaml with new image projection settings
+* feat(goal_planner): set lane departure check margin 0.3 (`#1199 <https://github.com/autowarefoundation/autoware_launch/issues/1199>`_)
+* feat(collision detector): add collision detector to launch/config (`#1205 <https://github.com/autowarefoundation/autoware_launch/issues/1205>`_)
+  * add collision_detector
+  * change collision detector default to false
+  ---------
+* chore(diagnostic_graph_aggregator, system_diagnostic_monitor)!: change the config file directories from universe to autoware_launch (`#1201 <https://github.com/autowarefoundation/autoware_launch/issues/1201>`_)
+  * prepare dir
+  * copy files from universe
+* Contributors: Go Sakayori, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, SakodaShintaro, Satoshi OTA, Taekjin LEE, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zulfaqar Azmi, danielsanchezaran, iwatake
+
 0.38.0 (2024-11-13)
 -------------------
 * feat(start/goal_planner): increse max dry steering angle (`#1200 <https://github.com/autowarefoundation/autoware_launch/issues/1200>`_)
@@ -1186,7 +1229,7 @@ Changelog for package autoware_launch
   * feat(goal_planner): prioritize goals before objects to avoid
   ---------
 * feat(start_planner): change th_distance_to_middle_of_the_road 0.5 (`#599 <https://github.com/autowarefoundation/autoware_launch/issues/599>`_)
-* feat(start_planner): enable divide_pull_out_path (`#600 <https://github.com/youtalk/autoware_launch/issues/600>`_)
+* feat(start_planner): enable divide_pull_out_path (`#600 <https://github.com/autowarefoundation/autoware_launch/issues/600>`_)
 * feat(goal_planner): change minimum_request_length 0.0 (`#598 <https://github.com/autowarefoundation/autoware_launch/issues/598>`_)
 * feat(goal_planner): extend goal search area (`#592 <https://github.com/autowarefoundation/autoware_launch/issues/592>`_)
   feat(goal_planner): extend goal search are

diff --git a/autoware_launch/config/control/autoware_collision_detector/collision_detector.param.yaml b/autoware_launch/config/control/autoware_collision_detector/collision_detector.param.yaml
@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    use_pointcloud: false # use pointcloud as obstacle check
+    use_dynamic_object: true # use dynamic object as obstacle check
+    collision_distance: 0.1 # Distance at which an object is determined to have collided with ego [m]
+    nearby_filter_radius: 5.0 # Radius to filter nearby objects [m]
+    keep_ignoring_time: 10.0 # Time to keep filtering objects that first appeared in the vicinity
+    nearby_object_type_filters: # Classes subject to filtering for objects first appearing in the vicinity
+      filter_car: false
+      filter_truck: false
+      filter_bus: false
+      filter_trailer: false
+      filter_bicycle: false
+      filter_motorcycle: false
+      filter_pedestrian: false
+      filter_unknown: true
diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -11,7 +11,7 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.5
+    stopping_state_stop_dist: 0.49
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1

diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -5,7 +5,6 @@
       enable_yaw_bias_estimation: true
       predict_frequency: 50.0
       tf_rate: 50.0
-      publish_tf: true
       extend_state_step: 50
 
     pose_measurement:

diff --git a/...ption/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml b/...ption/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml
@@ -4,6 +4,7 @@
     timeout_ms: 70.0
     match_threshold_ms: 50.0
     image_buffer_size: 15
+    point_project_to_unrectified_image: false
     debug_mode: false
     filter_scope_min_x: -100.0
     filter_scope_min_y: -100.0

diff --git a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml
@@ -12,8 +12,8 @@
     grid_length_y: 70.0
     grid_position_x: 0.0
     grid_position_y: 0.0
-    maximum_lidar_height_thres: 0.3
-    minimum_lidar_height_thres: -2.2
+    maximum_lidar_height_thres: 2.5  # [m] when use_points is true, ignore points with a z value above this (in the vehicle_frame)
+    minimum_lidar_height_thres: 0.0  # [m] when use_points is true, ignore points with a z value bellow this (in the vehicle_frame)
     use_wayarea: true
     use_parkinglot: true
     use_objects: true

diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -59,7 +59,7 @@
         maximum_jerk: 1.0
         path_priority: "efficient_path" # "efficient_path" or "close_goal"
         efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking)
-        lane_departure_check_expansion_margin: 0.0
+        lane_departure_check_expansion_margin: 0.2
 
         # shift parking
         shift_parking:

diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -6,6 +6,7 @@
 
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       backward_length_buffer_for_blocking_object: 3.0 # [m]
+      backward_length_from_intersection: 5.0 # [m]
 
       lane_changing_lateral_jerk: 0.5              # [m/s3]
 

diff --git a/...anning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml b/...anning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
@@ -9,3 +9,4 @@
       hold_stop_margin_distance: 0.0
       distance_to_judge_over_stop_line: 0.5
       enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
+      suppress_pass_judge_when_stopping: false
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -42,13 +42,13 @@
 
         outside:
           unknown: false
-          car: true
-          truck: true
-          bus: true
-          trailer: true
-          motorcycle: true
-          bicycle: true
-          pedestrian: true
+          car: false
+          truck: false
+          bus: false
+          trailer: false
+          motorcycle: false
+          bicycle: false
+          pedestrian: false
 
       cruise_obstacle_type:
         inside:

diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
@@ -1,5 +1,5 @@
 files:
-  - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml }
+  - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml }
 
 edits:
   - { type: remove, path: /autoware/system/duplicated_node_checker }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
@@ -1,2 +1,2 @@
 files:
-  - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml }
+  - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
@@ -1,2 +1,2 @@
 files:
-  - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml }
+  - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-psim.yaml }
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
@@ -0,0 +1,70 @@
+files:
+  - { path: $(dirname)/map.yaml }
+  - { path: $(dirname)/localization.yaml }
+  - { path: $(dirname)/planning.yaml }
+  - { path: $(dirname)/perception.yaml }
+  - { path: $(dirname)/control.yaml }
+  - { path: $(dirname)/vehicle.yaml }
+  - { path: $(dirname)/system.yaml }
+
+units:
+  - path: /autoware/modes/stop
+    type: ok
+
+  - path: /autoware/modes/autonomous
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
+  - path: /autoware/modes/local
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/control/local }
+
+  - path: /autoware/modes/remote
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/control/remote }
+
+  - path: /autoware/modes/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
+  - path: /autoware/modes/comfortable_stop
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
+  - path: /autoware/modes/pull_over
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
+  - path: /autoware/debug/tools
+    type: and
+    list:
+      - { type: link, link: /autoware/system/service_log_checker }
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml
@@ -0,0 +1,10 @@
+files:
+  - { path: $(dirname)/autoware-main.yaml }
+
+edits:
+  - { type: remove, path: /autoware/map/topic_rate_check/pointcloud_map }
+  - { type: remove, path: /autoware/localization/scan_matching_status }
+  - { type: remove, path: /autoware/localization/accuracy }
+  - { type: remove, path: /autoware/localization/sensor_fusion_status }
+  - { type: remove, path: /autoware/localization/topic_rate_check/pose_twist_fusion }
+  - { type: remove, path: /autoware/perception/topic_rate_check/pointcloud }
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml
@@ -0,0 +1,68 @@
+units:
+  - path: /autoware/control
+    type: and
+    list:
+      - { type: link, link: /autoware/control/topic_rate_check/trajectory_follower }
+      - { type: link, link: /autoware/control/topic_rate_check/control_command }
+      - { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate }
+      - { type: link, link: /autoware/control/emergency_braking }
+      - { type: link, link: /autoware/control/performance_monitoring/lane_departure }
+      - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
+      - { type: link, link: /autoware/control/performance_monitoring/control_state }
+
+  - path: /autoware/control/local
+    type: and
+    list:
+      - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
+      - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
+
+  - path: /autoware/control/remote
+    type: and
+    list:
+      - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
+      - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
+
+  - path: /autoware/control/topic_rate_check/trajectory_follower
+    type: diag
+    node: topic_state_monitor_trajectory_follower_control_cmd
+    name: control_topic_status
+
+  - path: /autoware/control/topic_rate_check/control_command
+    type: diag
+    node: topic_state_monitor_control_command_control_cmd
+    name: control_topic_status
+
+  - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate
+    type: diag
+    node: vehicle_cmd_gate
+    name: heartbeat
+
+  - path: /autoware/control/emergency_braking
+    type: diag
+    node: autonomous_emergency_braking
+    name: aeb_emergency_stop
+
+  - path: /autoware/control/performance_monitoring/lane_departure
+    type: diag
+    node: lane_departure_checker_node
+    name: lane_departure
+
+  - path: /autoware/control/performance_monitoring/trajectory_deviation
+    type: diag
+    node: lane_departure_checker_node
+    name: trajectory_deviation
+
+  - path: /autoware/control/performance_monitoring/control_state
+    type: diag
+    node: controller_node_exe
+    name: control_state
+
+  - path: /autoware/control/topic_rate_check/external_cmd_selector
+    type: diag
+    node: external_cmd_selector
+    name: heartbeat
+
+  - path: /autoware/control/topic_rate_check/external_cmd_converter
+    type: diag
+    node: external_cmd_converter
+    name: remote_control_topic_status