diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
index 2d044e7cfd..253737609b 100644
--- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
+++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
@@ -1,9 +1,9 @@
/**:
ros__parameters:
# Enable feature
- will_out_of_lane_checker: true
- out_of_lane_checker: true
- boundary_departure_checker: false
+ will_out_of_lane_checker: false
+ out_of_lane_checker: false
+ boundary_departure_checker: true
# Node
update_rate: 10.0
@@ -12,7 +12,7 @@
include_left_lanes: false
include_opposite_lanes: false
include_conflicting_lanes: false
- boundary_types_to_detect: [road_border]
+ boundary_types_to_detect: [curbstone]
# Core
footprint_margin_scale: 1.0
diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
index bc3213081d..c39088753f 100644
--- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -32,7 +32,9 @@
max_d_effort: 0.0
min_d_effort: 0.0
lpf_vel_error_gain: 0.9
+ enable_integration_at_low_speed: false
current_vel_threshold_pid_integration: 0.5
+ time_threshold_before_pid_integration: 2.0
enable_brake_keeping_before_stop: false
brake_keeping_acc: -0.2
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml
new file mode 100644
index 0000000000..2abbf14622
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml
@@ -0,0 +1,15 @@
+/**:
+ ros__parameters:
+ # clustering parameter
+ angle_threshold: 0.174 # [rad] (10 deg)
+ distance_threshold: 10.0 # [m]
+ velocity_threshold: 4.0 # [m/s]
+
+ # output object settings
+ # set false if you want to use the object information from radar
+ is_fixed_label: true
+ fixed_label: "CAR"
+ is_fixed_size: true
+ size_x: 4.0 # [m]
+ size_y: 1.5 # [m]
+ size_z: 1.5 # [m]
diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml
index 22999b411f..b98f8adfb5 100644
--- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml
@@ -11,3 +11,5 @@
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]
+
+ using_2d_validator: true
diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
index 21ba13787f..0e4c52ba92 100644
--- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
@@ -3,3 +3,9 @@
input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
timeout_ms: 70.0
match_threshold_ms: 50.0
+ filter_scope_min_x: -100.0
+ filter_scope_min_y: -100.0
+ filter_scope_min_z: -100.0
+ filter_scope_max_x: 100.0
+ filter_scope_max_y: 100.0
+ filter_scope_max_z: 100.0
diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
index 260ae45da2..69ff96a263 100644
--- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
@@ -29,5 +29,6 @@
diff_dist_threshold_to_left_bound: 0.29 #[m]
diff_dist_threshold_to_right_bound: -0.29 #[m]
num_continuous_state_transition: 3
+ consider_only_routable_neighbours: false
reference_path_resolution: 0.5 #[m]
diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
new file mode 100644
index 0000000000..f58de8e615
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
@@ -0,0 +1,23 @@
+/**:
+ ros__parameters:
+ # default tracker models for each class
+ car_tracker: "multi_vehicle_tracker"
+ truck_tracker: "multi_vehicle_tracker"
+ bus_tracker: "multi_vehicle_tracker"
+ trailer_tracker: "multi_vehicle_tracker"
+ pedestrian_tracker: "pedestrian_and_bicycle_tracker"
+ bicycle_tracker: "pedestrian_and_bicycle_tracker"
+ motorcycle_tracker: "pedestrian_and_bicycle_tracker"
+
+ # default tracker node parameters
+ publish_rate: 10.0
+ world_frame_id: map
+ enable_delay_compensation: true
+ pass_through_unknown_objects: false
+ publish_untracked_objects: false
+
+ # debug parameters
+ publish_processing_time: false
+ publish_tentative_objects: false
+ diagnostic_warn_delay: 0.5 # [sec]
+ diagnostic_error_delay: 1.0 # [sec]
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index fa4a2e4308..7bd3dd26b3 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -30,9 +30,6 @@ launch:
- arg:
name: launch_side_shift_module
default: "true"
- - arg:
- name: use_experimental_lane_change_function
- default: "true"
# behavior velocity modules
- arg:
diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
index 6bb130e805..03958fda9a 100644
--- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -7,6 +7,10 @@
min_jerk: -1.0 # min jerk [m/sss]
max_jerk: 1.0 # max jerk [m/sss]
+ slow_down:
+ min_acc: -1.0 # min deceleration [m/ss]
+ min_jerk: -1.0 # min jerk [m/sss]
+
# constraints to be observed
limit:
min_acc: -2.5 # min deceleration limit [m/ss]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index 98d75415d0..7117d1d6da 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -27,7 +27,6 @@
# avoidance is performed for the object type with true
target_object:
car:
- is_target: true # [-]
execute_num: 1 # [-]
moving_speed_threshold: 1.0 # [m/s]
moving_time_threshold: 1.0 # [s]
@@ -38,7 +37,6 @@
safety_buffer_longitudinal: 0.0 # [m]
use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
truck:
- is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
@@ -49,7 +47,6 @@
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
bus:
- is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
@@ -60,7 +57,6 @@
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
trailer:
- is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
@@ -71,7 +67,6 @@
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
unknown:
- is_target: true
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
@@ -82,7 +77,6 @@
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
bicycle:
- is_target: true
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
@@ -93,7 +87,6 @@
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
motorcycle:
- is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
@@ -104,7 +97,6 @@
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
pedestrian:
- is_target: true
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
@@ -119,6 +111,16 @@
# For target object filtering
target_filtering:
+ # avoidance target type
+ target_type:
+ car: true # [-]
+ truck: true # [-]
+ bus: true # [-]
+ trailer: true # [-]
+ unknown: true # [-]
+ bicycle: true # [-]
+ motorcycle: true # [-]
+ pedestrian: true # [-]
# detection range
object_check_goal_distance: 20.0 # [m]
# filtering parking objects
@@ -137,8 +139,9 @@
# params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
force_avoidance:
- enable: false # [-]
- time_threshold: 1.0 # [s]
+ enable: true # [-]
+ time_threshold: 3.0 # [s]
+ distance_threshold: 1.0 # [m]
ignore_area:
traffic_light:
front_distance: 100.0 # [m]
@@ -146,8 +149,22 @@
front_distance: 30.0 # [m]
behind_distance: 30.0 # [m]
+ # params for filtering objects that are in intersection
+ intersection:
+ yaw_deviation: 0.349 # [rad] (default 20.0deg)
+
# For safety check
safety_check:
+ # safety check target type
+ target_type:
+ car: true # [-]
+ truck: true # [-]
+ bus: true # [-]
+ trailer: true # [-]
+ unknown: false # [-]
+ bicycle: true # [-]
+ motorcycle: true # [-]
+ pedestrian: true # [-]
# safety check configuration
enable: true # [-]
check_current_lane: false # [-]
@@ -190,7 +207,8 @@
max_deviation_from_lane: 0.5 # [m]
# avoidance distance parameters
longitudinal:
- prepare_time: 2.0 # [s]
+ min_prepare_time: 1.0 # [s]
+ max_prepare_time: 2.0 # [s]
min_prepare_distance: 1.0 # [m]
min_slow_down_speed: 1.38 # [m/s]
buf_slow_down_speed: 0.56 # [m/s]
@@ -214,6 +232,10 @@
stop_buffer: 1.0 # [m]
policy:
+ # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver".
+ # "per_shift_line": request approval for each shift line.
+ # "per_avoidance_maneuver": request approval for avoidance maneuver (avoid + return).
+ make_approval_request: "per_shift_line"
# policy for vehicle slow down behavior. select "best_effort" or "reliable".
# "best_effort": slow down deceleration & jerk are limited by constraints.
# but there is a possibility that the vehicle can't stop in front of the vehicle.
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
index bd8545d9e6..74c6112c0e 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
@@ -7,7 +7,6 @@
# avoidance is performed for the object type with true
target_object:
car:
- is_target: true # [-]
execute_num: 2 # [-]
moving_speed_threshold: 1.0 # [m/s]
moving_time_threshold: 1.0 # [s]
@@ -16,7 +15,6 @@
avoid_margin_lateral: 0.0 # [m]
safety_buffer_lateral: 0.0 # [m]
truck:
- is_target: true
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
@@ -25,7 +23,6 @@
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
bus:
- is_target: true
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
@@ -34,7 +31,6 @@
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
trailer:
- is_target: true
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
@@ -43,7 +39,6 @@
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
unknown:
- is_target: true
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
@@ -52,7 +47,6 @@
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
bicycle:
- is_target: false
execute_num: 2
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
@@ -61,7 +55,6 @@
avoid_margin_lateral: 0.0
safety_buffer_lateral: 1.0
motorcycle:
- is_target: false
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
@@ -70,7 +63,6 @@
avoid_margin_lateral: 0.0
safety_buffer_lateral: 1.0
pedestrian:
- is_target: false
execute_num: 2
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
@@ -80,3 +72,16 @@
safety_buffer_lateral: 1.0
lower_distance_for_polygon_expansion: 0.0 # [m]
upper_distance_for_polygon_expansion: 1.0 # [m]
+
+ # For target object filtering
+ target_filtering:
+ # avoidance target type
+ target_type:
+ car: true # [-]
+ truck: true # [-]
+ bus: true # [-]
+ trailer: true # [-]
+ unknown: true # [-]
+ bicycle: false # [-]
+ motorcycle: false # [-]
+ pedestrian: false # [-]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
index e1a0c7e38d..0558f6c606 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -7,7 +7,7 @@
# Dynamic expansion by using the path curvature
dynamic_expansion:
- enabled: false
+ enabled: true
print_runtime: false
max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
smoothing:
@@ -19,14 +19,14 @@
extra_front_overhang: 0.5 # [m] extra length to add to the front overhang
extra_width: 1.0 # [m] extra length to add to the width
dynamic_objects:
- avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects
+ avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects
extra_footprint_offset:
front: 0.5 # [m] extra length to add to the front of the dynamic object footprint
rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
left: 0.5 # [m] extra length to add to the left of the dynamic object footprint
right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
path_preprocessing:
- max_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
+ max_arc_length: 100.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used)
reuse_max_deviation: 0.5 # [m] if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused.
avoid_linestring:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
index bf9c815405..854c29aa89 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -28,10 +28,12 @@
cut_in_object:
min_time_to_start_cut_in: 1.0 # [s]
min_lon_offset_ego_to_object: 0.0 # [m]
+ min_object_vel: 0.5 # [m/s]
cut_out_object:
max_time_from_outside_ego_path: 2.0 # [s]
min_object_lat_vel: 0.3 # [m/s]
+ min_object_vel: 0.5 # [m/s]
crossing_object:
min_overtaking_object_vel: 1.0
@@ -41,8 +43,11 @@
front_object:
max_object_angle: 0.785
+ min_object_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle.
+ max_ego_path_lat_cover_ratio: 0.3 # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value.
drivable_area_generation:
+ polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
object_path_base:
min_longitudinal_polygon_margin: 3.0 # [m]
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 295c9caf84..06fe74e3b7 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
@@ -119,7 +119,7 @@
# EgoPredictedPath
ego_predicted_path:
min_velocity: 1.0
- acceleration: 1.0
+ min_acceleration: 1.0
max_velocity: 1.0
time_horizon_for_front_object: 10.0
time_horizon_for_rear_object: 10.0
@@ -130,7 +130,7 @@
safety_check_time_horizon: 5.0
safety_check_time_resolution: 1.0
# detection range
- object_check_forward_distance: 10.0
+ object_check_forward_distance: 100.0
object_check_backward_distance: 100.0
ignore_object_velocity_threshold: 1.0
# ObjectTypesToCheck
@@ -159,7 +159,9 @@
# For safety check
safety_check_params:
# safety check configuration
- enable_safety_check: false # Don't set to true if auto_mode is enabled
+ enable_safety_check: true
+ method: "integral_predicted_polygon"
+ keep_unsafe_time: 3.0
# collision check parameters
check_all_predicted_path: true
publish_debug_marker: false
@@ -169,6 +171,11 @@
lateral_distance_max_threshold: 2.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8
+ integral_predicted_polygon_params:
+ forward_margin: 1.0
+ backward_margin: 1.0
+ lat_margin: 1.0
+ time_horizon: 10.0
# hysteresis factor to expand/shrink polygon with the value
hysteresis_factor_expand_rate: 1.0
# temporary
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index b7ae55536e..366c093901 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -88,6 +88,7 @@
regulation:
crosswalk: false
intersection: false
+ traffic_light: true
# ego vehicle stuck detection
stuck_detection:
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 1424b58d22..514d61e225 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
@@ -1,6 +1,7 @@
/**:
ros__parameters:
start_planner:
+
th_arrived_distance: 1.0
th_stopped_velocity: 0.01
th_stopped_time: 1.0
@@ -82,8 +83,7 @@
# EgoPredictedPath
ego_predicted_path:
min_velocity: 0.0
- acceleration: 1.0
- max_velocity: 1.0
+ min_acceleration: 1.0
time_horizon_for_front_object: 10.0
time_horizon_for_rear_object: 10.0
time_resolution: 0.5
@@ -122,7 +122,7 @@
# For safety check
safety_check_params:
# safety check configuration
- enable_safety_check: false # Don't set to true if auto_mode is enabled
+ enable_safety_check: true
# collision check parameters
check_all_predicted_path: true
publish_debug_marker: false
@@ -137,3 +137,21 @@
# temporary
backward_path_length: 30.0
forward_path_length: 100.0
+
+ surround_moving_obstacle_check:
+ search_radius: 10.0
+ th_moving_obstacle_velocity: 1.0
+ # ObjectTypesToCheck
+ object_types_to_check:
+ check_car: true
+ check_truck: true
+ check_bus: true
+ check_trailer: true
+ check_bicycle: true
+ check_motorcycle: true
+ check_pedestrian: true
+ check_unknown: false
+
+ # debug
+ debug:
+ print_debug_info: false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
index 0950ece4ae..7bd7d88230 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
@@ -8,4 +8,5 @@
max_future_movement_time: 10.0 # [second]
threshold_yaw_diff: 0.523 # [rad]
adjacent_extend_width: 1.5 # [m]
+ opposite_adjacent_extend_width: 1.5 # [m]
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.
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index d99c70c5f6..e7bdda45de 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -9,7 +9,7 @@
# param for stop position
stop_position:
- stop_position_threshold: 1.0 # [m] threshold to check whether the vehicle stops in front of crosswalk for yielding
+ stop_position_threshold: 1.0 # [m] If the ego vehicle has stopped near the stop line than this value, this module assumes itself to have achieved yielding.
# For the Lanelet2 map with no explicit stop lines
stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk
@@ -18,23 +18,24 @@
# For the case where the stop position is determined according to the object position.
stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
- # param for ego's slow down velocity
+ # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false".
slow_down:
min_slow_down_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph)
max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake
max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake
no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph)
- # param for stuck vehicles
+ # params to prevent stopping on crosswalks due to another vehicle ahead
stuck_vehicle:
- stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck
- max_stuck_vehicle_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked
- stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk
- min_acc: -1.0 # min acceleration [m/ss]
- min_jerk: -1.0 # min jerk [m/sss]
- max_jerk: 1.0 # max jerk [m/sss]
+ enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection
+ stuck_vehicle_velocity: 1.0 # [m/s] threshold velocity whether other vehicles are assumed to be stuck or not.
+ max_stuck_vehicle_lateral_offset: 2.0 # [m] The feature does not handle the vehicles farther than this value to the ego's path.
+ stuck_vehicle_attention_range: 10.0 # [m] Ego does not enter the crosswalk area if a stuck vehicle exists within this distance from the end of the crosswalk on the ego's path.
+ min_acc: -1.0 # min acceleration [m/ss]
+ min_jerk: -1.0 # min jerk [m/sss]
+ max_jerk: 1.0 # max jerk [m/sss]
- # param for pass judge logic
+ # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles
pass_judge:
ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
ego_pass_first_margin_y: [6.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
@@ -43,25 +44,26 @@
ego_pass_later_margin_y: [10.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
- no_stop_decision:
+ no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
- min_acc: -1.0 # min acceleration [m/ss]
- min_jerk: -1.0 # min jerk [m/sss]
- max_jerk: 1.0 # max jerk [m/sss]
+ min_acc: -1.0 # min acceleration [m/ss]
+ min_jerk: -1.0 # min jerk [m/sss]
+ max_jerk: 1.0 # max jerk [m/sss]
stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
## param for yielding
- disable_stop_for_yield_cancel: false # for the crosswalk where there is a traffic signal
- disable_yield_for_new_stopped_object: false # for the crosswalk where there is a traffic signal
- # if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
+ disable_stop_for_yield_cancel: false # for the crosswalks with traffic signal
+ disable_yield_for_new_stopped_object: false # for the crosswalks with traffic signal
+ # If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed.
distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s]
- timeout_ego_stop_for_yield: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not
+ timeout_ego_stop_for_yield: 3.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.
# param for target object filtering
object_filtering:
crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
+ vehicle_object_cross_angle_threshold: 0.5 # [rad] threshold judging object is crossing walkway as a pedestrian or passing over as a vehicle
target_object:
unknown: true # [-] whether to look and stop by UNKNOWN objects
bicycle: true # [-] whether to look and stop by BICYCLE objects
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index 22f68733a3..6fc136c512 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -2,42 +2,46 @@
ros__parameters:
intersection:
common:
- attention_area_margin: 0.75 # [m]
- attention_area_length: 200.0 # [m]
- attention_area_angle_threshold: 0.785 # [rad]
- stop_line_margin: 3.0
- intersection_velocity: 2.778 # 2.778m/s = 10.0km/h
- intersection_max_accel: 0.5 # m/ss
- stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection
+ attention_area_length: 200.0
+ attention_area_margin: 0.75
+ attention_area_angle_threshold: 0.785
use_intersection_area: false
- path_interpolation_ds: 0.1 # [m]
- consider_wrong_direction_vehicle: false
+ default_stopline_margin: 3.0
+ stopline_overshoot_margin: 0.5
+ path_interpolation_ds: 0.1
max_accel: -2.8
max_jerk: -5.0
delay_response_time: 0.5
+
stuck_vehicle:
turn_direction:
left: true
right: true
straight: true
- use_stuck_stopline: true # stopline generated before the first conflicting area
- stuck_vehicle_detect_dist: 5.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
- stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h
- # enable_front_car_decel_prediction: false # By default this feature is disabled
- # assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
- timeout_private_area: 3.0 # [s] cancel stuck vehicle stop in private area
- enable_private_area_stuck_disregard: false #In the intersections which labeled as "private area", the obstacle vehicles judged as "stuck" are neglected if this param is set as true.
- yield_stuck:
- turn_direction:
- left: true
- right: false
- straight: false
- distance_thr: 1.0 # [m]
+ use_stuck_stopline: true
+ stuck_vehicle_detect_dist: 5.0
+ stuck_vehicle_velocity_threshold: 0.833
+ # enable_front_car_decel_prediction: false
+ # assumed_front_car_decel: 1.0
+ disable_against_private_lane: true
+
+ yield_stuck:
+ turn_direction:
+ left: true
+ right: true
+ straight: false
+ distance_threshold: 5.0
collision_detection:
- state_transit_margin_time: 0.5
+ consider_wrong_direction_vehicle: false
+ collision_detection_hold_time: 0.5
min_predicted_path_confidence: 0.05
- minimum_ego_predicted_velocity: 1.388 # [m/s]
+ keep_detection_velocity_threshold: 0.833
+ velocity_profile:
+ use_upstream: true
+ minimum_upstream_velocity: 0.01
+ default_velocity: 2.778
+ minimum_default_velocity: 1.388
fully_prioritized:
collision_start_margin_time: 2.0
collision_end_margin_time: 0.0
@@ -45,52 +49,46 @@
collision_start_margin_time: 3.0
collision_end_margin_time: 2.0
not_prioritized:
- collision_start_margin_time: 3.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
- collision_end_margin_time: 2.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
- keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
- use_upstream_velocity: true # flag to use the planned velocity profile from the upstream module
- minimum_upstream_velocity: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity
+ collision_start_margin_time: 3.0
+ collision_end_margin_time: 2.0
yield_on_green_traffic_light:
distance_to_assigned_lanelet_start: 10.0
duration: 3.0
- object_dist_to_stopline: 10.0 # [m]
+ object_dist_to_stopline: 10.0
ignore_on_amber_traffic_light:
- object_expected_deceleration: 2.0 # [m/ss]
+ object_expected_deceleration: 2.0
ignore_on_red_traffic_light:
object_margin_to_path: 2.0
occlusion:
enable: false
- occlusion_attention_area_length: 70.0 # [m]
- enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line
- occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line
- peeking_offset: -0.5 # [m] offset for peeking into detection area
+ occlusion_attention_area_length: 70.0
free_space_max: 43
occupied_min: 58
- do_dp: true
- before_creep_stop_time: 0.1 # [s]
- min_vehicle_brake_for_rss: -2.5 # [m/s^2]
- max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph
- denoise_kernel: 1.0 # [m]
- possible_object_bbox: [1.5, 2.5] # [m x m]
- ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h
- stop_release_margin_time: 1.5 # [s]
- temporal_stop_before_attention_area: false
- absence_traffic_light:
- creep_velocity: 1.388 # [m/s]
- maximum_peeking_distance: 6.0 # [m]
+ denoise_kernel: 1.0
attention_lane_crop_curvature_threshold: 0.25
attention_lane_curvature_calculation_ds: 0.5
+ creep_during_peeking:
+ enable: false
+ creep_velocity: 0.8333
+ peeking_offset: -0.5
+ occlusion_required_clearance_distance: 55
+ possible_object_bbox: [1.5, 2.5]
+ ignore_parked_vehicle_speed_threshold: 0.8333
+ occlusion_detection_hold_time: 1.5
+ temporal_stop_time_before_peeking: 0.1
+ temporal_stop_before_attention_area: false
+ creep_velocity_without_traffic_light: 1.388
static_occlusion_with_traffic_light_timeout: 0.5
debug:
ttc: [0]
enable_rtc:
- intersection: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
+ intersection: false
intersection_to_occlusion: false
merge_from_private:
- stop_line_margin: 3.0
+ stopline_margin: 3.0
stop_duration_sec: 1.0
stop_distance_threshold: 1.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
index c74c5b3d87..b55c3b21de 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
@@ -2,7 +2,7 @@
ros__parameters:
out_of_lane: # module to stop or slowdown before overlapping another lane with other objects
mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc"
- skip_if_already_overlapping: true # do not run this module when ego already overlaps another lane
+ skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane
threshold:
time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time
@@ -17,6 +17,7 @@
use_predicted_paths: true # if true, use the predicted paths to estimate future positions.
# if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value.
+ distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane
overlap:
minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered
@@ -26,6 +27,7 @@
skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed
precision: 0.1 # [m] precision when inserting a stop pose in the path
distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane
+ min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled
slowdown:
distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap
velocity: 2.0 # [m/s] slowdown velocity
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
index ca24c59598..86bcf34382 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -3,7 +3,8 @@
run_out:
detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points
use_partition_lanelet: true # [-] whether to use partition lanelet map data
- specify_decel_jerk: false # [-] whether to specify jerk when ego decelerates
+ suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet:
+ specify_decel_jerk: true # [-] whether to specify jerk when ego decelerates
stop_margin: 2.5 # [m] the vehicle decelerates to be able to stop with this margin
passing_margin: 1.1 # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
deceleration_jerk: -0.3 # [m/s^3] ego decelerates with this jerk when stopping for obstacles
@@ -21,14 +22,17 @@
# parameter to create abstracted dynamic obstacles
dynamic_obstacle:
- use_mandatory_area: false # [-] whether to use mandatory detection area
- min_vel_kmph: 0.0 # [km/h] minimum velocity for dynamic obstacles
- max_vel_kmph: 5.0 # [km/h] maximum velocity for dynamic obstacles
- diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points
- height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points
- max_prediction_time: 10.0 # [sec] create predicted path until this time
- time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
- points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
+ use_mandatory_area: false # [-] whether to use mandatory detection area
+ assume_fixed_velocity:
+ enable: false # [-] If enabled, the obstacle's velocity is assumed to be within the minimum and maximum velocity values specified below
+ min_vel_kmph: 0.0 # [km/h] minimum velocity for dynamic obstacles
+ max_vel_kmph: 5.0 # [km/h] maximum velocity for dynamic obstacles
+ std_dev_multiplier: 1.96 # [-] min and max velocity of the obstacles are calculated from this value and covariance
+ diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points
+ height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points
+ max_prediction_time: 10.0 # [sec] create predicted path until this time
+ time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
+ points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
# approach if ego has stopped in the front of the obstacle for a certain amount of time
approaching:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
index a837ae1b46..23746a61b6 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
@@ -3,6 +3,7 @@
traffic_light:
stop_margin: 0.0
tl_state_timeout: 1.0
+ stop_time_hysteresis: 0.1
yellow_lamp_period: 2.75
enable_pass_judge: true
enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
index bb64006656..9ab8f42bcf 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -8,7 +8,7 @@
debug:
# flag to publish
- enable_pub_debug_marker: true # publish debug marker
+ enable_pub_debug_marker: false # publish debug marker
enable_pub_extra_debug_marker: false # publish extra debug marker
# flag to show
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index 4c9f84d5eb..90e897fda3 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -70,9 +70,6 @@
behavior_determination:
decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking
- goal_extension_length: 5.0 # extension length for collision check around the goal
- goal_extension_interval: 1.0 # extension interval for collision check around the goal
-
prediction_resampling_time_interval: 0.1
prediction_resampling_time_horizon: 10.0
diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml
index 075cc0a9b3..83fbfcf795 100644
--- a/autoware_launch/config/system/component_state_monitor/topics.yaml
+++ b/autoware_launch/config/system/component_state_monitor/topics.yaml
@@ -50,6 +50,19 @@
error_rate: 1.0
timeout: 1.0
+- module: localization
+ mode: [online, logging_simulation]
+ type: autonomous
+ args:
+ node_name_suffix: pose_estimator_pose
+ topic: /localization/pose_estimator/pose_with_covariance
+ topic_type: geometry_msgs/msg/PoseWithCovarianceStamped
+ best_effort: false
+ transient_local: false
+ warn_rate: 5.0
+ error_rate: 1.0
+ timeout: 1.0
+
- module: perception
mode: [online, logging_simulation]
type: launch
@@ -76,6 +89,19 @@
error_rate: 1.0
timeout: 1.0
+- module: perception
+ mode: [online, logging_simulation]
+ type: autonomous
+ args:
+ node_name_suffix: traffic_light_recognition_traffic_signals
+ topic: /perception/traffic_light_recognition/traffic_signals
+ topic_type: autoware_perception_msgs/msg/TrafficSignalArray
+ best_effort: false
+ transient_local: false
+ warn_rate: 5.0
+ error_rate: 1.0
+ timeout: 1.0
+
- module: planning
mode: [online, logging_simulation, planning_simulation]
type: autonomous
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index 5fe0d856d2..88b326b2f7 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -3,7 +3,7 @@
-
+
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index db79336fb5..49156fba51 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -72,11 +72,19 @@
name="object_recognition_detection_radar_lanelet_filtering_range_param"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml"
/>
+
+
+
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index c30060659a..bc22eadb70 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2485,13 +2485,13 @@ Visualization Manager:
Perception:
CameraLidarFusion(purple): true
Centerpoint(red1): true
- CenterpointROIFusion(red3): true
- CenterpointValidator(red2): true
+ CenterpointROIFusion(red2): true
+ CenterpointValidator(red3): true
Detection(yellow): true
DetectionByTracker(cyan): true
PointPainting(light_green1): true
- PointPaintingROIFusion(light_green3): true
- PointPaintingValidator(light_green2): true
+ PointPaintingROIFusion(light_green2): true
+ PointPaintingValidator(light_green3): true
Prediction(light_blue): true
RadarFarObjects(white): true
Tracking(green): true
@@ -2954,7 +2954,7 @@ Visualization Manager:
MOTORCYCLE:
Alpha: 0.9990000128746033
Color: 255; 82; 82
- Name: CenterpointValidator(red2)
+ Name: CenterpointROIFusion(red2)
Namespaces:
{}
PEDESTRIAN:
@@ -2972,7 +2972,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
- Value: /perception/object_recognition/detection/centerpoint/validation/objects
+ Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects
UNKNOWN:
Alpha: 0.9990000128746033
Color: 255; 82; 82
@@ -3001,7 +3001,7 @@ Visualization Manager:
MOTORCYCLE:
Alpha: 0.9990000128746033
Color: 213; 0; 0
- Name: CenterpointROIFusion(red3)
+ Name: CenterpointValidator(red3)
Namespaces:
{}
PEDESTRIAN:
@@ -3095,7 +3095,7 @@ Visualization Manager:
MOTORCYCLE:
Alpha: 0.9990000128746033
Color: 118; 255; 3
- Name: PointPaintingValidator(light_green2)
+ Name: PointPaintingROIFusion(light_green2)
Namespaces:
{}
PEDESTRIAN:
@@ -3113,7 +3113,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
- Value: /perception/object_recognition/detection/pointpainting/validation/objects
+ Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects
UNKNOWN:
Alpha: 0.9990000128746033
Color: 118; 255; 3
@@ -3142,7 +3142,7 @@ Visualization Manager:
MOTORCYCLE:
Alpha: 0.9990000128746033
Color: 100; 221; 23
- Name: PointPaintingROIFusion(light_green3)
+ Name: PointPaintingValidator(light_green3)
Namespaces:
{}
PEDESTRIAN:
@@ -3451,7 +3451,179 @@ Visualization Manager:
Enabled: true
Name: Perception
- Class: rviz_common/Group
- Displays: ~
+ Displays:
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: LaneChangeLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/lane_change_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: LaneChangeRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/lane_change_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/avoidance_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/avoidance_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceByLCLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/avoidance_by_lc_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceByLCRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/avoidance_by_lc_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: StartPlanner
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/start_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: GoalPlanner
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/goal_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Crosswalk
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/crosswalk
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Intersection
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/intersection
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: BlindSpot
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/blind_spot
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: TrafficLight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/traffic_light
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: DetectionArea
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/detection_area
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: NoStoppingArea
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/no_stopping_area
+ Value: true
+ Enabled: true
+ Name: Objects Of Interest
Enabled: true
Name: Planning
- Class: rviz_common/Group