Merge branch 'beta/v3.1.0' into sync-beta-upstream

.github/workflows/sync-beta-upstream.yaml

@@ -21,10 +21,10 @@ jobs:
         uses: autowarefoundation/autoware-github-actions/sync-branches@v1
         with:
           token: ${{ steps.generate-token.outputs.token }}
-          base-branch: beta/<version>
+          base-branch: beta/v3.1.0
           sync-pr-branch: sync-beta-upstream
           sync-target-repository: https://github.com/tier4/autoware_launch.git
-          sync-target-branch: beta/<version>
+          sync-target-branch: beta/v0.29.0
           pr-title: "chore: sync beta upstream"
           pr-labels: |
             bot

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: false   # flag for path smoothing
+    enable_path_smoothing: true   # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
@@ -45,11 +45,11 @@
 
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
-    input_delay: 0.24                # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.27     # steering dynamics time constant (1d approximation) [s]
+    input_delay: 0.17                # steering input delay time for delay compensation
+    vehicle_model_steer_tau: 0.15     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
-    steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0]             # steering angle rate limit list depending on velocity [deg/s]
+    steer_rate_lim_dps_list_by_velocity: [10.0, 10.0, 10.0]             # steering angle rate limit list depending on velocity [deg/s]
     velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0]                  # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 2.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]
@@ -69,7 +69,7 @@
 
     # steer offset
     steering_offset:
-      enable_auto_steering_offset_removal: true
+      enable_auto_steering_offset_removal: false
       update_vel_threshold: 5.56
       update_steer_threshold: 0.035
       average_num: 1000

autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

@@ -1,12 +1,12 @@
 /**:
   ros__parameters:
-    delay_compensation_time: 0.1
+    delay_compensation_time: 0.15
 
     enable_smooth_stop: true
     enable_overshoot_emergency: true
     enable_large_tracking_error_emergency: true
     enable_slope_compensation: true
-    enable_keep_stopped_until_steer_convergence: true
+    enable_keep_stopped_until_steer_convergence: false
 
     # state transition
     drive_state_stop_dist: 0.5
@@ -15,7 +15,7 @@
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1
-    emergency_state_overshoot_stop_dist: 1.5
+    emergency_state_overshoot_stop_dist: 0.8
     emergency_state_traj_trans_dev: 3.0
     emergency_state_traj_rot_dev: 0.7854
 
@@ -39,9 +39,9 @@
     brake_keeping_acc: -0.2
 
     # smooth stop state
-    smooth_stop_max_strong_acc: -0.5
-    smooth_stop_min_strong_acc: -0.8
-    smooth_stop_weak_acc: -0.3
+    smooth_stop_max_strong_acc: -0.8
+    smooth_stop_min_strong_acc: -1.3
+    smooth_stop_weak_acc: -0.6
     smooth_stop_weak_stop_acc: -0.8
     smooth_stop_strong_stop_acc: -3.4
     smooth_stop_max_fast_vel: 0.5
@@ -57,21 +57,22 @@
 
     # emergency state
     emergency_vel: 0.0
-    emergency_acc: -5.0 # denotes acceleration
-    emergency_jerk: -3.0
+    emergency_acc: -2.5 # denotes acceleration
+    emergency_jerk: -1.5
 
     # acceleration limit
-    max_acc: 3.0
-    min_acc: -5.0
+    max_acc: 1.86
+    min_acc: -6.00
 
     # jerk limit
     max_jerk: 2.0
-    min_jerk: -5.0
+    min_jerk: -30.0
     max_acc_cmd_diff: 50.0 # [m/s^2 * s^-1]
 
     # slope compensation
+    # pitch
     lpf_pitch_gain: 0.95
-    slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
+    slope_source: "trajectory_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
     adaptive_trajectory_velocity_th: 1.0
-    max_pitch_rad: 0.1
-    min_pitch_rad: -0.1
+    max_pitch_rad: 0.15
+    min_pitch_rad: -0.15

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

@@ -2,28 +2,28 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
-    use_emergency_handling: false
+    use_emergency_handling: true
     check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
-    use_start_request: false
+    use_start_request: true
     enable_cmd_limit_filter: true
     filter_activated_count_threshold: 5
     filter_activated_velocity_threshold: 1.0
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
-    emergency_acceleration: -2.4
+    emergency_acceleration: -4.0
     moderate_stop_service_acceleration: -1.5
     stopped_state_entry_duration_time: 0.1
     stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0
-      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]
+      reference_speed_points: [0.1, 0.2, 20.0, 30.0]
+      steer_lim: [1.0, 1.0, 1.0, 0.8]
+      steer_rate_lim: [1.0, 1.0, 1.0, 0.8]
+      lon_acc_lim: [6.0, 6.0, 6.0, 6.0]
+      lon_jerk_lim: [80.0, 30.0, 30.0, 30.0]
+      lat_acc_lim: [5.0, 5.0, 5.0, 4.0]
+      lat_jerk_lim: [7.0, 7.0, 7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 1.0, 1.0, 0.8]
     on_transition:
       vel_lim: 50.0
       reference_speed_points: [20.0, 30.0]

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -2,7 +2,7 @@
   ros__parameters:
     node:
       show_debug_info: false
-      enable_yaw_bias_estimation: true
+      enable_yaw_bias_estimation: false
       predict_frequency: 50.0
       tf_rate: 50.0
       publish_tf: true
@@ -42,5 +42,5 @@
 
     misc:
       # for velocity measurement limitation (Set 0.0 if you want to ignore)
-      threshold_observable_velocity_mps: 0.0 # [m/s]
+      threshold_observable_velocity_mps: 0.5 # [m/s]
       pose_frame_id: "map"

autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml

@@ -2,10 +2,10 @@
   ros__parameters:
     input_frame: "base_link"
     output_frame: "base_link"
-    min_x: -60.0
-    max_x: 60.0
-    min_y: -60.0
-    max_y: 60.0
+    min_x: -100.0
+    max_x: 100.0
+    min_y: -100.0
+    max_y: 100.0
     min_z: -30.0
     max_z: 50.0
     negative: False

autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml

@@ -4,7 +4,7 @@
     voxel_leaf_size: 0.3
     min_points_number_per_voxel: 1
     min_cluster_size: 10
-    max_cluster_size: 3000
+    max_cluster_size: 4893
     use_height: false
     input_frame: "base_link"
 

autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml

@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
+    input_offset_ms: [50.0, 66.67, 83.33, 0.0, 16.67, 33.33, 50.0]
     timeout_ms: 70.0
     match_threshold_ms: 50.0
     image_buffer_size: 15

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_x2.param.yaml

@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+
+    # weight files
+    encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+    encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+    head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+    head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
+    trt_precision: fp16
+    post_process_params:
+      # post-process params
+      circle_nms_dist_threshold: 0.5
+      iou_nms_target_class_names: ["CAR"]
+      iou_nms_search_distance_2d: 10.0
+      iou_nms_threshold: 0.1
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+      score_threshold: 0.35
+    densification_params:
+      world_frame_id: map
+      num_past_frames: 1

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -7,10 +7,10 @@
 
     common_crop_box_filter:
       parameters:
-        min_x: -100.0
-        max_x: 150.0
-        min_y: -70.0
-        max_y: 70.0
+        min_x: -70.0
+        max_x: 120.0
+        min_y: -75.0
+        max_y: 75.0
         margin_max_z: 0.0  # to extend the crop box max_z from vehicle_height
         margin_min_z: -2.5 # to extend the crop box min_z from ground
         negative: False
@@ -19,18 +19,85 @@
       plugin: "ground_segmentation::ScanGroundFilterComponent"
       parameters:
         global_slope_max_angle_deg: 10.0
-        local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode
+        local_slope_max_angle_deg: 25.0 # recommended 30.0 for non elevation_grid_mode
         split_points_distance_tolerance: 0.2
         use_virtual_ground_point: True
         split_height_distance: 0.2
         non_ground_height_threshold: 0.20
+        grid_size_m: 0.2
+        grid_mode_switch_radius: 20.0
+        gnd_grid_buffer_size: 5
+        detection_range_z_max: 3.2
+        elevation_grid_mode: true
+        use_recheck_ground_cluster: true
+        use_lowest_point: true
+        low_priority_region_x: -20.0
+        center_pcl_shift: 0.0
+        radial_divider_angle_deg: 1.0
+
+    # common_ground_filter:
+    #   plugin: "ground_segmentation::RayGroundFilterComponent"
+    #   parameters:
+    #     general_max_slope: 10.0
+    #     local_max_slope: 10.0
+    #     min_height_threshold: 0.2
+
+    front_upper_crop_box_filter:
+      parameters:
+        min_x: -50.0
+        max_x: 100.0
+        min_y: -50.0
+        max_y: 50.0
+        margin_max_z: 0.0  # to extend the crop box max_z from vehicle_height
+        margin_min_z: -2.5 # to extend the crop box min_z from ground
+        negative: False
+
+    front_upper_ground_filter:
+      plugin: "ground_segmentation::ScanGroundFilterComponent"
+      parameters:
+        global_slope_max_angle_deg: 10.0
+        local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode
+        split_points_distance_tolerance: 0.20  # recommended 0.045 for non elevation_grid_mode
+        split_height_distance: 0.2 # recommended 0.15 for non elevation_grid_mode
+        use_virtual_ground_point: False
+        non_ground_height_threshold: 0.1
         grid_size_m: 0.1
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 4
-        detection_range_z_max: 2.5
+        detection_range_z_max: 3.2
         elevation_grid_mode: true
         use_recheck_ground_cluster: true
         use_lowest_point: true
         low_priority_region_x: -20.0
         center_pcl_shift: 0.0
         radial_divider_angle_deg: 1.0
+
+    front_lower_crop_box_filter:
+      parameters:
+        min_x: -50.0
+        max_x: 100.0
+        min_y: -50.0
+        max_y: 50.0
+        margin_max_z: 0.0  # to extend the crop box max_z from vehicle_height
+        margin_min_z: -2.5 # to extend the crop box min_z from ground
+        negative: False
+
+    front_lower_ground_filter:
+      plugin: "ground_segmentation::ScanGroundFilterComponent"
+      parameters:
+        global_slope_max_angle_deg: 10.0
+        local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode
+        split_points_distance_tolerance: 0.20 # recommended 0.1 for non elevation_grid_mode
+        split_height_distance: 0.2      # recommended 0.05 for non elevation_grid_mode
+        use_virtual_ground_point: False
+        non_ground_height_threshold: 0.1
+        grid_size_m: 0.1
+        grid_mode_switch_radius: 20.0
+        gnd_grid_buffer_size: 4
+        detection_range_z_max: 3.2
+        elevation_grid_mode: false
+        use_recheck_ground_cluster: false
+        use_lowest_point: true
+        low_priority_region_x: -20.0
+        center_pcl_shift: 0.0
+        radial_divider_angle_deg: 1.0

autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml

@@ -5,4 +5,4 @@
       occupied_to_free: 0.05
       free_to_occupied: 0.2
       free_to_free: 0.8
-    v_ratio: 10.0
+    v_ratio: 4.5

autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml

@@ -2,5 +2,5 @@
   ros__parameters:
     external_time_tolerance: 5.0
     perception_time_tolerance: 1.0
-    external_priority: false
+    external_priority: true
     enable_signal_matching: false