Merge pull request autowarefoundation#690 from tier4/sync-awf-latest

chore: sync awf-latest

.github/workflows/sync-awf-autoware-launch.yaml

@@ -0,0 +1,31 @@
+name: sync-awf-autoware-launch
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-awf-latest:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: awf-latest
+          sync-pr-branch: sync-awf-autoware-launch
+          sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
+          sync-target-branch: main
+          pr-title: "chore: sync awf/autoware_launch"
+          pr-labels: |
+            bot
+            sync-awf-autoware-launch
+          auto-merge-method: merge

README.md

@@ -19,7 +19,5 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map
 - [autoware_launch](./autoware_launch)
 - [control_launch](./control_launch)
 - [integration_launch](./integration_launch)
-- [localization_launch](./localization_launch)
-- [perception_launch](./perception_launch)
 - [planning_launch](./planning_launch)
 - [system_launch](./system_launch)

autoware_launch/CMakeLists.txt

@@ -11,6 +11,7 @@ endif()
 
 ament_auto_package(
   INSTALL_TO_SHARE
+  config
   launch
   rviz
 )

autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    update_rate: 10.0
+    initial_selector_mode: "local" # ["local", "remote"]

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

@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    # Node
+    update_rate: 10.0
+    visualize_lanelet: false
+
+    # Core
+    footprint_margin_scale: 1.0
+    resample_interval: 0.3
+    max_deceleration: 2.8
+    delay_time: 1.3
+    max_lateral_deviation: 2.0
+    max_longitudinal_deviation: 2.0
+    max_yaw_deviation_deg: 60.0
+    delta_yaw_threshold_for_closest_point: 1.570 #M_PI/2.0, delta yaw thres for closest point

autoware_launch/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    # Node
+    update_rate: 10.0
+
+    # Core
+    delay_time: 0.03 # delay time of vehicle [s]
+    footprint_margin: 0.0 # margin for footprint [m]
+    max_deceleration: 1.5 # max deceleration [m/ss]
+    resample_interval: 0.3 # interval distance to resample point cloud [m]
+    search_radius: 5.0 # search distance from trajectory to point cloud [m]

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

@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    ld_velocity_ratio: 2.4
+    ld_lateral_error_ratio: 3.6
+    ld_curvature_ratio: 120.0
+    long_ld_lateral_error_threshold: 0.5
+    min_lookahead_distance: 4.35
+    max_lookahead_distance: 15.0
+    converged_steer_rad: 0.1
+    reverse_min_lookahead_distance: 7.0
+    prediction_ds: 0.3
+    prediction_distance_length: 21.0
+    resampling_ds: 0.1
+    curvature_calculation_distance: 4.0
+    enable_path_smoothing: false
+    path_filter_moving_ave_num: 25

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

@@ -2,6 +2,9 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
+    use_emergency_handling: false
+    check_external_emergency_heartbeat: false
+    use_start_request: false
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4

planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml → autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml

@@ -9,7 +9,7 @@
 
     # curve parameters
     max_lateral_accel: 1.0             # max lateral acceleration limit [m/ss]
-    min_curve_velocity: 2.74           # min velocity at lateral acceleration limit [m/ss]
+    min_curve_velocity: 2.74            # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
     decel_distance_before_curve: 3.5   # slow speed distance before a curve for lateral acceleration limit
     decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit
     min_decel_for_lateral_acc_lim_filter: -2.5  # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]

autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml

@@ -0,0 +1,28 @@
+/**:
+  ros__parameters:
+    # Operation option when invalid trajectory is detected
+    #  0: publish the trajectory even if it is invalid
+    #  1: stop publishing the trajectory
+    #  2: publish the last validated trajectory
+    invalid_trajectory_handling_type: 0
+
+    publish_diag: true  # if true, diagnostic msg is published
+
+    # If the number of consecutive invalid trajectory exceeds this threshold, the Diag will be set to ERROR.
+    # (For example, threshold = 1 means, even if the trajectory is invalid, Diag will not be ERROR if
+    #  the next trajectory is valid.)
+    diag_error_count_threshold: 0
+
+    display_on_terminal: true # show error msg on terminal
+
+    thresholds:
+      interval: 100.0
+      relative_angle: 2.0  # (= 115 degree)
+      curvature: 1.0
+      lateral_acc: 9.8
+      longitudinal_max_acc: 9.8
+      longitudinal_min_acc: -9.8
+      steering: 1.414
+      steering_rate: 10.0
+      velocity_deviation: 100.0
+      distance_deviation: 100.0

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml → autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml

@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    planning_hz: 10.0
     backward_path_length: 5.0
     forward_path_length: 300.0
     backward_length_buffer_for_end_of_pull_over: 5.0
@@ -14,13 +15,15 @@
     turn_signal_minimum_search_distance: 10.0
     turn_signal_search_time: 3.0
     turn_signal_shift_length_threshold: 0.3
+    turn_signal_on_swerving: true
 
     path_interval: 2.0
 
     visualize_maximum_drivable_area: true
 
     lateral_distance_max_threshold: 2.0
     longitudinal_distance_min_threshold: 3.0
+
     expected_front_deceleration: -1.0
     expected_rear_deceleration: -1.0