diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index ebdf2828fc..4cc71e0904 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -1,37 +1,46 @@ /**: ros__parameters: - show_debug_info: false - enable_yaw_bias_estimation: true - predict_frequency: 50.0 - tf_rate: 50.0 - publish_tf: true - extend_state_step: 50 + node: + show_debug_info: false + enable_yaw_bias_estimation: true + predict_frequency: 50.0 + tf_rate: 50.0 + publish_tf: true + extend_state_step: 50 - # for Pose measurement - pose_additional_delay: 0.0 - pose_measure_uncertainty_time: 0.01 - pose_smoothing_steps: 5 - pose_gate_dist: 10000.0 + pose_measurement: + # for Pose measurement + pose_additional_delay: 0.0 + pose_measure_uncertainty_time: 0.01 + pose_smoothing_steps: 5 + pose_gate_dist: 10000.0 - # for twist measurement - twist_additional_delay: 0.0 - twist_smoothing_steps: 2 - twist_gate_dist: 10000.0 + twist_measurement: + # for twist measurement + twist_additional_delay: 0.0 + twist_smoothing_steps: 2 + twist_gate_dist: 10000.0 - # for process model - proc_stddev_yaw_c: 0.005 - proc_stddev_vx_c: 10.0 - proc_stddev_wz_c: 5.0 + process_noise: + # for process model + proc_stddev_yaw_c: 0.005 + proc_stddev_vx_c: 10.0 + proc_stddev_wz_c: 5.0 - #Simple1DFilter parameters - z_filter_proc_dev: 1.0 - roll_filter_proc_dev: 0.01 - pitch_filter_proc_dev: 0.01 - # for diagnostics - pose_no_update_count_threshold_warn: 50 - pose_no_update_count_threshold_error: 100 - twist_no_update_count_threshold_warn: 50 - twist_no_update_count_threshold_error: 100 + simple_1d_filter_parameters: + #Simple1DFilter parameters + z_filter_proc_dev: 1.0 + roll_filter_proc_dev: 0.01 + pitch_filter_proc_dev: 0.01 - # for velocity measurement limitation (Set 0.0 if you want to ignore) - threshold_observable_velocity_mps: 0.0 # [m/s] + diagnostics: + # for diagnostics + pose_no_update_count_threshold_warn: 50 + pose_no_update_count_threshold_error: 100 + twist_no_update_count_threshold_warn: 50 + twist_no_update_count_threshold_error: 100 + + misc: + # for velocity measurement limitation (Set 0.0 if you want to ignore) + threshold_observable_velocity_mps: 0.0 # [m/s] + pose_frame_id: "map" diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 9bc62d3f91..144449ce75 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -1,103 +1,114 @@ /**: ros__parameters: - # Vehicle reference frame - base_frame: "base_link" + frame: + # Vehicle reference frame + base_frame: "base_link" - # NDT reference frame - ndt_base_frame: "ndt_base_link" + # NDT reference frame + ndt_base_frame: "ndt_base_link" - # map frame - map_frame: "map" + # Map frame + map_frame: "map" - # Subscriber queue size - input_sensor_points_queue_size: 1 - # The maximum difference between two consecutive - # transformations in order to consider convergence - trans_epsilon: 0.01 + ndt: + # The maximum difference between two consecutive + # transformations in order to consider convergence + trans_epsilon: 0.01 - # The newton line search maximum step length - step_size: 0.1 + # The newton line search maximum step length + step_size: 0.1 - # The ND voxel grid resolution - resolution: 2.0 + # The ND voxel grid resolution + resolution: 2.0 - # The number of iterations required to calculate alignment - max_iterations: 30 + # The number of iterations required to calculate alignment + max_iterations: 30 - # Converged param type - # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD - converged_param_type: 1 + # Number of threads used for parallel computing + num_threads: 4 - # If converged_param_type is 0 - # Threshold for deciding whether to trust the estimation result - converged_param_transform_probability: 3.0 + regularization: + enable: false - # If converged_param_type is 1 - # Threshold for deciding whether to trust the estimation result - converged_param_nearest_voxel_transformation_likelihood: 2.3 + # Regularization scale factor + scale_factor: 0.01 - # The number of particles to estimate initial pose - 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 + initial_pose_estimation: + # The number of particles to estimate initial pose + particles_num: 200 - # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] - lidar_topic_timeout_sec: 1.0 + # 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 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 + validation: + # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] + lidar_topic_timeout_sec: 1.0 - # Number of threads used for parallel computing - num_threads: 4 + # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] + initial_pose_timeout_sec: 1.0 - # The covariance of output pose - # Note that this covariance matrix is empirically derived - output_pose_covariance: - [ - 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, - ] + # Tolerance of distance difference between two initial poses used for linear interpolation. [m] + initial_pose_distance_tolerance_m: 10.0 - # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) - use_covariance_estimation: false + # The execution time which means probably NDT cannot matches scans properly. [ms] + critical_upper_bound_exe_time_ms: 100.0 - # Offset arrangement in covariance estimation [m] - # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. - initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] - initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] - # Regularization switch - regularization_enabled: false + score_estimation: + # Converged param type + # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD + converged_param_type: 1 - # Regularization scale factor - regularization_scale_factor: 0.01 + # If converged_param_type is 0 + # Threshold for deciding whether to trust the estimation result + converged_param_transform_probability: 3.0 - # Dynamic map loading distance - dynamic_map_loading_update_distance: 20.0 + # If converged_param_type is 1 + # Threshold for deciding whether to trust the estimation result + converged_param_nearest_voxel_transformation_likelihood: 2.3 - # Dynamic map loading loading radius - dynamic_map_loading_map_radius: 150.0 + # Scan matching score based on no ground LiDAR scan + no_ground_points: + enable: false - # Radius of input LiDAR range (used for diagnostics of dynamic map loading) - lidar_radius: 100.0 + # If lidar_point.z - base_link.z <= this threshold , the point will be removed + z_margin_for_ground_removal: 0.8 - # 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 + covariance: + # The covariance of output pose + # Note that this covariance matrix is empirically derived + output_pose_covariance: + [ + 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, + ] - # The execution time which means probably NDT cannot matches scans properly. [ms] - critical_upper_bound_exe_time_ms: 100 + # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) + covariance_estimation: + enable: false + + # Offset arrangement in covariance estimation [m] + # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. + initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] + initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] + + + dynamic_map_loading: + # Dynamic map loading distance + update_distance: 20.0 + + # Dynamic map loading loading radius + map_radius: 150.0 + + # Radius of input LiDAR range (used for diagnostics of dynamic map loading) + lidar_radius: 100.0 diff --git a/autoware_launch/config/localization/pose_initializer.param.yaml b/autoware_launch/config/localization/pose_initializer.param.yaml index a05cc7c35c..88acbfb526 100644 --- a/autoware_launch/config/localization/pose_initializer.param.yaml +++ b/autoware_launch/config/localization/pose_initializer.param.yaml @@ -2,6 +2,11 @@ ros__parameters: gnss_pose_timeout: 3.0 # [sec] stop_check_duration: 3.0 # [sec] + ekf_enabled: $(var ekf_enabled) + gnss_enabled: $(var gnss_enabled) + yabloc_enabled: $(var yabloc_enabled) + ndt_enabled: $(var ndt_enabled) + stop_check_enabled: $(var stop_check_enabled) # from gnss gnss_particle_covariance: diff --git a/autoware_launch/config/localization/twist2accel.param.yaml b/autoware_launch/config/localization/twist2accel.param.yaml new file mode 100644 index 0000000000..e58e029248 --- /dev/null +++ b/autoware_launch/config/localization/twist2accel.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + use_odom: true + accel_lowpass_gain: 0.9 diff --git a/autoware_launch/config/map/map_projection_loader.param.yaml b/autoware_launch/config/map/map_projection_loader.param.yaml new file mode 100644 index 0000000000..6ec300309a --- /dev/null +++ b/autoware_launch/config/map/map_projection_loader.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + map_projector_info_path: $(var map_projector_info_path) + lanelet2_map_path: $(var lanelet2_map_path) diff --git a/autoware_launch/config/map/map_tf_generator.param.yaml b/autoware_launch/config/map/map_tf_generator.param.yaml new file mode 100644 index 0000000000..90790808ac --- /dev/null +++ b/autoware_launch/config/map/map_tf_generator.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + map_frame: map + viewer_frame: viewer diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml index 0b29a87965..a9c3174846 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml @@ -13,3 +13,14 @@ iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + has_twist: false + trt_precision: fp16 + densification_num_past_frames: 1 + densification_world_frame_id: map + + # weight files + encoder_onnx_path: "$(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_$(var model_name).engine" diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml index 8252fde827..5eb560dd7b 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml @@ -13,3 +13,15 @@ iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + build_only: false # shutdown node after TensorRT engine file is built + has_twist: false + trt_precision: fp16 + densification_num_past_frames: 1 + densification_world_frame_id: map + + # weight files + encoder_onnx_path: "$(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_$(var model_name).engine" diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml index ed378ffa44..baea087c96 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml @@ -29,9 +29,9 @@ max_area_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN - 0.000, 0.000, 36.000, 0.000, inf, 0.000, 0.000, 0.000, #CAR - 0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #TRUCK - 0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #BUS + 0.000, 0.000, 36.000, 0.000, 999.999, 0.000, 0.000, 0.000, #CAR + 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #TRUCK + 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #BUS 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml index 21d31f2163..8ccd469786 100755 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml @@ -1,5 +1,11 @@ /**: ros__parameters: + trt_precision: fp16 + encoder_onnx_path: "$(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" + model_params: class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"] diff --git a/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml new file mode 100644 index 0000000000..ed1ce176ed --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + split_range: 80.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml new file mode 100644 index 0000000000..a8b2562883 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + split_range: 70.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml new file mode 100644 index 0000000000..c6351bea72 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + velocity_threshold: 5.5 diff --git a/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml new file mode 100644 index 0000000000..6a40ac9616 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + velocity_threshold: 4.5 diff --git a/autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml new file mode 100644 index 0000000000..f52edf641f --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + angle_threshold: 1.2210 + velocity_threshold: 1.5 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 fdd64174de..ed1193f1c4 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 @@ -19,6 +19,7 @@ use_vehicle_acceleration: false # whether to consider current vehicle acceleration when predicting paths or not speed_limit_multiplier: 1.5 # When using vehicle acceleration. Set vehicle's maximum predicted speed as the legal speed limit in that lanelet times this value acceleration_exponential_half_life: 2.5 # [s] When using vehicle acceleration. The decaying acceleration model considers that the current vehicle acceleration will be halved after this many seconds + use_crosswalk_signal: true # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8 diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml index 702809b3ce..c232dbde40 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml @@ -3,7 +3,7 @@ lidar-lidar: can_assign_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN - [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN + [1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN 0, 1, 1, 1, 1, 0, 0, 0, #CAR 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK 0, 1, 1, 1, 1, 0, 0, 0, #BUS @@ -59,7 +59,7 @@ lidar-radar: can_assign_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN - [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN + [1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN 0, 1, 1, 1, 1, 0, 0, 0, #CAR 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK 0, 1, 1, 1, 1, 0, 0, 0, #BUS @@ -115,7 +115,7 @@ radar-radar: can_assign_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN - [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN + [1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN 0, 1, 1, 1, 1, 0, 0, 0, #CAR 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK 0, 1, 1, 1, 1, 0, 0, 0, #BUS diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml index 13369d5422..e4ea2becd7 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml @@ -23,4 +23,4 @@ # logging enable_logging: false - log_file_path: "/tmp/decorative_tracker_merger.log" + logging_file_path: "/tmp/decorative_tracker_merger.log" diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index b367fef386..4c58c066ed 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -30,3 +30,6 @@ detection_range_z_max: 2.5 elevation_grid_mode: true use_recheck_ground_cluster: true + low_priority_region_x: -20.0 + center_pcl_shift: 0.0 + radial_divider_angle_deg: 1.0 diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 3512d722ec..69328a9b79 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -9,6 +9,9 @@ launch: - arg: name: launch_dynamic_avoidance_module default: "false" + - arg: + name: launch_sampling_planner_module + default: "false" # Warning, experimental module, use only in simulations - arg: name: launch_lane_change_right_module default: "true" diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 235c76a5c1..4b6693f150 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -9,17 +9,17 @@ # -- curve parameters -- # common parameters - curvature_calculation_distance: 5.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] + curvature_calculation_distance: 2.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] # lateral acceleration limit parameters enable_lateral_acc_limit: true # To toggle the lateral acc filter on and off. You can switch it dynamically at runtime. max_lateral_accel: 1.0 # max lateral acceleration limit [m/ss] - min_curve_velocity: 2.74 # min velocity at lateral acceleration limit and steering angle rate limit [m/s] + min_curve_velocity: 2.0 # 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] # steering angle rate limit parameters enable_steering_rate_limit: true # To toggle the steer rate filter on and off. You can switch it dynamically at runtime. - max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s] + max_steering_angle_rate: 11.5 # maximum steering angle rate [degree/s] resample_ds: 0.1 # distance between trajectory points [m] curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m] 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 d540a73940..52724cdda0 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 @@ -19,6 +19,7 @@ use_opposite_lane: true use_intersection_areas: true use_hatched_road_markings: true + use_freespace_areas: true # for debug publish_debug_marker: false @@ -38,7 +39,7 @@ use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: execute_num: 1 - moving_speed_threshold: 2.0 # 7.2km/h + moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 @@ -48,7 +49,7 @@ use_conservative_buffer_longitudinal: true bus: execute_num: 1 - moving_speed_threshold: 2.0 # 7.2km/h + moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 @@ -58,7 +59,7 @@ use_conservative_buffer_longitudinal: true trailer: execute_num: 1 - moving_speed_threshold: 2.0 # 7.2km/h + moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 @@ -218,7 +219,7 @@ return_dead_line: goal: enable: true # [-] - buffer: 30.0 # [m] + buffer: 3.0 # [m] traffic_light: enable: true # [-] buffer: 3.0 # [m] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml new file mode 100644 index 0000000000..9a6b30c219 --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml @@ -0,0 +1,40 @@ +/**: + ros__parameters: + common: + output_delta_arc_length: 0.5 # [m] delta arc length for output trajectory + + debug: + enable_calculation_time_info: false # flag to print calculation times + id: 0 # id of the candidate paths for which to print/show details (e.g., footprint in rviz) + + preprocessing: + force_zero_initial_deviation: True # if true, initial planning starts from the reference path + force_zero_initial_heading: True # if true, initial planning starts with a heading aligned with the reference path + smooth_reference_trajectory: False # if true, the reference trajectory is smoothed before being used for planning + constraints: + hard: + max_curvature: 3.0 # [m⁻¹] maximum curvature of a sampled path + min_curvature: -3.0 # [m⁻¹] minimum curvature of a sampled path + soft: + lateral_deviation_weight: 1.0 # cost weight for lateral deviation between the end of a sampled path and the reference path + length_weight: 1.0 # cost weight for the length of a sampled path + curvature_weight: 2000.0 # cost weight for the curvature of a sampled path + weights: [0.5,1.0,20.0] + sampling: + enable_frenet: True + enable_bezier: False + resolution: 0.5 # [m] target distance between sampled path points + previous_path_reuse_points_nb: 2 # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc) + target_lengths: [20.0, 40.0] # [m] target lengths of the sampled paths + nb_target_lateral_positions: 0 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) + target_lateral_positions: [-4.5,-2.5, 0.0, 2.5,4.5] # manual values that are only used if nb_target_lateral_positions = 0 + frenet: # target values for the sampled "lateral deviation over longitudinal position" polynomial + target_lateral_velocities: [-0.5, 0.0, 0.5] + target_lateral_accelerations: [0.0] + # bezier: + # nb_k: 3 # number of sampled curvature values + # mk_min: 0.0 # minimum curvature value + # mk_max: 10.0 # maximum curvature value + # nb_t: 5 # number of sampled acceleration values + # mt_min: 0.3 # minimum acceleration value + # mt_max: 1.7 # maximum acceleration value diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 9853e220bc..8d4fe057b4 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -82,3 +82,12 @@ keep_last: true priority: 7 max_module_size: 1 + + sampling_planner: + enable_module: true + enable_rtc: false + enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_candidate_module: false + keep_last: false + priority: 16 + max_module_size: 1 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 ddfc8fab52..154c4b1e0b 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 @@ -6,7 +6,7 @@ th_stopped_velocity: 0.01 th_stopped_time: 1.0 collision_check_margins: [2.0, 1.0, 0.5, 0.1] - collision_check_distance_from_end: 1.0 + collision_check_distance_from_end: -10.0 collision_check_margin_from_front_object: 5.0 th_moving_object_velocity: 1.0 th_distance_to_middle_of_the_road: 0.5 @@ -14,6 +14,7 @@ # shift pull out enable_shift_pull_out: true check_shift_path_lane_departure: true + shift_collision_check_distance_from_end: -10.0 minimum_shift_pull_out_distance: 0.0 deceleration_interval: 15.0 lateral_jerk: 0.5 @@ -23,6 +24,7 @@ maximum_curvature: 0.07 # geometric pull out enable_geometric_pull_out: true + geometric_collision_check_distance_from_end: 0.0 divide_pull_out_path: true geometric_pull_out_velocity: 1.0 arc_path_interval: 1.0 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 72102ed908..921b728a34 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 @@ -30,7 +30,7 @@ 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. + required_clearance: 6.0 # [m] clearance to be secured between the ego and the ahead vehicle min_acc: -1.0 # min acceleration [m/ss] min_jerk: -1.0 # min jerk [m/sss] max_jerk: 1.0 # max jerk [m/sss] 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 238d40e7ad..86bcf801f4 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 @@ -59,6 +59,8 @@ object_expected_deceleration: 2.0 ignore_on_red_traffic_light: object_margin_to_path: 2.0 + avoid_collision_by_acceleration: + object_time_margin_to_collision_point: 4.0 occlusion: enable: false 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 1ac32ba562..2ff87e9b01 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 @@ -95,7 +95,12 @@ obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] ego_obstacle_overlap_time_threshold : 2.0 # time threshold to decide cut-in obstacle for cruise or stop [s] max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego - + yield: + enable_yield: false + lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding + max_lat_dist_between_obstacles: 2.5 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it + max_obstacles_collision_time: 10.0 # how far the blocking obstacle + stopped_obstacle_velocity_threshold: 0.5 slow_down: max_lat_margin: 1.1 # lateral margin between obstacle and trajectory band with ego's width lat_hysteresis_margin: 0.2 diff --git a/autoware_launch/config/simulator/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml index 1a57b852f7..ac02442d70 100644 --- a/autoware_launch/config/simulator/fault_injection.param.yaml +++ b/autoware_launch/config/simulator/fault_injection.param.yaml @@ -4,7 +4,7 @@ vehicle_is_out_of_lane: "lane_departure" trajectory_deviation_is_high: "trajectory_deviation" localization_matching_score_is_low: "ndt_scan_matcher" - localization_accuracy_is_low: "localization_accuracy" + localization_accuracy_is_low: "localization_error_ellipse" map_version_is_different: "map_version" trajectory_is_invalid: "trajectory_point_validation" cpu_temperature_is_high: "CPU Temperature" diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml index 2f98f9d0e2..69e3831591 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml @@ -23,7 +23,7 @@ /autoware/localization/node_alive_monitoring: default /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_accuracy: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/localization/performance_monitoring/localization_error_ellipse: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/map/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml index 6a763eace4..d8229425af 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml @@ -23,7 +23,7 @@ /autoware/localization/node_alive_monitoring: default /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_accuracy: default + /autoware/localization/performance_monitoring/localization_error_ellipse: default /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" } /autoware/map/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml index 3fd6264376..deddf33b34 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml @@ -24,7 +24,7 @@ /autoware/localization/node_alive_monitoring: default # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/localization/performance_monitoring/localization_accuracy: default + # /autoware/localization/performance_monitoring/localization_error_ellipse: default /autoware/map/node_alive_monitoring: default diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index a2cd12b2c1..7de7741be2 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -2,8 +2,8 @@ - - + + diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index 7ec292a381..70170a5fef 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -25,6 +25,7 @@ + diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml index 3062a6cedd..ba5611b6c0 100644 --- a/autoware_launch/launch/components/tier4_map_component.launch.xml +++ b/autoware_launch/launch/components/tier4_map_component.launch.xml @@ -1,10 +1,14 @@ - - + + + + + + diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 939792af84..3519d5780d 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -14,7 +14,6 @@ - @@ -80,7 +79,11 @@ value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml" /> + + + + + + + + + + diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 4e65c30c02..cbc2349a6e 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -27,6 +27,7 @@ + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index d920584c6c..4d978dc3fa 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -2,8 +2,8 @@ - - + + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index a2b66e91ed..57cbc38af6 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -2,8 +2,8 @@ - - + + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 030299f5af..d19c7308f0 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -2,8 +2,8 @@ - - + + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 064f87d3ff..4301034e74 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -58,58 +58,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_plugins/SteeringAngle - Enabled: true - Name: SteeringAngle - Scale: 17 - Text Color: 25; 255; 240 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/steering_status - Value: true - Value height offset: 0 - - Class: rviz_plugins/ConsoleMeter - Enabled: true - Name: ConsoleMeter - Scale: 3 - Text Color: 25; 255; 240 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/velocity_status - Value: true - Value height offset: 0 - - Class: rviz_plugins/AccelerationMeter - Enabled: false - Name: AccelerationMeter - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/acceleration - - Alpha: 0.999 - Class: rviz_plugins/VelocityHistory - Color Border Vel Max: 3 - Constant Color: - Color: 255; 255; 255 - Value: true - Enabled: true - Name: VelocityHistory - Scale: 0.30000001192092896 - Timeout: 10 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/velocity_status - Value: true - Alpha: 0.30000001192092896 Class: rviz_default_plugins/RobotModel Collision Enabled: false @@ -296,27 +244,22 @@ Visualization Manager: Value: true Wave Color: 255; 255; 255 Wave Velocity: 40 - - Class: rviz_plugins/MaxVelocity + - Class: awf_2d_overlay_vehicle/SignalDisplay Enabled: true - Name: MaxVelocity - Text Color: 255; 255; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/current_max_velocity - Value: true - - Class: rviz_plugins/TurnSignal - Enabled: true - Name: TurnSignal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/turn_indicators_status + Gear Topic Test: /vehicle/status/gear_status + Hazard Lights Topic: /vehicle/status/hazard_lights_status + Height: 175 + Left: 10 + Name: SignalDisplay + Signal Color: 94; 130; 255 + Speed Limit Topic: /planning/scenario_planning/current_max_velocity + Speed Topic: /vehicle/status/velocity_status + Steering Topic: /vehicle/status/steering_status + Top: 10 + Traffic Topic: /perception/traffic_light_recognition/traffic_signals + Turn Signals Topic: /vehicle/status/turn_indicators_status Value: true + Width: 517 Enabled: true Name: Vehicle - Class: rviz_plugins/MrmSummaryOverlayDisplay @@ -2707,15 +2650,10 @@ Visualization Manager: TF: true Value: false Vehicle: - AccelerationMeter: true - ConsoleMeter: true - MaxVelocity: true PolarGridDisplay: true - SteeringAngle: true - TurnSignal: true Value: true VehicleModel: true - VelocityHistory: true + SignalDisplay: true Value: true Zoom Factor: 1 - Alpha: 1 diff --git a/autoware_launch/rviz/image/autoware.png b/autoware_launch/rviz/image/autoware.png index cf2d1e8eff..3b27ce5fbc 100644 Binary files a/autoware_launch/rviz/image/autoware.png and b/autoware_launch/rviz/image/autoware.png differ