From 8b818d4ddbe2e5ad16d3f2f4b20bdd08e3694963 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 24 Jan 2024 09:55:38 +0900 Subject: [PATCH 01/34] fix(avoidance): decrease velocity threshold for avoidance target objects (#817) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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..dfe62a2487 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 @@ -38,7 +38,7 @@ 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 +48,7 @@ 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 +58,7 @@ 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 From b58eff29ce9fa8afa8b35bc9e7dde8492cda2f23 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Thu, 25 Jan 2024 14:40:00 +0900 Subject: [PATCH 02/34] fix(ndt_scan_matcher): fix type of critical_upper_bound_exe_time_ms (#819) * fix type Signed-off-by: Yamato Ando * fix order Signed-off-by: Yamato Ando --------- Signed-off-by: Yamato Ando --- .../config/localization/ndt_scan_matcher.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 9bc62d3f91..a5a4941bfe 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -54,6 +54,9 @@ # Tolerance of distance difference between two initial poses used for linear interpolation. [m] initial_pose_distance_tolerance_m: 10.0 + # The execution time which means probably NDT cannot matches scans properly. [ms] + critical_upper_bound_exe_time_ms: 100.0 + # Number of threads used for parallel computing num_threads: 4 @@ -98,6 +101,3 @@ # If lidar_point.z - base_link.z <= this threshold , the point will be removed z_margin_for_ground_removal: 0.8 - - # The execution time which means probably NDT cannot matches scans properly. [ms] - critical_upper_bound_exe_time_ms: 100 From 3e4dc2455f69a327406999c57e09f3d9db6e1977 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 25 Jan 2024 14:51:43 +0900 Subject: [PATCH 03/34] feat(start_planner): change collision_check_distance_from_end to shorten back distance (#757)" (#813) Revert "feat(start_planner): revert change collision_check_distance_from_end to shorten back distance (#757)" This reverts commit 96f2f18d23ba829804415135b241065ecf53b13d. --- .../start_planner/start_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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..27ce630f1a 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 From 7df85a85c7eba27cc1b96ceb58304d8515c7b9ee Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 25 Jan 2024 15:28:34 +0900 Subject: [PATCH 04/34] feat(crosswalk)!: improve stuck prevention on crosswalk (#816) * change a param definition Signed-off-by: Yuki Takagi --- .../behavior_velocity_planner/crosswalk.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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] From 626b48b79206a2f5cc12baaeb72d6c0027aa026a Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Fri, 26 Jan 2024 12:50:17 +0900 Subject: [PATCH 05/34] fix(tracking_object_merger): fix unknown is not associated problem (#825) fix: unknown is not associated problem Signed-off-by: yoshiri --- .../data_association_matrix.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 From 8ec96492210b97c3df109ceb2f0202b159384a41 Mon Sep 17 00:00:00 2001 From: Motz <83898149+Motsu-san@users.noreply.github.com> Date: Fri, 26 Jan 2024 13:44:06 +0900 Subject: [PATCH 06/34] refactor(system_error_monitor): rename localization_accuracy (#605) refactor: Rename localization_accuracy to localization_error_ellipse Signed-off-by: Motsu-san --- autoware_launch/config/simulator/fault_injection.param.yaml | 2 +- .../system_error_monitor/system_error_monitor.awsim.param.yaml | 2 +- .../system/system_error_monitor/system_error_monitor.param.yaml | 2 +- .../system_error_monitor.planning_simulation.param.yaml | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) 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 From 402bb3fd04e988f27446445c231a8239470c7ed6 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 26 Jan 2024 15:55:55 +0900 Subject: [PATCH 07/34] feat(avoidance): add new flag to use freespace in avoidance module (#818) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 dfe62a2487..d1da7b7730 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 From 3f1c9053933d47fc23cfeee9cecb5ca8e5ec1206 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 26 Jan 2024 21:09:57 +0900 Subject: [PATCH 08/34] fix(avoidance): change return dead line param (#814) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 d1da7b7730..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 @@ -219,7 +219,7 @@ return_dead_line: goal: enable: true # [-] - buffer: 30.0 # [m] + buffer: 3.0 # [m] traffic_light: enable: true # [-] buffer: 3.0 # [m] From 726210f6d8dc15e06ea5278172fd7ef36efdf68c Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 29 Jan 2024 10:08:06 +0900 Subject: [PATCH 09/34] feat(intersection): publish and visualize the reason for dangerous situation to blame past detection fault retrospectively (#828) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 From 64b2990706a21c657f383502899b0669c0885203 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 29 Jan 2024 13:03:11 +0900 Subject: [PATCH 10/34] chore(object_range_splitter): rework parameters (#821) * chore(object_range_splitter): add config Signed-off-by: kminoda * revert change Signed-off-by: kminoda --------- Signed-off-by: kminoda --- .../object_range_splitter_radar.param.yaml | 3 +++ .../object_range_splitter_radar_fusion.param.yaml | 3 +++ .../components/tier4_perception_component.launch.xml | 8 ++++++++ 3 files changed, 14 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml 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/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 939792af84..8636141685 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -88,6 +88,14 @@ value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml" /> + + Date: Mon, 29 Jan 2024 16:25:18 +0900 Subject: [PATCH 11/34] refactor(ndt_scan_matcher): rename de-grounded (#827) * refactor(ndt_scan_matcher): rename de-grounded Signed-off-by: Yamato Ando * fix value Signed-off-by: Yamato Ando --------- Signed-off-by: Yamato Ando --- .../config/localization/ndt_scan_matcher.param.yaml | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index a5a4941bfe..d4c49b7e8e 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -95,9 +95,8 @@ # Radius of input LiDAR range (used for diagnostics of dynamic map loading) lidar_radius: 100.0 - # cspell: ignore degrounded - # A flag for using scan matching score based on de-grounded LiDAR scan - estimate_scores_for_degrounded_scan: false + # A flag for using scan matching score based on no ground LiDAR scan + estimate_scores_by_no_ground_points: false # If lidar_point.z - base_link.z <= this threshold , the point will be removed z_margin_for_ground_removal: 0.8 From 7cf64d8b9efedf684a3de1c4655d1cf80b8e4e9b Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 29 Jan 2024 17:16:45 +0900 Subject: [PATCH 12/34] fix(tracking_object_merger): fix bug and rework parameters (#823) fix(tracking_object_merger): fix bug and use param file Signed-off-by: kminoda --- .../tracking_object_merger/decorative_tracker_merger.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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" From 864b9270979a07ba65cd5e054854b3554fe33440 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Tue, 30 Jan 2024 16:02:40 +0900 Subject: [PATCH 13/34] refactor(tier4_map_lcomponent): use map.launch.xml instead of map.launch.py (#826) Signed-off-by: Yamato Ando --- .../launch/components/tier4_map_component.launch.xml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml index 3062a6cedd..187c63b7c7 100644 --- a/autoware_launch/launch/components/tier4_map_component.launch.xml +++ b/autoware_launch/launch/components/tier4_map_component.launch.xml @@ -1,8 +1,10 @@ - - + + + + From 7837d1f039f2639e5e9ec36102a42709387fa5ef Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Wed, 31 Jan 2024 10:05:51 +0900 Subject: [PATCH 14/34] feat(start_planner): add collision check distances for shift and geometric pull out (#832) * Add collision check distances for shift and geometric pull out Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 27ce630f1a..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 @@ -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 From f3caadeb2b81fdff8c47aae1547a23bffcd6a01b Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 31 Jan 2024 19:28:58 +0900 Subject: [PATCH 15/34] chore(ground_segmentation): add default params (#831) Signed-off-by: badai-nguyen Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --- .../ground_segmentation/ground_segmentation.param.yaml | 3 +++ 1 file changed, 3 insertions(+) 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 From 862cc696ca5eb63c3d7cf40c0a0579b023780fac Mon Sep 17 00:00:00 2001 From: Vincent Richard Date: Wed, 31 Jan 2024 20:55:39 +0900 Subject: [PATCH 16/34] feat(autoware_launch): set default vehicle/sensor models to sample ones (#768) Signed-off-by: Vincent Richard --- autoware_launch/launch/autoware.launch.xml | 4 ++-- autoware_launch/launch/e2e_simulator.launch.xml | 4 ++-- autoware_launch/launch/logging_simulator.launch.xml | 4 ++-- autoware_launch/launch/planning_simulator.launch.xml | 4 ++-- 4 files changed, 8 insertions(+), 8 deletions(-) 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/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 @@ - - + + From b7880fea1a03e86874a348ea6511024b08e3168c Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 31 Jan 2024 22:04:14 +0900 Subject: [PATCH 17/34] chore(object_velocity_splitter): rework parameters (#820) chore(object_velocity_splitter): add config Signed-off-by: kminoda --- .../object_velocity_splitter_radar.param.yaml | 3 +++ .../object_velocity_splitter_radar_fusion.param.yaml | 3 +++ .../components/tier4_perception_component.launch.xml | 8 ++++++++ 3 files changed, 14 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml 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/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 8636141685..2940bd614e 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -88,6 +88,14 @@ value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml" /> + + Date: Thu, 1 Feb 2024 10:41:42 +0900 Subject: [PATCH 18/34] refactor(map_projection_loader): rework parameters (#839) * Added launch argument map_projection_loader_param_path to tier4_map_component.launch.xml Copied map_projection_loader.launch.xml from universe Signed-off-by: TaikiYamada4 * style(pre-commit): autofix --------- Signed-off-by: TaikiYamada4 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- autoware_launch/config/map/map_projection_loader.param.yaml | 4 ++++ .../launch/components/tier4_map_component.launch.xml | 1 + 2 files changed, 5 insertions(+) create mode 100644 autoware_launch/config/map/map_projection_loader.param.yaml 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/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml index 187c63b7c7..455b848c63 100644 --- a/autoware_launch/launch/components/tier4_map_component.launch.xml +++ b/autoware_launch/launch/components/tier4_map_component.launch.xml @@ -8,5 +8,6 @@ + From ec4491819c77dc751c06f99b5fbeb5264d4e020b Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Thu, 1 Feb 2024 13:00:35 +0900 Subject: [PATCH 19/34] fix(autoware_launch): add config file (#829) * fix(autoware_launch): add config file Signed-off-by: scepter914 * style(pre-commit): autofix --------- Signed-off-by: scepter914 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../radar_crossing_objects_noise_filter.param.yaml | 4 ++++ .../launch/components/tier4_perception_component.launch.xml | 6 +++++- 2 files changed, 9 insertions(+), 1 deletion(-) create mode 100644 autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml 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/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 2940bd614e..a84911a414 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -80,7 +80,11 @@ value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml" /> + Date: Thu, 1 Feb 2024 16:28:11 +0900 Subject: [PATCH 20/34] refactor(ndt_scan_matcher): hierarchize parameters (#830) * refactor(ndt_scan_matcher): hierarchize parameters Signed-off-by: Yamato Ando * add new lines Signed-off-by: Yamato Ando --------- Signed-off-by: Yamato Ando --- .../localization/ndt_scan_matcher.param.yaml | 158 ++++++++++-------- 1 file changed, 85 insertions(+), 73 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index d4c49b7e8e..144449ce75 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -1,102 +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 - # The execution time which means probably NDT cannot matches scans properly. [ms] - critical_upper_bound_exe_time_ms: 100.0 + # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] + initial_pose_timeout_sec: 1.0 - # Number of threads used for parallel computing - num_threads: 4 + # Tolerance of distance difference between two initial poses used for linear interpolation. [m] + initial_pose_distance_tolerance_m: 10.0 - # 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, - ] + # The execution time which means probably NDT cannot matches scans properly. [ms] + critical_upper_bound_exe_time_ms: 100.0 - # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) - use_covariance_estimation: 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] + score_estimation: + # Converged param type + # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD + converged_param_type: 1 - # Regularization switch - regularization_enabled: false + # If converged_param_type is 0 + # Threshold for deciding whether to trust the estimation result + converged_param_transform_probability: 3.0 - # Regularization scale factor - regularization_scale_factor: 0.01 + # 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 distance - dynamic_map_loading_update_distance: 20.0 + # Scan matching score based on no ground LiDAR scan + no_ground_points: + enable: false - # Dynamic map loading loading radius - dynamic_map_loading_map_radius: 150.0 + # If lidar_point.z - base_link.z <= this threshold , the point will be removed + z_margin_for_ground_removal: 0.8 - # Radius of input LiDAR range (used for diagnostics of dynamic map loading) - lidar_radius: 100.0 - # A flag for using scan matching score based on no ground LiDAR scan - estimate_scores_by_no_ground_points: false + 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, + ] - # If lidar_point.z - base_link.z <= this threshold , the point will be removed - z_margin_for_ground_removal: 0.8 + # 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 From a72fe01df9de03dea774f89dfbf50a4063b9998f Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Thu, 1 Feb 2024 17:03:48 +0900 Subject: [PATCH 21/34] chore(twist2accel): rework parameters (#842) Added twist2accel.param.yaml Signed-off-by: Shintaro SAKODA --- autoware_launch/config/localization/twist2accel.param.yaml | 4 ++++ .../launch/components/tier4_localization_component.launch.xml | 1 + 2 files changed, 5 insertions(+) create mode 100644 autoware_launch/config/localization/twist2accel.param.yaml 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/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 @@ + From 14d144c3e909dda2c989ee42bed8b549c281d4c2 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu, 1 Feb 2024 17:43:43 +0900 Subject: [PATCH 22/34] feat(detection): add container option (#834) feat: use pointcloud_container Signed-off-by: kminoda --- .../lidar_model/detection_class_remapper.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 From e27368b16fca69694d0b11f5dc5caed8377e770d Mon Sep 17 00:00:00 2001 From: Khalil Selyan <36904941+KhalilSelyan@users.noreply.github.com> Date: Thu, 1 Feb 2024 21:42:57 +0300 Subject: [PATCH 23/34] feat: update rviz splash and vehicle UI display (#836) Signed-off-by: KhalilSelyan --- autoware_launch/rviz/autoware.rviz | 92 ++++-------------------- autoware_launch/rviz/image/autoware.png | Bin 600002 -> 34941 bytes 2 files changed, 15 insertions(+), 77 deletions(-) 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 cf2d1e8eff3550c4427f8d98dc2f1d0c41aa712a..3b27ce5fbce7a5fc518d99c23a5df4c207f81708 100644 GIT binary patch literal 34941 zcmeFZg;UmD{4Gi-C@kod0BBR3{ngvBqS_Ji5IVtkWknWe{Z3|cm8%! zzd=Gm4lolHm6sG1rM9uNHa4>~LPB~J?HMg3(I|f}Ku)oQh5(%*IN0!qEa8in{N@Cq 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zLmohK%uQrS`{%$fJALirCRbU{Plr3+Qi=GQCR?)R%Q9fYkcz!p<}A_krS|$K<;kM^Pg`fvuA8=t z2LmnMAFLm>wEaMwCmuMnW;8CdqOm24r6`@?{ipqSfX9ATT0TjCpymaSAnaN%>fivE>)2uBBnlYB{H}snaX$_N^{uBgxvg zp4_JzAjt)Db>9r&#s?oEQ3Cr(P&ae#Y6XNi@=@~xn}IYY-qvHVSNqxiJ}z%fHya6c zP=G)HPt&}00@i@&Q-`Pdx(CrX5)jCWxgBx<~25XO1)j} zXtfguw^~={`3RgurZ!>DCNt1+hsDI0C&wp}hvw%;uBK#-VS;G?Kwv?_V9)lS*@^vI zq9jeYju^1A2?9nKupqeu*j~AOM!`Vyk#$FZ)rXGsaQqHNcoK1Q8B)8Qf+|k(sf_8 z`dKSfr+8@BZ`5BfwV$OY07(4t{&-f{xZ?-5^b5oyP?}-FiZQEhwAqWEk<%yaV^N#rq#{UoIq{~y9TovOk$izsjK@;q*S7MWsv8D ziPd7;$|h9Wxl{Y4RKPR`862`u$(b>oscF*uzH+I>?%lp=<(1PER3g15nLr&VQdY+H z#20fA;m*`0^ Date: Fri, 2 Feb 2024 08:18:55 +0900 Subject: [PATCH 24/34] chore(image_projection_based_fusion): rework parameters (#824) chore(image_projection_based_fusion): use config Signed-off-by: kminoda --- .../detection/lidar_model/pointpainting.param.yaml | 7 +++++++ 1 file changed, 7 insertions(+) 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..8fb88da291 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 +1,12 @@ /**: ros__parameters: + trt_precision: fp16 + build_only: false + 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"] From 4abad00b40d312f1f37f9fbb3d9bfd2cfdd6732e Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 2 Feb 2024 19:51:16 +0900 Subject: [PATCH 25/34] feat(map_based_prediction): consider crosswalks signals (#849) add param Signed-off-by: Yuki Takagi --- .../prediction/map_based_prediction.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 From 5d5b3a6e1c90c443eebe14bfb0fb03f4780b09cf Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 2 Feb 2024 20:09:02 +0900 Subject: [PATCH 26/34] fix(planning_launch): align parameters to real vehicle (#848) update param Signed-off-by: Yuki Takagi --- .../motion_velocity_smoother.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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] From bee8c48c771a013a8b3fd54eb68cf3b38ddcf2f6 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 5 Feb 2024 17:08:22 +0900 Subject: [PATCH 27/34] feat(obstacle_cruise_planner): yield function for ocp (#837) * add params for yield Signed-off-by: Daniel Sanchez * param name change Signed-off-by: Daniel Sanchez * add params Signed-off-by: Daniel Sanchez * refactoring Signed-off-by: Daniel Sanchez * fix typo, tuning Signed-off-by: Daniel Sanchez * update parameters Signed-off-by: Daniel Sanchez * delete unused param Signed-off-by: Daniel Sanchez * set cruise planner as default for testing Signed-off-by: Daniel Sanchez * add param for stopped obj speed threshold Signed-off-by: Daniel Sanchez * change back param Signed-off-by: Daniel Sanchez * set default false Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner.param.yaml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) 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 From 6b75cf2380aa650961ed0dc447fab78b9f62245c Mon Sep 17 00:00:00 2001 From: Motz <83898149+Motsu-san@users.noreply.github.com> Date: Tue, 6 Feb 2024 09:20:47 +0900 Subject: [PATCH 28/34] refactor(ekf_localizer): rework parameters (#847) refactor: Add the classification names to yaml file Signed-off-by: Motsu-san --- .../localization/ekf_localizer.param.yaml | 69 +++++++++++-------- 1 file changed, 39 insertions(+), 30 deletions(-) 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" From 2eeb90e28f43830bd427570af73773cf20c2c14a Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue, 6 Feb 2024 11:06:25 +0900 Subject: [PATCH 29/34] chore(lidar_centerpoint): rework parameters (#822) * chore(lidar_centerpoint): use config Signed-off-by: kminoda * fix: remove build_only param Signed-off-by: kminoda --------- Signed-off-by: kminoda Co-authored-by: Kenzo Lobos Tsunekawa --- .../detection/lidar_model/centerpoint.param.yaml | 11 +++++++++++ .../lidar_model/centerpoint_tiny.param.yaml | 12 ++++++++++++ 2 files changed, 23 insertions(+) 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" From f487e03916fcbddbedf7776ee322a65bcf2ed753 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue, 6 Feb 2024 11:22:05 +0900 Subject: [PATCH 30/34] fix(pointpainting): update parameter (#850) Signed-off-by: kminoda --- .../detection/lidar_model/pointpainting.param.yaml | 1 - 1 file changed, 1 deletion(-) 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 8fb88da291..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 @@ -1,7 +1,6 @@ /**: ros__parameters: trt_precision: fp16 - build_only: false 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" From 43570938556f633447cb37149ba22019bbd40ede Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Tue, 6 Feb 2024 13:04:09 +0900 Subject: [PATCH 31/34] refactor(map_tf_generator): rework parameters (#835) Signed-off-by: Yamato Ando --- autoware_launch/config/map/map_tf_generator.param.yaml | 4 ++++ .../launch/components/tier4_map_component.launch.xml | 1 + 2 files changed, 5 insertions(+) create mode 100644 autoware_launch/config/map/map_tf_generator.param.yaml 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/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml index 455b848c63..ba5611b6c0 100644 --- a/autoware_launch/launch/components/tier4_map_component.launch.xml +++ b/autoware_launch/launch/components/tier4_map_component.launch.xml @@ -8,6 +8,7 @@ + From 4e94d652916525fccc1a9d505b5db2594767d9f5 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Tue, 6 Feb 2024 13:40:08 +0900 Subject: [PATCH 32/34] feat(behavior_path_sampling_planner): add sampling based planner to behavior path planner (#810) * Add sampling based planner params Signed-off-by: Daniel Sanchez * update keep_last param Signed-off-by: Daniel Sanchez * change priority of sampling based planner Signed-off-by: Daniel Sanchez * Set parameters for frenet planner Signed-off-by: Daniel Sanchez * changes for testing Signed-off-by: Daniel Sanchez * change curvature weight for testing Signed-off-by: Daniel Sanchez * tuning params Signed-off-by: Daniel Sanchez * tuning Signed-off-by: Daniel Sanchez * for integ w/ other modules Signed-off-by: Daniel Sanchez * add support for soft constraints weight reconfig Signed-off-by: Daniel Sanchez * rebase Signed-off-by: Daniel Sanchez * temp Signed-off-by: Daniel Sanchez * update default params Signed-off-by: Daniel Sanchez * Tune params Signed-off-by: Daniel Sanchez * Set defaults back to normal Signed-off-by: Daniel Sanchez * fix name of ablc Signed-off-by: Daniel Sanchez * formatting fix Signed-off-by: Daniel Sanchez * set verbose to false Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez Signed-off-by: Daniel Sanchez --- .../planning/preset/default_preset.yaml | 3 ++ .../sampling_planner.param.yaml | 40 +++++++++++++++++++ .../scene_module_manager.param.yaml | 9 +++++ .../tier4_planning_component.launch.xml | 1 + 4 files changed, 53 insertions(+) create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml 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/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/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 @@ + From b422b3c65bc25d7e71c1143c566e1f3565315fea Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Wed, 7 Feb 2024 01:36:00 +0900 Subject: [PATCH 33/34] feat(traffic_light_recognition): add tlr args in tier4_perception_component.launch.xml (#840) * feat(traffic_light_recognition): add tlr args in tier4_perception_component.launch.xml Signed-off-by: Shunsuke Miura * fix dfault value of fusion_only to false Signed-off-by: Shunsuke Miura * fix arg passing way Signed-off-by: Shunsuke Miura --------- Signed-off-by: Shunsuke Miura --- .../launch/components/tier4_perception_component.launch.xml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index a84911a414..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 @@ - @@ -156,6 +155,11 @@ + + + + + From 92d05298dc900d98c9a67fad11c5c56f2f953c56 Mon Sep 17 00:00:00 2001 From: Phoebe Wu Date: Wed, 7 Feb 2024 08:20:50 +0800 Subject: [PATCH 34/34] refactor(pose_initializer): rework parameters (#853) Signed-off-by: PhoebeWu21 --- .../config/localization/pose_initializer.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) 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: