Merge pull request #240 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
tier4 · Sep 11, 2023 · 6d4af73 · 6d4af73
2 parents ceb8584 + da09163
commit 6d4af73
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Showing 2 changed files with 54 additions and 5 deletions.
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -37,6 +37,9 @@
     # The number of particles to estimate initial pose
     initial_estimate_particles_num: 100
 
+    # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
+    lidar_topic_timeout_sec: 1.0
+
     # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec]
     initial_pose_timeout_sec: 1.0
 

diff --git a/...ne_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml b/...ne_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml
@@ -1,15 +1,61 @@
 /**:
   ros__parameters:
-
     # obstacle check
-    use_pointcloud: true # use pointcloud as obstacle check
-    use_dynamic_object: true # use dynamic object as obstacle check
-    surround_check_distance: 0.5 # if objects exist in this distance, transit to "exist-surrounding-obstacle" status [m]
-    surround_check_recover_distance: 0.8 # if no object exists in this distance, transit to "non-surrounding-obstacle" status [m]
+    # surround_check_*_distance: if objects exist in this distance, transit to "exist-surrounding-obstacle" status [m]
+    # surround_check_hysteresis_distance: if no object exists in this hysteresis distance added to the above distance, transit to "non-surrounding-obstacle" status [m]
+    pointcloud:
+      enable_check: false
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.5
+      surround_check_back_distance: 0.5
+    unknown:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.5
+      surround_check_back_distance: 0.5
+    car:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.0
+      surround_check_back_distance: 0.5
+    truck:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.0
+      surround_check_back_distance: 0.5
+    bus:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.0
+      surround_check_back_distance: 0.5
+    trailer:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.0
+      surround_check_back_distance: 0.5
+    motorcycle:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.0
+      surround_check_back_distance: 0.5
+    bicycle:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.5
+      surround_check_back_distance: 0.5
+    pedestrian:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.5
+      surround_check_back_distance: 0.5
+
+    surround_check_hysteresis_distance: 0.3
+
     state_clear_time: 2.0
 
     # ego stop state
     stop_state_ego_speed: 0.1 #[m/s]
 
     # debug
     publish_debug_footprints: true # publish vehicle footprint & footprints with surround_check_distance and surround_check_recover_distance offsets
+    debug_footprint_label: "car"