From 68caaa83422a81f0b8e846f65a78fead9f3feeb6 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Wed, 19 Jun 2024 17:04:23 +0900 Subject: [PATCH 01/15] feat(autonomous_emergency_braking): add params to enable or disable PC and predicted objects (#1031) * add params to enable or disable PC and predicted objects Signed-off-by: Daniel Sanchez * set predicted object usage to false Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index 4233f8b6be..ca15b55b47 100644 --- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -3,6 +3,8 @@ # Ego path calculation use_predicted_trajectory: true use_imu_path: false + use_pointcloud_data: true + use_predicted_object_data: false use_object_velocity_calculation: true min_generated_path_length: 0.5 imu_prediction_time_horizon: 1.5 From 2fd46d00be5c8265243247cd4815bdc25ee9ac79 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Thu, 20 Jun 2024 10:09:27 +0900 Subject: [PATCH 02/15] disable AEB diag check Signed-off-by: Daniel Sanchez --- .../system/diagnostic_graph_aggregator/autoware-awsim.yaml | 1 + .../system/diagnostic_graph_aggregator/autoware-main.yaml | 3 +++ .../system/diagnostic_graph_aggregator/autoware-psim.yaml | 3 +++ 3 files changed, 7 insertions(+) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml index 9950acbc7e..7f002b1380 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml @@ -3,3 +3,4 @@ files: edits: - { type: remove, path: /autoware/system/duplicated_node_checker } + - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml index 42af3f79a3..f35f219df6 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml @@ -1,2 +1,5 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml } + +edits: + - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml index dfc820f93c..e11f391606 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml @@ -1,2 +1,5 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml } + +edits: + - { type: remove, path: /autoware/control/emergency_braking } From 24e819d6a2ccafc317280f7d6ea032b9543f9d5b Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 20 Jun 2024 15:05:10 +0900 Subject: [PATCH 03/15] fix(object_lanelet_filter): radar object lanelet filter parameter update (#1032) fix: radar object lanelet filter parameter update fix Signed-off-by: Taekjin LEE --- .../object_filter/object_lanelet_filter.param.yaml | 2 +- .../object_filter/radar_lanelet_filter.param.yaml | 10 ++++++++++ 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml index 99050d9738..fb6f1131e1 100644 --- a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml @@ -13,7 +13,7 @@ filter_settings: # polygon overlap based filter polygon_overlap_filter: - enabled: true + enabled: true # velocity direction based filter lanelet_direction_filter: enabled: false diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml index 62051e1c5e..330a4605a1 100644 --- a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml @@ -9,3 +9,13 @@ MOTORCYCLE : true BICYCLE : true PEDESTRIAN : true + + filter_settings: + # polygon overlap based filter + polygon_overlap_filter: + enabled: true + # velocity direction based filter + lanelet_direction_filter: + enabled: false + velocity_yaw_threshold: 0.785398 # [rad] (45 deg) + object_speed_threshold: 3.0 # [m/s] From 321cffa4237a625acaa04637ba64799fe06c3222 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 20 Jun 2024 15:16:34 +0900 Subject: [PATCH 04/15] feat(diagnostic_graph_utils): launch logging node for diagnostic_graph Signed-off-by: Takamasa Horibe --- .../launch/components/tier4_system_component.launch.xml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index d5082a91e8..6fda11ac7a 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -34,4 +34,11 @@ + + + + + + + From 4dc8c06b6eef3e1cd425bdb21d2ce0a52ddef464 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 20 Jun 2024 17:43:08 +0900 Subject: [PATCH 05/15] feat(static_obstacle_avoidance)!: add param to select path generation method (#1036) feat(static_obstacle_avoidance): add param to select path generation method Signed-off-by: satoshi-ota --- .../static_obstacle_avoidance.param.yaml | 21 +++++++++++++------ 1 file changed, 15 insertions(+), 6 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index 24e88c8ed6..dd2e13892d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -5,10 +5,6 @@ resample_interval_for_planning: 0.3 # [m] FOR DEVELOPER resample_interval_for_output: 4.0 # [m] FOR DEVELOPER - # avoidance module common setting - enable_bound_clipping: false - disable_path_update: false - # drivable area setting use_adjacent_lane: true use_opposite_lane: true @@ -284,6 +280,19 @@ max_acceleration: 0.5 # [m/ss] min_velocity_to_limit_max_acceleration: 2.78 # [m/ss] + # path generation method. select "shift_line_base" or "optimization_base" or "both". + # "shift_line_base" : Create avoidance path based on shift line. + # User can control avoidance maneuver execution via RTC. + # However, this method doesn't support complex avoidance scenario (e.g. S-shape maneuver). + # "optimization_base": This module selects avoidance target object + # and bpp module clips drivable area based on avoidance target object polygon shape. + # But this module doesn't modify the path shape. + # On the other hand, autoware_path_optimizer module optimizes path shape instead of this module + # so that the path can be within drivable area. This method is able to deal with complex avoidance scenario. + # However, user can't control avoidance manuever execution. + # "both" : Use both method. + path_generation_method: "shift_line_base" + shift_line_pipeline: trim: quantize_size: 0.1 @@ -293,8 +302,8 @@ # for debug debug: - enable_other_objects_marker: false - enable_other_objects_info: false + enable_other_objects_marker: true + enable_other_objects_info: true enable_detection_area_marker: false enable_drivable_bound_marker: false enable_safety_check_marker: false From 6cd9a9db0cf4fe79adb861c51590a7b2470c37ed Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Sat, 22 Jun 2024 09:59:02 +0900 Subject: [PATCH 06/15] feat(autonomous_emergency_braking): add and tune params (#1037) * add and tune params Signed-off-by: Daniel Sanchez * set back voxel grid z Signed-off-by: Daniel Sanchez * fix grid to what it is in OSS launch Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index ca15b55b47..bf9249e91a 100644 --- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -27,7 +27,8 @@ path_footprint_extra_margin: 4.0 # Point cloud clustering - cluster_tolerance: 0.1 #[m] + cluster_tolerance: 0.15 #[m] + cluster_minimum_height: 0.0 minimum_cluster_size: 10 maximum_cluster_size: 10000 From d26150e1a2f4a3a661bd2416b59e162185048838 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 27 Jun 2024 10:15:32 +0900 Subject: [PATCH 07/15] feat(behavior_path_planner): add yaw threshold param (#1040) add yaw threshold param Signed-off-by: Daniel Sanchez --- .../static_obstacle_avoidance.param.yaml | 1 + .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 1 + .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 + .../start_planner/start_planner.param.yaml | 2 ++ 4 files changed, 5 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index dd2e13892d..c6c7f4ee5c 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -174,6 +174,7 @@ safety_check_backward_distance: 100.0 # [m] hysteresis_factor_expand_rate: 1.5 # [-] hysteresis_factor_safe_count: 3 # [-] + collision_check_yaw_diff_threshold: 3.1416 # [rad] # predicted path parameters min_velocity: 1.38 # [m/s] max_velocity: 50.0 # [m/s] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index eea6d0acdc..adbda50864 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -182,6 +182,7 @@ time_horizon: 10.0 # hysteresis factor to expand/shrink polygon with the value hysteresis_factor_expand_rate: 1.0 + collision_check_yaw_diff_threshold: 3.1416 # temporary backward_path_length: 30.0 forward_path_length: 100.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 10757691c9..d301e96deb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -30,6 +30,7 @@ # safety check safety_check: allow_loose_check_for_cancel: true + collision_check_yaw_diff_threshold: 3.1416 execution: expected_front_deceleration: -1.0 expected_rear_deceleration: -1.0 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 7d64d8c44a..13c43cd4d4 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 @@ -143,8 +143,10 @@ lateral_distance_max_threshold: 2.0 longitudinal_distance_min_threshold: 3.0 longitudinal_velocity_delta_time: 0.8 + extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path" # hysteresis factor to expand/shrink polygon hysteresis_factor_expand_rate: 1.0 + collision_check_yaw_diff_threshold: 1.578 # temporary backward_path_length: 30.0 forward_path_length: 100.0 From cb266c4287dcd5681a82043938dc52c43dc574b5 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 27 Jun 2024 12:47:19 +0900 Subject: [PATCH 08/15] refactor(static_obstacle_avoidance): organize params for drivable lane (#1042) Signed-off-by: satoshi-ota --- .../static_obstacle_avoidance.param.yaml | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index c6c7f4ee5c..cd5e2cb326 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -5,9 +5,13 @@ resample_interval_for_planning: 0.3 # [m] FOR DEVELOPER resample_interval_for_output: 4.0 # [m] FOR DEVELOPER + # drivable lane setting. this module is able to use not only current lane but also right/left lane + # if the current lane(=lanelet::Lanelet) and the right/left lane share the boundary(=lanelet::Linestring) in HDMap. + # "current_lane" : use only current lane. this module doesn't use adjacent lane to avoid object. + # "same_direction_lane" : this module uses same direction lane to avoid object if need. + # "opposite_direction_lane": this module uses both same direction and opposite direction lane. + use_lane_type: "opposite_direction_lane" # drivable area setting - use_adjacent_lane: true - use_opposite_lane: true use_intersection_areas: true use_hatched_road_markings: true use_freespace_areas: true From d076aa5f93f4016bcd772a22094f44d93deeecaa Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Fri, 28 Jun 2024 19:21:54 +0900 Subject: [PATCH 09/15] feat(autoware_launch): use mrm handler by default (#1043) Signed-off-by: Takagi, Isamu --- .../launch/components/tier4_system_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index d5082a91e8..f9adf230c5 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -29,7 +29,7 @@ - + From 48dcf87984a41da00f129d9a321270d1bb52ceab Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Mon, 1 Jul 2024 09:08:38 +0900 Subject: [PATCH 10/15] feat(ekf_localizer): add covariance ellipse diagnostics (#1041) * Added ellipse diagnostics to ekf Signed-off-by: Shintaro Sakoda * Fixed to ellipse_scale Signed-off-by: Shintaro Sakoda --------- Signed-off-by: Shintaro Sakoda --- autoware_launch/config/localization/ekf_localizer.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 19bfd2d498..4a7696ec9e 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -39,6 +39,11 @@ pose_no_update_count_threshold_error: 100 twist_no_update_count_threshold_warn: 50 twist_no_update_count_threshold_error: 100 + ellipse_scale: 3.0 + error_ellipse_size: 1.5 + warn_ellipse_size: 1.2 + error_ellipse_size_lateral_direction: 0.3 + warn_ellipse_size_lateral_direction: 0.25 misc: # for velocity measurement limitation (Set 0.0 if you want to ignore) From fbbf2d56a7accd94f5410815580636fd5746a0af Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Wed, 3 Jul 2024 09:46:34 +0900 Subject: [PATCH 11/15] feat(behavior_path_planner): remove max_module_size param (#1045) The max_module_size param has been removed from the behavior_path_planner scene_module_manager.param.yaml file. This param was unnecessary and has been removed to simplify the configuration. Signed-off-by: kyoichi-sugahara --- .../scene_module_manager.param.yaml | 11 ----------- 1 file changed, 11 deletions(-) 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 59289d30f5..59ef4157b8 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 @@ -9,7 +9,6 @@ enable_simultaneous_execution_as_candidate_module: true keep_last: false priority: 6 - max_module_size: 1 external_request_lane_change_right: enable_rtc: false @@ -17,7 +16,6 @@ enable_simultaneous_execution_as_candidate_module: true keep_last: false priority: 6 - max_module_size: 1 lane_change_left: enable_rtc: false @@ -25,7 +23,6 @@ enable_simultaneous_execution_as_candidate_module: true keep_last: false priority: 5 - max_module_size: 1 lane_change_right: enable_rtc: false @@ -33,7 +30,6 @@ enable_simultaneous_execution_as_candidate_module: true keep_last: false priority: 5 - max_module_size: 1 start_planner: enable_rtc: false @@ -41,7 +37,6 @@ enable_simultaneous_execution_as_candidate_module: false keep_last: false priority: 0 - max_module_size: 1 side_shift: enable_rtc: false @@ -49,7 +44,6 @@ enable_simultaneous_execution_as_candidate_module: false keep_last: false priority: 2 - max_module_size: 1 goal_planner: enable_rtc: false @@ -57,7 +51,6 @@ enable_simultaneous_execution_as_candidate_module: false keep_last: true priority: 1 - max_module_size: 1 static_obstacle_avoidance: enable_rtc: false @@ -65,7 +58,6 @@ enable_simultaneous_execution_as_candidate_module: false keep_last: false priority: 4 - max_module_size: 1 avoidance_by_lane_change: enable_rtc: false @@ -73,7 +65,6 @@ enable_simultaneous_execution_as_candidate_module: false keep_last: false priority: 3 - max_module_size: 1 dynamic_obstacle_avoidance: enable_rtc: false @@ -81,7 +72,6 @@ enable_simultaneous_execution_as_candidate_module: true keep_last: true priority: 7 - max_module_size: 1 sampling_planner: enable_module: true @@ -90,4 +80,3 @@ enable_simultaneous_execution_as_candidate_module: false keep_last: false priority: 16 - max_module_size: 1 From 0be80b69d7922932d5fd041c3e549a73dde9d90e Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Wed, 3 Jul 2024 18:29:11 +0900 Subject: [PATCH 12/15] chore(eagleye): add septentrio msg option in eagleye_config (#1049) Added septentrio option for velocity_source in eagleye_config.param.yaml Signed-off-by: TaikiYamada4 --- autoware_launch/config/localization/eagleye_config.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml index e83376e841..046a041188 100644 --- a/autoware_launch/config/localization/eagleye_config.param.yaml +++ b/autoware_launch/config/localization/eagleye_config.param.yaml @@ -10,7 +10,7 @@ twist_topic: /sensing/vehicle_velocity_converter/twist_with_covariance imu_topic: /sensing/imu/imu_data gnss: - velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3 + velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3, septentrio_gnss_driver/PVTGeodetic: 4 velocity_source_topic: /sensing/gnss/ublox/navpvt llh_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2 llh_source_topic: /sensing/gnss/ublox/nav_sat_fix From 9a8e15db865f4806c8dd7876fe8ddec3756e69d7 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Wed, 3 Jul 2024 17:02:27 +0300 Subject: [PATCH 13/15] chore(deps): bump actions/checkout from 3 to 4 (#551) Bumps [actions/checkout](https://github.com/actions/checkout) from 3 to 4. - [Release notes](https://github.com/actions/checkout/releases) - [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md) - [Commits](https://github.com/actions/checkout/compare/v3...v4) --- updated-dependencies: - dependency-name: actions/checkout dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/build-and-test-differential.yaml | 4 ++-- .github/workflows/build-and-test.yaml | 2 +- .github/workflows/check-build-depends.yaml | 2 +- .github/workflows/github-release.yaml | 2 +- .github/workflows/pre-commit-optional.yaml | 2 +- .github/workflows/pre-commit.yaml | 2 +- .github/workflows/spell-check-differential.yaml | 2 +- .github/workflows/update-sync-param-files.yaml | 2 +- 8 files changed, 9 insertions(+), 9 deletions(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 8eeb1de069..f0624aa39b 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -18,7 +18,7 @@ jobs: build-depends-repos: build_depends.repos steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: fetch-depth: 0 @@ -61,7 +61,7 @@ jobs: needs: build-and-test-differential steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: fetch-depth: 0 diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 6459a98044..bcd9bf46c1 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -22,7 +22,7 @@ jobs: build-depends-repos: build_depends.repos steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml index 01132cd0df..53a19adb5f 100644 --- a/.github/workflows/check-build-depends.yaml +++ b/.github/workflows/check-build-depends.yaml @@ -24,7 +24,7 @@ jobs: build-depends-repos: build_depends.repos steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index 95ebb8725f..b426d0cba6 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -30,7 +30,7 @@ jobs: echo "tag-name=${REF_NAME#beta/}" >> $GITHUB_OUTPUT - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: fetch-depth: 0 ref: ${{ steps.set-tag-name.outputs.ref-name }} diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml index 93e05dc2c7..09e23b10d0 100644 --- a/.github/workflows/pre-commit-optional.yaml +++ b/.github/workflows/pre-commit-optional.yaml @@ -8,7 +8,7 @@ jobs: runs-on: ubuntu-latest steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Run pre-commit uses: autowarefoundation/autoware-github-actions/pre-commit@v1 diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml index b231dbda87..33c00ee106 100644 --- a/.github/workflows/pre-commit.yaml +++ b/.github/workflows/pre-commit.yaml @@ -16,7 +16,7 @@ jobs: private_key: ${{ secrets.PRIVATE_KEY }} - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: ref: ${{ github.event.pull_request.head.ref }} diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml index eb18ccdba3..1fbf2ff469 100644 --- a/.github/workflows/spell-check-differential.yaml +++ b/.github/workflows/spell-check-differential.yaml @@ -8,7 +8,7 @@ jobs: runs-on: ubuntu-latest steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Run spell-check uses: autowarefoundation/autoware-github-actions/spell-check@v1 diff --git a/.github/workflows/update-sync-param-files.yaml b/.github/workflows/update-sync-param-files.yaml index 00203870c5..b557e2414e 100644 --- a/.github/workflows/update-sync-param-files.yaml +++ b/.github/workflows/update-sync-param-files.yaml @@ -17,7 +17,7 @@ jobs: private_key: ${{ secrets.PRIVATE_KEY }} - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Install GitPython run: | From d05e5b2749f2cf23d19c232c323841096e0cadba Mon Sep 17 00:00:00 2001 From: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com> Date: Thu, 4 Jul 2024 07:43:19 +0900 Subject: [PATCH 14/15] feat(obstacle_cruise_planner): support pointcloud-based obstacles (#980) * feat: use obstacle_cruise_planner and change safe_distance_margin Signed-off-by: Takayuki Murooka * feat: set max_vel to 40km/h Signed-off-by: Takayuki Murooka * feat: enable surround_obstacle_checker Signed-off-by: Takayuki Murooka * feat: enable surround_obstacle_checker Signed-off-by: Takayuki Murooka * feat: enable dynamic_avoidance and disable outside_drivable_area_stop Signed-off-by: Takayuki Murooka * feat: disable AEB and set the maximum velocity to 40km/h Signed-off-by: Takayuki Murooka * enable intersection_occlusion detection Signed-off-by: Mamoru Sobue * add parameters for obstacle_cruise_planner * add parameters for pointcloud filtering * chore(planning_launch): update motion module name (#1014) Signed-off-by: satoshi-ota * move use_pointcloud to common parameter * disable using pointcloud by default * disable AEB diag check Signed-off-by: Daniel Sanchez * remove use_pointcloud parameter * feat(diagnostic_graph_utils): launch logging node for diagnostic_graph Signed-off-by: Takamasa Horibe * reset to autowarefoundation:main --------- Signed-off-by: Takayuki Murooka Signed-off-by: Mamoru Sobue Signed-off-by: satoshi-ota Signed-off-by: Daniel Sanchez Signed-off-by: Takamasa Horibe Co-authored-by: Takayuki Murooka Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: Mamoru Sobue Co-authored-by: Mamoru Sobue Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Daniel Sanchez Co-authored-by: danielsanchezaran Co-authored-by: Takamasa Horibe --- .../obstacle_cruise_planner.param.yaml | 10 ++++++++++ 1 file changed, 10 insertions(+) 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 59388eccf9..b68395aefc 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 @@ -37,6 +37,7 @@ motorcycle: true bicycle: true pedestrian: true + pointcloud: false cruise_obstacle_type: inside: @@ -68,8 +69,17 @@ motorcycle: true bicycle: true pedestrian: true + pointcloud: false behavior_determination: + pointcloud_search_radius: 5.0 + pointcloud_voxel_grid_x: 0.05 + pointcloud_voxel_grid_y: 0.05 + pointcloud_voxel_grid_z: 100000.0 + pointcloud_cluster_tolerance: 1.0 + pointcloud_min_cluster_size: 1 + pointcloud_max_cluster_size: 100000 + decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking prediction_resampling_time_interval: 0.1 From 5803bf8da49d69710224abab2b97e4d55fcd70c4 Mon Sep 17 00:00:00 2001 From: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com> Date: Thu, 4 Jul 2024 14:00:59 +0900 Subject: [PATCH 15/15] refactor(tier4_control_launch): replace python launch with xml (#1047) migrate to control.launch.xml Signed-off-by: mitukou1109 --- .../launch/components/tier4_control_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 965006a50d..a66ed49405 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -10,7 +10,7 @@ - +