Merge pull request #332 from tier4/sync-awf-latest

chore: sync awf-latest
tier4 · Mar 4, 2024 · a3581f9 · a3581f9
2 parents 5d80170 + c03bd4b
commit a3581f9
Show file tree

Hide file tree

Showing 2 changed files with 12 additions and 7 deletions.
diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -8,6 +8,15 @@
       collision_check_margins: [2.0, 1.0, 0.5, 0.1]
       collision_check_margin_from_front_object: 5.0
       th_moving_object_velocity: 1.0
+      object_types_to_check_for_path_generation:
+        check_car: true
+        check_truck: true
+        check_bus: true
+        check_trailer: true
+        check_bicycle: true
+        check_motorcycle: true
+        check_pedestrian: true
+        check_unknown: true
       th_distance_to_middle_of_the_road: 0.5
       center_line_path_interval: 1.0
       # shift pull out

diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -3,20 +3,16 @@
   <let name="loc_config_path" value="$(find-pkg-share autoware_launch)/config/localization"/>
   <arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
   <arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
-  <arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud" description="The topic will be used in the localization util module"/>
-  <arg
-    name="lidar_container_name"
-    default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
-    description="The target container to which lidar preprocessing nodes in localization be attached"
-  />
+  <arg name="input_pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the localization util module"/>
+  <arg name="localization_pointcloud_container_name" default="/pointcloud_container" description="The target container to which pointcloud preprocessing nodes in localization be attached"/>
 
   <group>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
       <arg name="pose_source" value="$(var pose_source)"/>
       <arg name="twist_source" value="$(var twist_source)"/>
       <arg name="system_run_mode" value="$(var system_run_mode)"/>
       <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
-      <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
+      <arg name="localization_pointcloud_container_name" value="$(var localization_pointcloud_container_name)"/>
 
       <!-- parameter paths for common -->
       <arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>