Merge pull request #591 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.34 with tier4/main

autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

@@ -60,6 +60,10 @@
     emergency_acc: -5.0 # denotes acceleration
     emergency_jerk: -3.0
 
+    # acceleration feedback
+    lpf_acc_error_gain: 0.98
+    acc_feedback_gain: 0.0
+
     # acceleration limit
     max_acc: 3.0
     min_acc: -5.0

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -30,8 +30,8 @@
     simple_1d_filter_parameters:
       #Simple1DFilter parameters
       z_filter_proc_dev: 1.0
-      roll_filter_proc_dev: 0.01
-      pitch_filter_proc_dev: 0.01
+      roll_filter_proc_dev: 0.1
+      pitch_filter_proc_dev: 0.1
 
     diagnostics:
       # for diagnostics

autoware_launch/config/localization/lidar_marker_localizer/lidar_marker_localizer.param.yaml

@@ -0,0 +1,42 @@
+/**:
+  ros__parameters:
+
+    # marker name
+    marker_name: "reflector"
+
+    # for marker detection algorithm
+    resolution: 0.05
+    # A sequence of high/low intensity to perform pattern matching.
+    # 1: high intensity (positive match), 0: not consider, -1: low intensity (negative match)
+    intensity_pattern: [-1, -1, 0, 1, 1, 1, 1, 1, 0, -1, -1]
+    match_intensity_difference_threshold: 20
+    positive_match_num_threshold: 3
+    negative_match_num_threshold: 3
+    vote_threshold_for_detect_marker: 20
+    marker_height_from_ground: 1.075
+
+    # for interpolate algorithm
+    self_pose_timeout_sec: 1.0
+    self_pose_distance_tolerance_m: 1.0
+
+    # for validation
+    limit_distance_from_self_pose_to_nearest_marker: 2.0
+    limit_distance_from_self_pose_to_marker: 2.0
+
+    # base_covariance
+    # [TBD] This value is dynamically scaled according to the distance at which markers are detected.
+    base_covariance: [0.04, 0.0,  0.0,  0.0,        0.0,        0.0,
+                      0.0,  0.04, 0.0,  0.0,        0.0,        0.0,
+                      0.0,  0.0,  0.01, 0.0,        0.0,        0.0,
+                      0.0,  0.0,  0.0,  0.00007569, 0.0,        0.0,
+                      0.0,  0.0,  0.0,  0.0,        0.00007569, 0.0,
+                      0.0,  0.0,  0.0,  0.0,        0.0,        0.00030625]
+
+    # for visualize the detected marker pointcloud
+    marker_width: 0.8
+
+    # for save log
+    enable_save_log: false
+    save_file_directory_path: detected_reflector_intensity
+    save_file_name: detected_reflector_intensity
+    save_frame_id: velodyne_top

autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    input_frame: "base_link"
+    output_frame: "base_link"
+    min_x: -10.0
+    max_x: 10.0
+    min_y: 0.0
+    max_y: 7.5
+    min_z: -5.0
+    max_z: 5.0
+    negative: False

autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml

@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    input_frame: "base_link"
+    output_frame: "base_link"
+    filter_field_name: "channel"
+    filter_limit_min: 5
+    filter_limit_max: 45
+    filter_limit_negative: False
+    keep_organized: False

autoware_launch/config/localization/stop_filter.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    vx_threshold: 0.1  # [m/s]
+    wz_threshold: 0.02  # [rad/s]

autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml

@@ -0,0 +1,21 @@
+/**:
+  ros__parameters:
+    filter_target_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false
+
+    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]

autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_position_filter.param.yaml

@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    filter_target_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false
+
+    upper_bound_x: 100.0
+    lower_bound_x: 0.0
+    upper_bound_y: 10.0
+    lower_bound_y: -10.0

autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml

@@ -2,14 +2,15 @@
   ros__parameters:
     min_points_num:
     #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
-      [10,     10,  10,    10,         10,10,    10,         10]
+      [10,     10,  10,    10,     10,     10,      10,         10]
 
     max_points_num:
     #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
-      [10,     10,  10,    10,         10,10,    10,         10]
+      [10,     10,  10,    10,     10,     10,      10,         10]
 
     min_points_and_distance_ratio:
-    #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
-      [800.0,     880.0,     800.0,    800.0,         800.0, 800.0,    800.0,         800.0]
+    #UNKNOWN,  CAR,    TRUCK,     BUS,    TRAILER, MOTORBIKE, BICYCLE,      PEDESTRIAN
+      [800.0,  800.0,  800.0,    800.0,   800.0,      800.0,    800.0,         800.0]
 
     using_2d_validator: true
+    enable_debugger: false

autoware_launch/config/perception/object_recognition/detection/detected_object_validation/occupancy_grid_based_validator.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    mean_threshold: 0.6
+    enable_debug: false

autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml

@@ -0,0 +1,17 @@
+/**:
+  ros__parameters:
+    # network
+    trt_precision: fp16
+    cloud_capacity: 2000000
+    onnx_path: "$(var model_path)/transfusion.onnx"
+    engine_path: "$(var model_path)/transfusion.engine"
+    # pre-process params
+    densification_num_past_frames: 1
+    densification_world_frame_id: map
+    # post-process params
+    circle_nms_dist_threshold: 0.5
+    iou_nms_target_class_names: ["CAR"]
+    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]  # refers to the class_names
+    score_threshold: 0.1

autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml

@@ -7,7 +7,7 @@
       unknown: 10.0 #[s]
     lateral_control_time_horizon: 5.0 #[s]
     prediction_sampling_delta_time: 0.5 #[s]
-    min_velocity_for_map_based_prediction: 1.39 #[m/s]
+    min_velocity_for_map_based_prediction: 1.0 #[m/s]
     min_crosswalk_user_velocity: 1.39 #[m/s]
     max_crosswalk_user_delta_yaw_threshold_for_lanelet: 0.785 #[m/s]
     dist_threshold_for_searching_lanelet: 3.0 #[m]

autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml

@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    radius_search_2d_filter.search_radius:  1.0
+    radius_search_2d_filter.min_points_and_distance_ratio: 400.0
+    radius_search_2d_filter.min_points: 4
+    radius_search_2d_filter.max_points: 70
+    radius_search_2d_filter.max_filter_points_nb: 15000
+    map_frame: "map"
+    base_link_frame: "base_link"
+    cost_threshold: 45
+    use_radius_search_2d_filter: true
+    enable_debugger: false

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

@@ -23,44 +23,44 @@
           th_moving_time: 2.0                           # [s]
           longitudinal_margin: 0.0                      # [m]
           lateral_margin:
-            soft_margin: 0.3                            # [m]
+            soft_margin: 0.7                            # [m]
             hard_margin: 0.2                            # [m]
             hard_margin_for_parked_vehicle: 0.7         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
-          envelope_buffer_margin: 0.5                   # [m] FOR DEVELOPER
+          envelope_buffer_margin: 0.1                   # [m] FOR DEVELOPER
           th_error_eclipse_long_radius : 0.6            # [m]
         truck:
           th_moving_speed: 1.0
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.3
+            soft_margin: 0.7
             hard_margin: 0.2
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.5
+          envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
         bus:
           th_moving_speed: 1.0
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.3
+            soft_margin: 0.7
             hard_margin: 0.2
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.5
+          envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
         trailer:
           th_moving_speed: 1.0
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.3
+            soft_margin: 0.7
             hard_margin: 0.2
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.5
+          envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
         unknown:
           th_moving_speed: 0.28
@@ -232,7 +232,7 @@
         # avoidance distance parameters
         longitudinal:
           min_prepare_time: 1.0                         # [s]
-          max_prepare_time: 2.0                         # [s]
+          max_prepare_time: 3.0                         # [s]
           min_prepare_distance: 1.0                     # [m]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s] FOR DEVELOPER

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml

@@ -1,34 +1,24 @@
 /**:
   ros__parameters:
     out_of_lane:  # module to stop or slowdown before overlapping another lane with other objects
-      mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc"
+      mode: ttc # mode used to consider a conflict with an object. "threshold", or "ttc"
       skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane
       ignore_overlaps_over_lane_changeable_lanelets: true  # if true, overlaps on lane changeable lanelets are ignored
+      max_arc_length: 100.0  # [m] maximum trajectory arc length that is checked for out_of_lane collisions
 
       threshold:
         time_threshold: 5.0  # [s] consider objects that will reach an overlap within this time
-      intervals:  # consider objects if their estimated time interval spent on the overlap intersect the estimated time interval of ego
-        ego_time_buffer: 0.5 # [s] extend the ego time interval by this buffer
-        objects_time_buffer: 0.5 # [s] extend the time intervals of objects by this buffer
       ttc:
-        threshold: 3.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap
+        threshold: 1.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap
 
       objects:
         minimum_velocity: 0.5  # [m/s] objects lower than this velocity will be ignored
-        use_predicted_paths: true  # if true, use the predicted paths to estimate future positions.
-                                   # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
         predicted_path_min_confidence : 0.1  # when using predicted paths, ignore the ones whose confidence is lower than this value.
-        distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane
         cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights
         ignore_behind_ego: false # if true, objects behind the ego vehicle are ignored
 
-      overlap:
-        minimum_distance: 0.0  # [m] minimum distance inside a lanelet for an overlap to be considered
-        extra_length: 0.0  # [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times)
-
-      action:  # action to insert in the path if an object causes a conflict at an overlap
-        skip_if_over_max_decel: true  # if true, do not take an action that would cause more deceleration than the maximum allowed
-        precision: 0.1  # [m] precision when inserting a stop pose in the path
+      action:  # action to insert in the trajectory if an object causes a conflict at an overlap
+        precision: 0.1  # [m] precision when inserting a stop pose in the trajectory
         longitudinal_distance_buffer: 1.5  # [m] safety distance buffer to keep in front of the ego vehicle
         lateral_distance_buffer: 1.0  # [m] safety distance buffer to keep on the side of the ego vehicle
         min_duration: 1.0  # [s] minimum duration needed before a decision can be canceled
@@ -39,8 +29,8 @@
           distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap
 
       ego:
-        min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego
-        extra_front_offset: 0.0 # [m] extra front distance
-        extra_rear_offset: 0.0 # [m] extra rear distance
-        extra_right_offset: 0.0 # [m] extra right distance
-        extra_left_offset: 0.0 # [m] extra left distance
+        # extra footprint offsets to calculate out of lane collisions
+        extra_front_offset: 0.0 # [m] extra footprint front distance
+        extra_rear_offset: 0.0 # [m] extra footprint rear distance
+        extra_right_offset: 0.0 # [m] extra footprint right distance
+        extra_left_offset: 0.0 # [m] extra footprint left distance

autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml

@@ -26,3 +26,8 @@
       max_d: 0.0
       min_d: 0.0
       invalid_integration_decay: 0.97
+    convert_steer_cmd_method: "vgr"  # "vgr" or "steer_map"
+    vgr_coef_a: 15.713
+    vgr_coef_b: 0.053
+    vgr_coef_c: 0.042
+    convert_actuation_to_steering_status: false

autoware_launch/launch/components/tier4_localization_component.launch.xml

@@ -19,6 +19,7 @@
       <!-- parameter paths for common -->
       <arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>
       <arg name="ekf_localizer_param_path" value="$(var loc_config_path)/ekf_localizer.param.yaml"/>
+      <arg name="stop_filter_param_path" value="$(var loc_config_path)/stop_filter.param.yaml"/>
       <arg name="pose_initializer_param_path" value="$(var loc_config_path)/pose_initializer.param.yaml"/>
       <arg name="twist2accel_param_path" value="$(var loc_config_path)/twist2accel.param.yaml"/>
 
@@ -51,6 +52,14 @@
       <!-- parameter paths for eagleye -->
       <arg name="eagleye_param_path" value="$(find-pkg-share autoware_launch)/config/localization/eagleye_config.param.yaml"/>
 
+      <!-- parameter paths for lidar_marker_localizer -->
+      <arg name="lidar_marker_localizer/lidar_marker_localizer_param_path" value="$(var loc_config_path)/lidar_marker_localizer/lidar_marker_localizer.param.yaml"/>
+      <arg
+        name="lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path"
+        value="$(var loc_config_path)/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml"
+      />
+      <arg name="lidar_marker_localizer/pointcloud_preprocessor/ring_filter_param_path" value="$(var loc_config_path)/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml"/>
+
       <!-- parameter path for ar_tag_based_localizer -->
       <arg name="ar_tag_based_localizer_param_path" value="$(var loc_config_path)/ar_tag_based_localizer.param.yaml"/>
     </include>

autoware_launch/launch/e2e_simulator.launch.xml

@@ -37,6 +37,8 @@
     default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
     description="system error monitor param path"
   />
+  <!-- Sensing -->
+  <arg name="launch_sensing_driver" default="false"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -74,7 +76,7 @@
       <arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
       <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml"/>
       <!-- Sensing -->
-      <arg name="launch_sensing_driver" value="false"/>
+      <arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
       <!-- Perception-->
       <arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
       <arg name="namespace1" value="$(var traffic_light_namespace)"/>