From eff79faabd20f3ee54d9c5f644d038bdc2aeed92 Mon Sep 17 00:00:00 2001 From: Yuxuan Liu <619684051@qq.com> Date: Tue, 25 Jun 2024 16:32:41 +0900 Subject: [PATCH] fix autoware launch (#885) Signed-off-by: Yuxuan Liu Co-authored-by: Yuxuan Liu --- .../config/planning/preset/xx1_preset.yaml | 27 +++++++++++-------- .../scene_module_manager_foa.param.yaml | 4 +-- .../system_error_monitor.awsim.param.yaml | 2 +- .../system_error_monitor.param.yaml | 2 +- ...ror_monitor.planning_simulation.param.yaml | 2 +- 5 files changed, 21 insertions(+), 16 deletions(-) diff --git a/autoware_launch/config/planning/preset/xx1_preset.yaml b/autoware_launch/config/planning/preset/xx1_preset.yaml index 6b524d2748..a91c26af6e 100644 --- a/autoware_launch/config/planning/preset/xx1_preset.yaml +++ b/autoware_launch/config/planning/preset/xx1_preset.yaml @@ -1,13 +1,13 @@ launch: # behavior path modules - arg: - name: launch_avoidance_module + name: launch_static_obstacle_avoidance default: "true" - arg: name: launch_avoidance_by_lane_change_module default: "false" - arg: - name: launch_dynamic_avoidance_module + name: launch_dynamic_obstacle_avoidance default: "true" - arg: name: launch_sampling_planner_module @@ -77,15 +77,9 @@ launch: - arg: name: launch_speed_bump_module default: "false" - - arg: - name: launch_out_of_lane_module - default: "true" - arg: name: launch_no_drivable_lane_module default: "false" - - arg: - name: launch_dynamic_obstacle_stop_module - default: "true" # motion planning modules - arg: @@ -96,11 +90,22 @@ launch: - arg: name: motion_path_planner_type - default: obstacle_avoidance_planner - # option: obstacle_avoidance_planner + default: path_optimizer + # option: path_optimizer # path_sampler # none + # motion velocity planner modules + - arg: + name: launch_dynamic_obstacle_stop_module + default: "true" + - arg: + name: launch_out_of_lane_module + default: "true" + - arg: + name: launch_obstacle_velocity_limiter_module + default: "true" + - arg: name: motion_stop_planner_type default: obstacle_cruise_planner @@ -109,7 +114,7 @@ launch: # none - arg: - name: motion_velocity_smoother_type + name: velocity_smoother_type default: JerkFiltered # option: JerkFiltered # L2 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml index d47a0e9939..de5c9f6201 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml @@ -59,7 +59,7 @@ priority: 1 max_module_size: 1 - avoidance: + static_obstacle_avoidance: enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false @@ -75,7 +75,7 @@ priority: 3 max_module_size: 1 - dynamic_avoidance: + dynamic_obstacle_avoidance: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true 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 9ff7c1b5fa..7b88c143ca 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 @@ -21,7 +21,7 @@ # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp # /autoware/control/autonomous_driving/performance_monitoring/control_validator: default /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default - /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"} + /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"} /autoware/control/control_command_gate/node_alive_monitoring: default # /autoware/control/external_control/local_external_control/device_connection: 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 a7b174bafa..222b1b4ac6 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 @@ -21,7 +21,7 @@ /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # /autoware/control/autonomous_driving/performance_monitoring/control_validator: default /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default - /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"} + /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"} /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/control/external_control/local_external_control/device_connection: 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 09ccca88cb..4ac731469f 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 @@ -21,7 +21,7 @@ /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # /autoware/control/autonomous_driving/performance_monitoring/control_validator: default /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default - /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"} + /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"} /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/localization/node_alive_monitoring: default