From e54844e3d5f0cf82da0888582e1200449eb7be63 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 4 Jul 2024 16:50:36 +0900 Subject: [PATCH 01/20] feat(goal_planner): prioritize pull over path by curvature (#1048) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 adbda50864..67708f3386 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 @@ -22,6 +22,7 @@ lateral_offset_interval: 0.5 ignore_distance_from_lane_start: 0.0 margin_from_boundary: 0.75 + high_curvature_threshold: 0.1 # occupancy grid map occupancy_grid: From 5d843c0fa7e47047fba63384562586f3671392da Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Thu, 4 Jul 2024 10:56:41 +0300 Subject: [PATCH 02/20] chore(deps): bump codecov/codecov-action from 3 to 4 (#1051) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * chore(deps): bump codecov/codecov-action from 3 to 4 Bumps [codecov/codecov-action](https://github.com/codecov/codecov-action) from 3 to 4. - [Release notes](https://github.com/codecov/codecov-action/releases) - [Changelog](https://github.com/codecov/codecov-action/blob/main/CHANGELOG.md) - [Commits](https://github.com/codecov/codecov-action/compare/v3...v4) --- updated-dependencies: - dependency-name: codecov/codecov-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] * add tokens too Signed-off-by: M. Fatih Cırıt --------- Signed-off-by: dependabot[bot] Signed-off-by: M. Fatih Cırıt Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt --- .github/workflows/build-and-test-differential.yaml | 3 ++- .github/workflows/build-and-test.yaml | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index f0624aa39b..befab7a724 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -48,12 +48,13 @@ jobs: - name: Upload coverage to CodeCov if: ${{ steps.test.outputs.coverage-report-files != '' }} - uses: codecov/codecov-action@v3 + uses: codecov/codecov-action@v4 with: files: ${{ steps.test.outputs.coverage-report-files }} fail_ci_if_error: false verbose: true flags: differential + token: ${{ secrets.CODECOV_TOKEN }} clang-tidy-differential: runs-on: ubuntu-latest diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index bcd9bf46c1..18f3aaa73c 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -50,9 +50,10 @@ jobs: - name: Upload coverage to CodeCov if: ${{ steps.test.outputs.coverage-report-files != '' }} - uses: codecov/codecov-action@v3 + uses: codecov/codecov-action@v4 with: files: ${{ steps.test.outputs.coverage-report-files }} fail_ci_if_error: false verbose: true flags: total + token: ${{ secrets.CODECOV_TOKEN }} From 3e19fdd201a1c34b55ab48eecc49c4dc28879d2d Mon Sep 17 00:00:00 2001 From: SaltUhey <111027815+SaltUhey@users.noreply.github.com> Date: Fri, 5 Jul 2024 17:26:19 +0900 Subject: [PATCH 03/20] feat(ndt_scan_matcher): add params (#1038) * add params (ndt_scan_matcher) Signed-off-by: yuhei * fix param Signed-off-by: yuhei * rviz Signed-off-by: yuhei * rviz Signed-off-by: yuhei * rviz Signed-off-by: yuhei * style(pre-commit): autofix * true2false Signed-off-by: yuhei * Add temperature to parameters in autoware_launch Signed-off-by: yuhei --------- Signed-off-by: yuhei Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../ndt_scan_matcher/ndt_scan_matcher.param.yaml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml index f62329b8bd..616cb108ba 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml @@ -107,13 +107,18 @@ # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) covariance_estimation: - enable: false + # Covariance estimation type + # 0=FIXED_VALUE, 1=LAPLACE_APPROXIMATION, 2=MULTI_NDT, 3=MULTI_NDT_SCORE + covariance_estimation_type: 0 # Offset arrangement in covariance estimation [m] # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] + # In MULTI_NDT_SCORE, the parameter that adjusts the estimated 2D covariance + temperature: 0.1 + dynamic_map_loading: # Dynamic map loading distance From 83a453903520d422ab234026f159d958b7458983 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Fri, 5 Jul 2024 13:23:51 +0300 Subject: [PATCH 04/20] ci(pre-commit-autoupdate): add new workflow (#1055) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .github/workflows/pre-commit-autoupdate.yaml | 37 ++++++++++++++++++++ 1 file changed, 37 insertions(+) create mode 100644 .github/workflows/pre-commit-autoupdate.yaml diff --git a/.github/workflows/pre-commit-autoupdate.yaml b/.github/workflows/pre-commit-autoupdate.yaml new file mode 100644 index 0000000000..23b403f2a5 --- /dev/null +++ b/.github/workflows/pre-commit-autoupdate.yaml @@ -0,0 +1,37 @@ +name: pre-commit-autoupdate + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + check-secret: + uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 + secrets: + secret: ${{ secrets.APP_ID }} + + pre-commit-autoupdate: + needs: check-secret + if: ${{ needs.check-secret.outputs.set == 'true' }} + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v2 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run pre-commit-autoupdate + uses: autowarefoundation/autoware-github-actions/pre-commit-autoupdate@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + pre-commit-config: .pre-commit-config.yaml + pr-labels: | + tag:bot + tag:pre-commit-autoupdate + pr-branch: pre-commit-autoupdate + pr-title: "ci(pre-commit): autoupdate" + pr-commit-message: "ci(pre-commit): autoupdate" + auto-merge-method: squash From 44253be3bcba8e780bb16a412517ad16574b47f5 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Fri, 5 Jul 2024 13:28:34 +0300 Subject: [PATCH 05/20] chore(deps): bump peter-evans/create-pull-request from 5 to 6 (#1053) Bumps [peter-evans/create-pull-request](https://github.com/peter-evans/create-pull-request) from 5 to 6. - [Release notes](https://github.com/peter-evans/create-pull-request/releases) - [Commits](https://github.com/peter-evans/create-pull-request/compare/v5...v6) --- updated-dependencies: - dependency-name: peter-evans/create-pull-request 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/update-sync-param-files.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/update-sync-param-files.yaml b/.github/workflows/update-sync-param-files.yaml index b557e2414e..e37afd383d 100644 --- a/.github/workflows/update-sync-param-files.yaml +++ b/.github/workflows/update-sync-param-files.yaml @@ -30,7 +30,7 @@ jobs: - name: Create PR id: create-pr - uses: peter-evans/create-pull-request@v5 + uses: peter-evans/create-pull-request@v6 with: token: ${{ steps.generate-token.outputs.token }} base: ${{ github.event.repository.default_branch }} From 33ba5b839e1a9cf023de7e805527cb59219d0431 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Fri, 5 Jul 2024 14:59:21 +0300 Subject: [PATCH 06/20] ci(pre-commit): autoupdate (#1056) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .pre-commit-config.yaml | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 4197506ed9..cb627ad738 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -4,7 +4,7 @@ ci: repos: - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.4.0 + rev: v4.6.0 hooks: - id: check-json - id: check-merge-conflict @@ -18,23 +18,23 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.34.0 + rev: v0.41.0 hooks: - id: markdownlint args: [-c, .markdownlint.yaml, --fix] - repo: https://github.com/pre-commit/mirrors-prettier - rev: v3.0.0-alpha.9-for-vscode + rev: v4.0.0-alpha.8 hooks: - id: prettier - repo: https://github.com/adrienverge/yamllint - rev: v1.32.0 + rev: v1.35.1 hooks: - id: yamllint - repo: https://github.com/tier4/pre-commit-hooks-ros - rev: v0.9.0 + rev: v0.10.0 hooks: - id: flake8-ros - id: prettier-xacro @@ -44,23 +44,23 @@ repos: - id: sort-package-xml - repo: https://github.com/shellcheck-py/shellcheck-py - rev: v0.9.0.5 + rev: v0.10.0.1 hooks: - id: shellcheck - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.6.0-2 + rev: v3.8.0-1 hooks: - id: shfmt args: [-w, -s, -i=4] - repo: https://github.com/pycqa/isort - rev: 5.12.0 + rev: 5.13.2 hooks: - id: isort - repo: https://github.com/psf/black - rev: 23.3.0 + rev: 24.4.2 hooks: - id: black args: [--line-length=100] From b13a645f6c78f5e125cacce21698e95e08ebe5aa Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Fri, 5 Jul 2024 12:09:23 +0000 Subject: [PATCH 07/20] chore: sync files (#347) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/PULL_REQUEST_TEMPLATE/small-change.md | 4 ++ .../PULL_REQUEST_TEMPLATE/standard-change.md | 13 ++++ .github/dependabot.yaml | 4 +- .github/stale.yml | 2 +- .../build-and-test-differential.yaml | 60 +++++++------------ .github/workflows/build-and-test.yaml | 9 ++- .../workflows/cancel-previous-workflows.yaml | 2 +- .github/workflows/pre-commit-optional.yaml | 3 + .github/workflows/pre-commit.yaml | 2 +- .github/workflows/sync-files.yaml | 6 +- .markdownlint.yaml | 1 + .pre-commit-config-optional.yaml | 2 +- 12 files changed, 61 insertions(+), 47 deletions(-) diff --git a/.github/PULL_REQUEST_TEMPLATE/small-change.md b/.github/PULL_REQUEST_TEMPLATE/small-change.md index 2ff933c43a..e15fdd992d 100644 --- a/.github/PULL_REQUEST_TEMPLATE/small-change.md +++ b/.github/PULL_REQUEST_TEMPLATE/small-change.md @@ -15,6 +15,10 @@ Not applicable. Not applicable. +## Interface changes + + + ## Pre-review checklist for the PR author The PR author **must** check the checkboxes below when creating the PR. diff --git a/.github/PULL_REQUEST_TEMPLATE/standard-change.md b/.github/PULL_REQUEST_TEMPLATE/standard-change.md index 7aedefd0a7..391af62975 100644 --- a/.github/PULL_REQUEST_TEMPLATE/standard-change.md +++ b/.github/PULL_REQUEST_TEMPLATE/standard-change.md @@ -18,6 +18,19 @@ +### ROS Topic Changes + + + + + + +### ROS Parameter Changes + + + + + ## Effects on system behavior diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml index 3f3bf243f6..0264c03535 100644 --- a/.github/dependabot.yaml +++ b/.github/dependabot.yaml @@ -6,5 +6,5 @@ updates: interval: daily open-pull-requests-limit: 1 labels: - - bot - - github-actions + - tag:bot + - type:github-actions diff --git a/.github/stale.yml b/.github/stale.yml index 84928d1b81..bc99e4383c 100644 --- a/.github/stale.yml +++ b/.github/stale.yml @@ -4,7 +4,7 @@ daysUntilClose: false # Label to use when marking as stale -staleLabel: stale +staleLabel: status:stale # Comment to post when marking as stale markComment: > diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index befab7a724..74242fead6 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -2,9 +2,21 @@ name: build-and-test-differential on: pull_request: + types: + - opened + - synchronize + - reopened + - labeled jobs: + make-sure-label-is-present: + uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1 + with: + label: tag:run-build-and-test-differential + build-and-test-differential: + needs: make-sure-label-is-present + if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }} runs-on: ubuntu-latest container: ${{ matrix.container }} strategy: @@ -17,10 +29,17 @@ jobs: container: ros:humble build-depends-repos: build_depends.repos steps: - - name: Check out repository + - name: Set PR fetch depth + run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" + + - name: Checkout PR branch and all PR commits uses: actions/checkout@v4 with: - fetch-depth: 0 + ref: ${{ github.event.pull_request.head.sha }} + fetch-depth: ${{ env.PR_FETCH_DEPTH }} + + - name: Show disk space before the tasks + run: df -h - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 @@ -54,39 +73,6 @@ jobs: fail_ci_if_error: false verbose: true flags: differential - token: ${{ secrets.CODECOV_TOKEN }} - - clang-tidy-differential: - runs-on: ubuntu-latest - container: ros:humble - needs: build-and-test-differential - steps: - - name: Check out repository - uses: actions/checkout@v4 - with: - fetch-depth: 0 - - name: Remove exec_depend - uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 - - - name: Get modified packages - id: get-modified-packages - uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 - - - name: Get modified files - id: get-modified-files - uses: tj-actions/changed-files@v35 - with: - files: | - **/*.cpp - **/*.hpp - - - name: Run clang-tidy - if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }} - uses: autowarefoundation/autoware-github-actions/clang-tidy@v1 - with: - rosdistro: humble - target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} - target-files: ${{ steps.get-modified-files.outputs.all_changed_files }} - clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy - build-depends-repos: build_depends.repos + - name: Show disk space after the tasks + run: df -h diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 18f3aaa73c..5a227b520f 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -23,6 +23,11 @@ jobs: steps: - name: Check out repository uses: actions/checkout@v4 + with: + fetch-depth: 1 + + - name: Show disk space before the tasks + run: df -h - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 @@ -56,4 +61,6 @@ jobs: fail_ci_if_error: false verbose: true flags: total - token: ${{ secrets.CODECOV_TOKEN }} + + - name: Show disk space after the tasks + run: df -h diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml index f9c29b81b6..44983f7dea 100644 --- a/.github/workflows/cancel-previous-workflows.yaml +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -8,7 +8,7 @@ jobs: runs-on: ubuntu-latest steps: - name: Cancel previous runs - uses: styfle/cancel-workflow-action@0.11.0 + uses: styfle/cancel-workflow-action@0.12.1 with: workflow_id: all all_but_latest: true diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml index 09e23b10d0..38738196a0 100644 --- a/.github/workflows/pre-commit-optional.yaml +++ b/.github/workflows/pre-commit-optional.yaml @@ -9,8 +9,11 @@ jobs: steps: - name: Check out repository uses: actions/checkout@v4 + with: + fetch-depth: 0 - name: Run pre-commit uses: autowarefoundation/autoware-github-actions/pre-commit@v1 with: pre-commit-config: .pre-commit-config-optional.yaml + base-branch: origin/${{ github.base_ref }} diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml index 33c00ee106..c724885fcb 100644 --- a/.github/workflows/pre-commit.yaml +++ b/.github/workflows/pre-commit.yaml @@ -10,7 +10,7 @@ jobs: steps: - name: Generate token id: generate-token - uses: tibdex/github-app-token@v1 + uses: tibdex/github-app-token@v2 with: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml index b9dc5907a5..51e523b803 100644 --- a/.github/workflows/sync-files.yaml +++ b/.github/workflows/sync-files.yaml @@ -18,7 +18,7 @@ jobs: steps: - name: Generate token id: generate-token - uses: tibdex/github-app-token@v1 + uses: tibdex/github-app-token@v2 with: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} @@ -28,6 +28,6 @@ jobs: with: token: ${{ steps.generate-token.outputs.token }} pr-labels: | - bot - sync-files + tag:bot + tag:sync-files auto-merge-method: squash diff --git a/.markdownlint.yaml b/.markdownlint.yaml index babaaa1f15..7b7359fe0c 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -7,5 +7,6 @@ MD029: style: ordered MD033: false MD041: false +MD045: false MD046: false MD049: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index eb008730c1..8c9345e15f 100644 --- a/.pre-commit-config-optional.yaml +++ b/.pre-commit-config-optional.yaml @@ -1,6 +1,6 @@ repos: - repo: https://github.com/tcort/markdown-link-check - rev: v3.11.1 + rev: v3.12.2 hooks: - id: markdown-link-check args: [--quiet, --config=.markdown-link-check.json] From b4f42ba804bcad867552a8c72b03a376846dcc3a Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Fri, 5 Jul 2024 15:17:08 +0300 Subject: [PATCH 08/20] chore(deps): bump tibdex/github-app-token from 1 to 2 (#1057) Bumps [tibdex/github-app-token](https://github.com/tibdex/github-app-token) from 1 to 2. - [Release notes](https://github.com/tibdex/github-app-token/releases) - [Commits](https://github.com/tibdex/github-app-token/compare/v1...v2) --- updated-dependencies: - dependency-name: tibdex/github-app-token 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/update-codeowners-from-packages.yaml | 2 +- .github/workflows/update-sync-param-files.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/update-codeowners-from-packages.yaml b/.github/workflows/update-codeowners-from-packages.yaml index 7898dfe091..8b3d2407fb 100644 --- a/.github/workflows/update-codeowners-from-packages.yaml +++ b/.github/workflows/update-codeowners-from-packages.yaml @@ -18,7 +18,7 @@ jobs: steps: - name: Generate token id: generate-token - uses: tibdex/github-app-token@v1 + uses: tibdex/github-app-token@v2 with: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} diff --git a/.github/workflows/update-sync-param-files.yaml b/.github/workflows/update-sync-param-files.yaml index e37afd383d..572d0ece2e 100644 --- a/.github/workflows/update-sync-param-files.yaml +++ b/.github/workflows/update-sync-param-files.yaml @@ -11,7 +11,7 @@ jobs: steps: - name: Generate token id: generate-token - uses: tibdex/github-app-token@v1 + uses: tibdex/github-app-token@v2 with: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} From 457bf8dc89d4ffd5c98e36a4799cae8b5fb65b3f Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Tue, 9 Jul 2024 18:46:01 +0900 Subject: [PATCH 09/20] feat(autonomous_emergency_braking): add param for oublishing debug markers (#1063) add param for oublishing debug markers Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 bf9249e91a..49ed6ee171 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 @@ -14,6 +14,7 @@ # Debug publish_debug_pointcloud: false + publish_debug_markers: true # Point cloud partitioning detection_range_min_height: 0.0 From 2a965cda5ef68f978c96bc40de9744dbfcc4890e Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 9 Jul 2024 22:42:58 +0900 Subject: [PATCH 10/20] feat(map_loader, route_handler)!: add format_version validation (#993) feat(map_loader): add format_version validation Signed-off-by: Mamoru Sobue --- autoware_launch/config/map/lanelet2_map_loader.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/map/lanelet2_map_loader.param.yaml b/autoware_launch/config/map/lanelet2_map_loader.param.yaml index 48152605ec..48d392a1b8 100755 --- a/autoware_launch/config/map/lanelet2_map_loader.param.yaml +++ b/autoware_launch/config/map/lanelet2_map_loader.param.yaml @@ -1,5 +1,6 @@ /**: ros__parameters: + allow_unsupported_version: true # flag to load unsupported format_version anyway. If true, just prints warning. center_line_resolution: 5.0 # [m] use_waypoints: true # "centerline" in the Lanelet2 map will be used as a "waypoints" tag. lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path From d501de201f1482b396f530eb590f131e2b049022 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 10 Jul 2024 19:18:27 +0900 Subject: [PATCH 11/20] feat(static_obstacle_avoidance): add new option to change policy (#1065) Signed-off-by: satoshi-ota --- .../static_obstacle_avoidance.param.yaml | 10 ++++++++-- 1 file changed, 8 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 cd5e2cb326..890ddaeb70 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 @@ -138,8 +138,11 @@ # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. avoidance_for_ambiguous_vehicle: - enable: true # [-] - closest_distance_to_wait_and_see: 10.0 # [m] + # policy for ego behavior for ambiguous vehicle. + # "auto" : generate candidate path. if RTC is running as AUTO mode, the ego avoids it automatically. + # "manual" : generate candidate path and wait operator approval even if RTC is running as AUTO mode. + # "ignore" : never avoid it. + policy: "auto" # [-] condition: th_stopped_time: 3.0 # [s] th_moving_distance: 1.0 # [m] @@ -149,6 +152,9 @@ crosswalk: front_distance: 30.0 # [m] behind_distance: 30.0 # [m] + wait_and_see: + target_behaviors: ["MERGING", "DEVIATING"] # [-] + th_closest_distance: 10.0 # [m] # params for filtering objects that are in intersection intersection: From ae017a1b3e96babc003e6309951ab0084e8d674a Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Wed, 10 Jul 2024 23:18:00 +0900 Subject: [PATCH 12/20] feat(tier4_perception_component): refactored launch options (#1060) * chore: refactored launch options Signed-off-by: Shunsuke Miura * modify launcher Signed-off-by: Shunsuke Miura * fix args Signed-off-by: Shunsuke Miura --------- Signed-off-by: Shunsuke Miura Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --- .../tier4_perception_component.launch.xml | 59 ++++++++++++------- 1 file changed, 38 insertions(+), 21 deletions(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index e13b987607..823b0084b6 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -1,31 +1,53 @@ - + + + + + + + + + + + + + + - + + + - + + + + + + + + + + + + - - + + + + + + - + - + - - - - - - + From 59f34f098e7b987752f7f215ce8f3d9b4942a8d6 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 11 Jul 2024 10:11:35 +0900 Subject: [PATCH 13/20] chore(git): add ignore file (#1069) Signed-off-by: satoshi-ota --- .gitignore | 2 ++ 1 file changed, 2 insertions(+) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000..abab7a83bb --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +#prettier +node_modules/ From a6bf89e1b6a116490c76513dac3a4852bbe2c663 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 11 Jul 2024 14:26:38 +0900 Subject: [PATCH 14/20] chore: update code owners for tier4_system_component.launch.xml (#1071) * chore: update codeowners Signed-off-by: tomoya.kimura * fix format Signed-off-by: tomoya.kimura --------- Signed-off-by: tomoya.kimura --- .github/CODEOWNERS | 2 +- .github/CODEOWNERS-manual | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index b9d67e0b94..850bf04df9 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -21,6 +21,6 @@ autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp autoware_launch/launch/components/tier4_simulator_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp -autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp +autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp autoware_launch/rviz/** # no codeowners autoware_launch/rviz/image/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp diff --git a/.github/CODEOWNERS-manual b/.github/CODEOWNERS-manual index cd10e1fbc4..382818e897 100644 --- a/.github/CODEOWNERS-manual +++ b/.github/CODEOWNERS-manual @@ -17,6 +17,6 @@ autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp autoware_launch/launch/components/tier4_simulator_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp -autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp +autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp autoware_launch/rviz/** # no codeowners autoware_launch/rviz/image/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp From 46ccbf870ae447a23a7c68c8d4cb91291116d6cb Mon Sep 17 00:00:00 2001 From: Dmitrii Koldaev <39071246+dkoldaev@users.noreply.github.com> Date: Thu, 11 Jul 2024 14:36:29 +0900 Subject: [PATCH 15/20] feat(duplicated_node_checker): add duplicate nodes to ignore (#1070) * feat(duplicated_node_checker): add duplicate nodes to ignore Signed-off-by: Dmitrii Koldaev * pre-commit Signed-off-by: Dmitrii Koldaev --------- Signed-off-by: Dmitrii Koldaev Co-authored-by: Dmitrii Koldaev Co-authored-by: Tomoya Kimura --- .../duplicated_node_checker/duplicated_node_checker.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml index 96dce7eb36..412c59e66e 100644 --- a/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml +++ b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml @@ -2,3 +2,5 @@ ros__parameters: update_rate: 10.0 add_duplicated_node_names_to_msg: true # if true, duplicated node names are added to msg + nodes_to_ignore: # List of nodes to ignore when checking for duplicates + - /rviz2 From c20e08c2ca2cb3edfd3350b2ad52b09bbf310a2e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 12 Jul 2024 13:36:11 +0900 Subject: [PATCH 16/20] feat: add config for processing_time_checker (#1072) Signed-off-by: Takayuki Murooka --- .../processing_time_checker.param.yaml | 37 +++++++++++++++++++ .../tier4_system_component.launch.xml | 1 + 2 files changed, 38 insertions(+) create mode 100644 autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml diff --git a/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml b/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml new file mode 100644 index 0000000000..84e7d79079 --- /dev/null +++ b/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml @@ -0,0 +1,37 @@ +/**: + ros__parameters: + update_rate: 10.0 + processing_time_topic_name_list: + - /control/trajectory_follower/controller_node_exe/lateral/debug/processing_time_ms + - /control/trajectory_follower/controller_node_exe/longitudinal/debug/processing_time_ms + - /control/trajectory_follower/lane_departure_checker_node/debug/processing_time_ms + - /perception/object_recognition/prediction/map_based_prediction/debug/processing_time_ms + - /perception/object_recognition/tracking/multi_object_tracker/debug/processing_time_ms + - /planning/planning_validator/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_by_lane_change/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/static_obstacle_avoidance/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/total_time/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/merge_from_private/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/walkway/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/dynamic_obstacle_stop/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/obstacle_velocity_limiter/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/out_of_lane/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/path_optimizer/debug/processing_time_ms + - /planning/scenario_planning/velocity_smoother/debug/processing_time_ms + - /simulation/shape_estimation/debug/processing_time_ms diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index f9adf230c5..18042ddd65 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -13,6 +13,7 @@ + From 0b41cfadc541571189bdc5662eeeecfc75102bba Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Tue, 16 Jul 2024 11:38:29 +0900 Subject: [PATCH 17/20] feat(autoware_behavior_path_planner): remove max_iteration_num parameter (#1064) Update the behavior_path_planner.param.yaml file to remove the max_iteration_num parameter Signed-off-by: kyoichi-sugahara --- .../behavior_path_planner/behavior_path_planner.param.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index cb1c2b9e30..b8a772f0b5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -1,7 +1,5 @@ /**: ros__parameters: - max_iteration_num: 100 - traffic_light_signal_timeout: 1.0 planning_hz: 10.0 From 8f562ede6d50a415153d21dae480cfb4120ec81f Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 16 Jul 2024 14:09:26 +0900 Subject: [PATCH 18/20] fix(static_obstacle_avoidance): check stopped time in freespace (#1074) Signed-off-by: satoshi-ota --- .../static_obstacle_avoidance.param.yaml | 4 ++++ 1 file changed, 4 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 890ddaeb70..4776884734 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 @@ -160,6 +160,10 @@ intersection: yaw_deviation: 0.349 # [rad] (default 20.0deg) + freespace: + condition: + th_stopped_time: 5.0 # [-] + # For safety check safety_check: # safety check target type From 2602ebdfcf20db13e124e7d9b2bf7ea486bbf95b Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 17 Jul 2024 17:00:28 +0900 Subject: [PATCH 19/20] fix(obstacle_cruise_planner): guarantee the stop margin (#1076) Signed-off-by: satoshi-ota --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 b68395aefc..695a3b2365 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 @@ -26,7 +26,7 @@ enable_approaching: false additional_safe_distance_margin: 3.0 # [m] min_safe_distance_margin: 3.0 # [m] - suppress_sudden_obstacle_stop: true + suppress_sudden_obstacle_stop: false stop_obstacle_type: unknown: true From 29686a619d3b3ceb1f2450d07d8189dac15240a7 Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Wed, 17 Jul 2024 17:13:23 +0900 Subject: [PATCH 20/20] chore: add ml detectors' buffer size (#1067) Signed-off-by: Kenzo Lobos-Tsunekawa --- .../detection/lidar_model/centerpoint.param.yaml | 1 + .../detection/lidar_model/centerpoint_sigma.param.yaml | 1 + .../detection/lidar_model/centerpoint_tiny.param.yaml | 1 + .../detection/lidar_model/pointpainting.param.yaml | 1 + 4 files changed, 4 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml index 0777ddb92b..bd5fc5f356 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml @@ -7,6 +7,7 @@ head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" trt_precision: fp16 + cloud_capacity: 2000000 post_process_params: # post-process params circle_nms_dist_threshold: 0.5 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml index c217f63213..5c3d8645de 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml @@ -17,6 +17,7 @@ has_variance: true has_twist: true trt_precision: fp16 + cloud_capacity: 2000000 densification_num_past_frames: 1 densification_world_frame_id: map diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml index 0777ddb92b..bd5fc5f356 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml @@ -7,6 +7,7 @@ head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" trt_precision: fp16 + cloud_capacity: 2000000 post_process_params: # post-process params circle_nms_dist_threshold: 0.5 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml index de46b6dd74..90a71a5bd1 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml @@ -5,6 +5,7 @@ head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" trt_precision: fp16 + cloud_capacity: 2000000 post_process_params: # post-process params circle_nms_dist_threshold: 0.3