From f67c682214bc77dd905bcdcbb618c50ea80b1f85 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Wed, 27 Sep 2023 17:29:42 +0900 Subject: [PATCH] Add sampling based planner params Signed-off-by: Daniel Sanchez --- .../sampling_planner.param.yaml | 39 +++++++++++++++++++ .../scene_module_manager.param.yaml | 9 +++++ .../tier4_planning_component.launch.xml | 1 + 3 files changed, 49 insertions(+) create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml new file mode 100644 index 0000000000..d22ce0e6b4 --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml @@ -0,0 +1,39 @@ +/**: + ros__parameters: + common: + output_delta_arc_length: 0.5 # [m] delta arc length for output trajectory + + debug: + enable_calculation_time_info: false # flag to print calculation times + id: 0 # id of the candidate paths for which to print/show details (e.g., footprint in rviz) + + preprocessing: + force_zero_initial_deviation: True # if true, initial planning starts from the reference path + force_zero_initial_heading: True # if true, initial planning starts with a heading aligned with the reference path + smooth_reference_trajectory: False # if true, the reference trajectory is smoothed before being used for planning + constraints: + hard: + max_curvature: 0.1 # [m⁻¹] maximum curvature of a sampled path + min_curvature: -0.1 # [m⁻¹] minimum curvature of a sampled path + soft: + lateral_deviation_weight: 1.0 # cost weight for lateral deviation between the end of a sampled path and the reference path + length_weight: 1.0 # cost weight for the length of a sampled path + curvature_weight: 1.0 # cost weight for the curvature of a sampled path + sampling: + enable_frenet: True + enable_bezier: True + resolution: 0.5 # [m] target distance between sampled path points + previous_path_reuse_points_nb: 2 # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc) + target_lengths: [10.0, 20.0] # [m] target lengths of the sampled paths + nb_target_lateral_positions: 2 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) + target_lateral_positions: [-0.5, 0.0, 0.5] # manual values that are only used if nb_target_lateral_positions = 0 + frenet: # target values for the sampled "lateral deviation over longitudinal position" polynomial + target_lateral_velocities: [-0.1, 0.0, 0.1] + target_lateral_accelerations: [0.0] + bezier: + nb_k: 3 # number of sampled curvature values + mk_min: 0.0 # minimum curvature value + mk_max: 10.0 # maximum curvature value + nb_t: 5 # number of sampled acceleration values + mt_min: 0.3 # minimum acceleration value + mt_max: 1.7 # maximum acceleration value 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 ff4b486ef9..232f038f31 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 @@ -92,3 +92,12 @@ keep_last: true priority: 7 max_module_size: 1 + + sampling_planner: + enable_module: true + enable_rtc: false + enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_candidate_module: false + keep_last: true + priority: 16 + max_module_size: 1 diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index ad55c76d82..a722fc95e0 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -36,6 +36,7 @@ +