Merge pull request #622 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.36 with tier4/main
tier4 · Oct 10, 2024 · fdec55d · fdec55d
2 parents b2c38f6 + c8a5b56
commit fdec55d
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Showing 6 changed files with 23 additions and 50 deletions.
diff --git a/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -7,7 +7,8 @@
     use_predicted_object_data: false
     use_object_velocity_calculation: true
     check_autoware_state: true
-    min_generated_path_length: 0.5
+    min_generated_imu_path_length: 0.5
+    max_generated_imu_path_length: 10.0
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1
     mpc_prediction_time_horizon: 4.5
@@ -27,6 +28,7 @@
     # Point cloud cropping
     expand_width: 0.1
     path_footprint_extra_margin: 4.0
+    speed_calculation_expansion_margin: 0.5
 
     # Point cloud clustering
     cluster_tolerance: 0.15 #[m]

diff --git a/autoware_launch/config/localization/pose_initializer.param.yaml b/autoware_launch/config/localization/pose_initializer.param.yaml
@@ -6,6 +6,8 @@
 
     gnss_pose_timeout: 3.0 # [sec]
     stop_check_duration: 3.0 # [sec]
+    pose_error_threshold: 5.0 # [m]
+    pose_error_check_enabled: false
     ekf_enabled: $(var ekf_enabled)
     gnss_enabled: $(var gnss_enabled)
     yabloc_enabled: $(var yabloc_enabled)

diff --git a/...ion/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/...ion/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
@@ -15,3 +15,4 @@
     min_y: -200.0
     max_z: 2.0
     min_z: -10.0
+    negative: false
diff --git a/...anning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml b/...anning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml
@@ -7,7 +7,6 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          execute_num: 2                               # [-]
           th_moving_speed: 1.0                         # [m/s]
           th_moving_time: 1.0                          # [s]
           max_expand_ratio: 0.0                        # [-]
@@ -17,7 +16,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         truck:
-          execute_num: 2
           th_moving_speed: 1.0                         # 3.6km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -27,7 +25,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         bus:
-          execute_num: 2
           th_moving_speed: 1.0                         # 3.6km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -37,7 +34,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         trailer:
-          execute_num: 2
           th_moving_speed: 1.0                         # 3.6km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -47,7 +43,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         unknown:
-          execute_num: 1
           th_moving_speed: 0.28                        # 1.0km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -57,7 +52,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         bicycle:
-          execute_num: 2
           th_moving_speed: 0.28                        # 1.0km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -67,7 +61,6 @@
             hard_margin: 1.0                           # [m]
             hard_margin_for_parked_vehicle: 1.0        # [m]
         motorcycle:
-          execute_num: 2
           th_moving_speed: 1.0                         # 3.6km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -77,7 +70,6 @@
             hard_margin: 1.0                           # [m]
             hard_margin_for_parked_vehicle: 1.0        # [m]
         pedestrian:
-          execute_num: 2
           th_moving_speed: 0.28                        # 1.0km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0

diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -34,6 +34,7 @@
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true
+        enable_target_lane_bound_check: true
         collision_check_yaw_diff_threshold: 3.1416
         execution:
           expected_front_deceleration: -1.0

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -520,39 +520,26 @@ Visualization Manager:
               Topic:
                 Depth: 5
                 Durability Policy: Volatile
-                Filter size: 10
                 History Policy: Keep Last
                 Reliability Policy: Reliable
                 Value: /localization/pose_estimator/pose_with_covariance
-              Value: false
+              Value: true
             - Buffer Size: 200
-              Class: rviz_plugins::PoseWithCovarianceHistory
-              Covariance:
-                Alpha: 0.5
-                Color: 204; 51; 204
-                Scale: 1
-                Value: true
+              Class: rviz_plugins::PoseHistory
               Enabled: false
-              Name: PoseWithCovarianceHistory
-              Path:
-                Shape Type:
-                  Alpha: 0.999
-                  Color: 170; 255; 127
-                  Head Length: 0.20000
-                  Head diameter: 0.30000
-                  Shaft Length: 0.30000
-                  Shaft diameter: 0.15000
-                  Value: Line
-                  Width: 0.10000
+              Line:
+                Color: 170; 255; 127
                 Value: true
+                Width: 0.10000000149011612
+                Alpha: 0.999
+              Name: PoseHistory
               Topic:
                 Depth: 5
                 Durability Policy: Volatile
-                Filter size: 10
                 History Policy: Keep Last
                 Reliability Policy: Reliable
-                Value: /localization/pose_estimator/pose_with_covariance
-              Value: false
+                Value: /localization/pose_estimator/pose
+              Value: true
             - Alpha: 0.999
               Autocompute Intensity Bounds: true
               Autocompute Value Bounds:
@@ -635,32 +622,20 @@ Visualization Manager:
         - Class: rviz_common/Group
           Displays:
             - Buffer Size: 1000
-              Class: rviz_plugins::PoseWithCovarianceHistory
-              Covariance:
-                Alpha: 0.5
-                Color: 153; 193; 241
-                Scale: 1
-                Value: false
+              Class: rviz_plugins::PoseHistory
               Enabled: true
-              Name: PoseWithCovarianceHistory
-              Path:
-                Shape Type:
-                  Alpha: 0.999
-                  Color: 0; 255; 255
-                  Head Length: 0.20000
-                  Head diameter: 0.300000
-                  Shaft Length: 0.30000
-                  Shaft diameter: 0.15000
-                  Value: Line
-                  Width: 0.10000
+              Line:
+                Color: 0; 255; 255
                 Value: true
+                Width: 0.10000000149011612
+                Alpha: 0.999
+              Name: PoseHistory
               Topic:
                 Depth: 5
                 Durability Policy: Volatile
-                Filter size: 10
                 History Policy: Keep Last
                 Reliability Policy: Reliable
-                Value: /localization/pose_with_covariance
+                Value: /localization/pose_twist_fusion_filter/pose
               Value: true
           Enabled: true
           Name: EKF