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chore: sync awf-latest #281

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merged 3 commits into from
Jan 18, 2024
Merged

chore: sync awf-latest #281

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faef67a
feat(avoidance/goal_planner): execute avoidance and pull over simulta…
kosuke55 Jan 16, 2024
55cba84
fix(AbLC): fix module name inconsistency (#795)
satoshi-ota Jan 17, 2024
d3811ef
feat(rviz): add marker to show bpp internal state (#801)
satoshi-ota Jan 17, 2024
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3 changes: 2 additions & 1 deletion ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -122,7 +122,8 @@
motorcycle: true # [-]
pedestrian: true # [-]
# detection range
object_check_goal_distance: 20.0 # [m]
object_check_goal_distance: 20.0 # [m]
object_check_return_pose_distance: 20.0 # [m]
# filtering parking objects
threshold_distance_object_is_on_center: 1.0 # [m]
object_check_shiftable_ratio: 0.6 # [-]
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0 ...voidance_by_lc/avoidance_by_lc.param.yaml → ...hange/avoidance_by_lane_change.param.yaml
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4 changes: 2 additions & 2 deletions ...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
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Expand Up @@ -53,7 +53,7 @@

goal_planner:
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: true
priority: 1
Expand All @@ -67,7 +67,7 @@
priority: 4
max_module_size: 1

avoidance_by_lc:
avoidance_by_lane_change:
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
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2 changes: 1 addition & 1 deletion autoware_launch/launch/components/tier4_planning_component.launch.xml
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Expand Up @@ -24,7 +24,7 @@
<arg name="behavior_path_planner_scene_module_manager_param_path" value="$(var behavior_path_config_path)/scene_module_manager.param.yaml"/>
<arg name="behavior_path_planner_side_shift_module_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
<arg name="behavior_path_planner_avoidance_module_param_path" value="$(var behavior_path_config_path)/avoidance/avoidance.param.yaml"/>
<arg name="behavior_path_planner_avoidance_by_lc_module_param_path" value="$(var behavior_path_config_path)/avoidance_by_lc/avoidance_by_lc.param.yaml"/>
<arg name="behavior_path_planner_avoidance_by_lc_module_param_path" value="$(var behavior_path_config_path)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml"/>
<arg name="behavior_path_planner_dynamic_avoidance_module_param_path" value="$(var behavior_path_config_path)/dynamic_avoidance/dynamic_avoidance.param.yaml"/>
<arg name="behavior_path_planner_lane_change_module_param_path" value="$(var behavior_path_config_path)/lane_change/lane_change.param.yaml"/>
<arg name="behavior_path_planner_goal_planner_module_param_path" value="$(var behavior_path_config_path)/goal_planner/goal_planner.param.yaml"/>
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16 changes: 16 additions & 0 deletions autoware_launch/rviz/autoware.rviz
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Expand Up @@ -3649,6 +3649,22 @@ Visualization Manager:
Value: true
Enabled: true
Name: Objects Of Interest
- Class: rviz_plugins/StringStampedOverlayDisplay
Enabled: true
Font Size: 15
Left: 1024
Max Letter Num: 100
Name: StringStampedOverlayDisplay
Text Color: 25; 255; 240
Top: 128
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state
Value: true
Value height offset: 0
Enabled: true
Name: Planning
- Class: rviz_common/Group
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