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chore: sync awf-latest #332

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merged 2 commits into from
Mar 4, 2024
Merged

chore: sync awf-latest #332

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56af177
feat(start_planner): add object_types_to_check_for_path_generation (#…
kyoichi-sugahara Mar 4, 2024
c03bd4b
feat(tier4_localization_component_launch): change the default input p…
TaikiYamada4 Mar 4, 2024
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9 changes: 9 additions & 0 deletions ...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,15 @@
collision_check_margins: [2.0, 1.0, 0.5, 0.1]
collision_check_margin_from_front_object: 5.0
th_moving_object_velocity: 1.0
object_types_to_check_for_path_generation:
check_car: true
check_truck: true
check_bus: true
check_trailer: true
check_bicycle: true
check_motorcycle: true
check_pedestrian: true
check_unknown: true
th_distance_to_middle_of_the_road: 0.5
center_line_path_interval: 1.0
# shift pull out
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10 changes: 3 additions & 7 deletions autoware_launch/launch/components/tier4_localization_component.launch.xml
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Expand Up @@ -3,20 +3,16 @@
<let name="loc_config_path" value="$(find-pkg-share autoware_launch)/config/localization"/>
<arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
<arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
<arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud" description="The topic will be used in the localization util module"/>
<arg
name="lidar_container_name"
default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
description="The target container to which lidar preprocessing nodes in localization be attached"
/>
<arg name="input_pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the localization util module"/>
<arg name="localization_pointcloud_container_name" default="/pointcloud_container" description="The target container to which pointcloud preprocessing nodes in localization be attached"/>

<group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
<arg name="pose_source" value="$(var pose_source)"/>
<arg name="twist_source" value="$(var twist_source)"/>
<arg name="system_run_mode" value="$(var system_run_mode)"/>
<arg name="input_pointcloud" value="$(var input_pointcloud)"/>
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
<arg name="localization_pointcloud_container_name" value="$(var localization_pointcloud_container_name)"/>

<!-- parameter paths for common -->
<arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>
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