chore: sync beta branch beta/v0.24.0 with tier4/main

.github/CODEOWNERS

@@ -0,0 +1,26 @@
+### Automatically generated from package.xml ###
+autoware_launch/** [email protected]
+
+### Copied from .github/CODEOWNERS-manual ###
+# /**
+# .github/**
+autoware_launch/** [email protected] [email protected]
+autoware_launch/config/control/** [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/localization/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/map/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/perception/** [email protected] [email protected] [email protected]
+autoware_launch/config/planning/** [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/simulator/** [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/system/** [email protected] [email protected]
+autoware_launch/config/vehicle/** [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_autoware_api_component.launch.xml [email protected]
+autoware_launch/launch/components/tier4_control_component.launch.xml [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_localization_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_map_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_perception_component.launch.xml [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_planning_component.launch.xml [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_sensing_component.launch.xml [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_simulator_component.launch.xml [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_system_component.launch.xml [email protected] [email protected]
+autoware_launch/rviz/**  # no codeowners
+autoware_launch/rviz/image/** [email protected] [email protected]

.github/CODEOWNERS-manual

@@ -0,0 +1,22 @@
+# /**
+# .github/**
+autoware_launch/** [email protected] [email protected] [email protected]
+autoware_launch/config/control/** [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/localization/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/map/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/perception/** [email protected] [email protected] [email protected]
+autoware_launch/config/planning/** [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/simulator/** [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/system/** [email protected] [email protected]
+autoware_launch/config/vehicle/** [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_autoware_api_component.launch.xml [email protected]
+autoware_launch/launch/components/tier4_control_component.launch.xml [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_localization_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_map_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_perception_component.launch.xml [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_planning_component.launch.xml [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_sensing_component.launch.xml [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_simulator_component.launch.xml [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_system_component.launch.xml [email protected] [email protected]
+autoware_launch/rviz/**  # no codeowners
+autoware_launch/rviz/image/** [email protected] [email protected]

.github/workflows/update-codeowners-from-packages.yaml

@@ -0,0 +1,33 @@
+name: update-codeowners-from-packages
+
+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 }}
+
+  update-codeowners-from-packages:
+    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@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run update-codeowners-from-packages
+        uses: autowarefoundation/autoware-github-actions/update-codeowners-from-packages@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          pr-labels: |
+            tag:bot
+            tag:update-codeowners-from-packages
+          auto-merge-method: squash

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

@@ -4,8 +4,6 @@
     avoidance:
       resample_interval_for_planning: 0.3               # [m]
       resample_interval_for_output: 4.0                 # [m]
-      drivable_area_right_bound_offset: 0.0             # [m]
-      drivable_area_left_bound_offset: 0.0              # [m]
 
       # avoidance module common setting
       enable_bound_clipping: false
@@ -208,6 +206,10 @@
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
           max_deviation_from_lane: 0.2                  # [m]
+          # approve the next shift line after reaching this percentage of the current shift line length.
+          # this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear.
+          # this feature can be disabled by setting this parameter to 0.0.
+          ratio_for_return_shift_approval: 0.5          # [-]
         # avoidance distance parameters
         longitudinal:
           min_prepare_time: 1.0                         # [s]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml

@@ -28,8 +28,3 @@
     output_path_interval: 2.0
 
     visualize_maximum_drivable_area: true
-
-    lane_following:
-      drivable_area_right_bound_offset: 0.0
-      drivable_area_left_bound_offset: 0.0
-      drivable_area_types_to_skip: [road_border]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml

@@ -103,6 +103,7 @@
         duration: 5.0                       # [s]
         max_lateral_jerk: 100.0             # [m/s3]
         overhang_tolerance: 0.0             # [m]
+        unsafe_hysteresis_threshold: 5      # [/]
 
       finish_judge_lateral_threshold: 0.2        # [m]
 

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml

@@ -8,11 +8,21 @@
       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
       enable_shift_pull_out: true
       check_shift_path_lane_departure: true
+      allow_check_shift_path_lane_departure_override: false
       shift_collision_check_distance_from_end: -10.0
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml

@@ -68,3 +68,20 @@
           bicycle: true # [-] whether to look and stop by BICYCLE objects
           motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.)
           pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects
+
+      # param for occlusions
+      occlusion:
+        enable: true  # if true, ego will slowdown around crosswalks that are occluded
+        occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space
+        slow_down_velocity: 1.0  # [m/s]
+        time_buffer: 0.5  # [s] consecutive time with/without an occlusion to add/remove the slowdown
+        min_size: 0.5  # [m] minimum size of an occlusion (square side size)
+        free_space_max: 43  # [-] maximum value of a free space cell in the occupancy grid
+        occupied_min: 58    # [-] minimum value of an occupied cell in the occupancy grid
+        ignore_with_red_traffic_light: true  # [-] if true, occlusions at crosswalks with traffic lights are ignored
+        ignore_behind_predicted_objects: true  # [-] if true, occlusions behind predicted objects are ignored
+        ignore_velocity_thresholds:
+          default: 0.5  # [m/s] occlusions are only ignored behind objects with a higher or equal velocity
+          custom_labels: ["PEDESTRIAN"]  # labels for which to define a non-default velocity threshold (see autoware_auto_perception_msgs::msg::ObjectClassification for all the labels)
+          custom_thresholds: [0.0]  # velocities of the custom labels
+        extra_predicted_objects_size: 0.5  # [m] extra size added to the objects for masking the occlusions

autoware_launch/launch/autoware.launch.xml

@@ -45,6 +45,7 @@
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
+  <arg name="is_simulation" default="false" description="Autoware's behavior will change depending on whether this is a simulation or not."/>
 
   <!-- Global parameters -->
   <group scoped="false">
@@ -104,6 +105,7 @@
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
       <arg name="module_preset" value="$(var planning_module_preset)"/>
       <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+      <arg name="is_simulation" value="$(var is_simulation)"/>
     </include>
   </group>
 

autoware_launch/launch/components/tier4_localization_component.launch.xml

@@ -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"/>

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -3,12 +3,14 @@
   <!-- NOTE: optional parameters are written here -->
   <arg name="module_preset" default="default"/>
   <arg name="enable_all_modules_auto_mode" default="false"/>
+  <arg name="is_simulation" default="false"/>
   <include file="$(find-pkg-share autoware_launch)/config/planning/preset/$(var module_preset)_preset.yaml"/>
 
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+    <arg name="is_simulation" value="$(var is_simulation)"/>
 
     <!-- common -->
     <arg name="common_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>

autoware_launch/launch/e2e_simulator.launch.xml

@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
   <!-- Essential parameters -->
+  <arg name="use_sim_time" default="true" description="use simulation time"/>
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
@@ -57,7 +58,7 @@
       <arg name="launch_planning" value="$(var planning)"/>
       <arg name="launch_control" value="$(var control)"/>
       <!-- Global parameters -->
-      <arg name="use_sim_time" value="true"/>
+      <arg name="use_sim_time" value="$(var use_sim_time)"/>
       <!-- Vehicle -->
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- Map -->

autoware_launch/launch/planning_simulator.launch.xml

@@ -67,6 +67,7 @@
       <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
       <!-- Auto mode setting-->
       <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+      <arg name="is_simulation" value="true"/>
     </include>
   </group>
 

autoware_launch/package.xml

@@ -5,6 +5,8 @@
   <description>The autoware_launch package</description>
 
   <maintainer email="[email protected]">Yukihiro Saito</maintainer>
+  <maintainer email="[email protected]">Ryohsuke Mitsudome</maintainer>
+  <maintainer email="[email protected]">M. Fatih Cırıt</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

autoware_launch/rviz/autoware.rviz

@@ -3613,7 +3613,7 @@ Visualization Manager:
       Name: Debug
   Enabled: true
   Global Options:
-    Background Color: 10; 10; 10
+    Background Color: 42; 42; 42
     Default Light: true
     Fixed Frame: map
     Frame Rate: 30