From 05b42b48f70bff478e52575c7f4e9134d5d7736b Mon Sep 17 00:00:00 2001
From: Go Sakayori <go-sakayori@users.noreply.github.com>
Date: Fri, 1 Nov 2024 16:58:39 +0900
Subject: [PATCH] feat(collision detector): add collision detector to
 launch/config (#1205)

* add collision_detector

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

* change collision detector default to false

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

---------

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
Signed-off-by: Go Sakayori <gsakayori@gmail.com>
---
 .../collision_detector.param.yaml                | 16 ++++++++++++++++
 .../tier4_control_component.launch.xml           |  3 +++
 2 files changed, 19 insertions(+)
 create mode 100644 autoware_launch/config/control/autoware_collision_detector/collision_detector.param.yaml

diff --git a/autoware_launch/config/control/autoware_collision_detector/collision_detector.param.yaml b/autoware_launch/config/control/autoware_collision_detector/collision_detector.param.yaml
new file mode 100644
index 0000000000..842654c66f
--- /dev/null
+++ b/autoware_launch/config/control/autoware_collision_detector/collision_detector.param.yaml
@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    use_pointcloud: false # use pointcloud as obstacle check
+    use_dynamic_object: true # use dynamic object as obstacle check
+    collision_distance: 0.1 # Distance at which an object is determined to have collided with ego [m]
+    nearby_filter_radius: 5.0 # Radius to filter nearby objects [m]
+    keep_ignoring_time: 10.0 # Time to keep filtering objects that first appeared in the vicinity
+    nearby_object_type_filters: # Classes subject to filtering for objects first appearing in the vicinity
+      filter_car: false
+      filter_truck: false
+      filter_bus: false
+      filter_trailer: false
+      filter_bicycle: false
+      filter_motorcycle: false
+      filter_pedestrian: false
+      filter_unknown: true
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index a66ed49405..64061ce176 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -6,6 +6,7 @@
   <arg name="use_individual_control_param" default="false"/>
   <arg name="enable_autonomous_emergency_braking" default="true"/>
   <arg name="enable_predicted_path_checker" default="false"/>
+  <arg name="enable_collision_detector" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
@@ -40,8 +41,10 @@
     <arg name="obstacle_collision_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml"/>
     <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
     <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
+    <arg name="collision_detector_param_path" value="$(find-pkg-share autoware_launch)/config/control/autoware_collision_detector/collision_detector.param.yaml"/>
     <arg name="enable_autonomous_emergency_braking" value="$(var enable_autonomous_emergency_braking)"/>
     <arg name="enable_predicted_path_checker" value="$(var enable_predicted_path_checker)"/>
+    <arg name="enable_collision_detector" value="$(var enable_collision_detector)"/>
     <arg name="predicted_path_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/predicted_path_checker/predicted_path_checker.param.yaml"/>
   </include>
 </launch>