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chore: sync awf-latest #647

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Nov 1, 2024
Merged

chore: sync awf-latest #647

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16 changes: 16 additions & 0 deletions autoware_launch/config/control/autoware_collision_detector/collision_detector.param.yaml
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Original file line number Diff line number Diff line change
@@ -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
3 changes: 3 additions & 0 deletions autoware_launch/launch/components/tier4_control_component.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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="$(var use_individual_control_param)"/>
Expand Down Expand Up @@ -40,8 +41,10 @@
<arg name="obstacle_collision_checker_param_path" value="$(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>
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