From 94a7ab656a6728f23f9feb1ccedf755821edbbbb Mon Sep 17 00:00:00 2001 From: beyzanurkaya <32412808+beyzanurkaya@users.noreply.github.com> Date: Thu, 5 Sep 2024 09:58:15 +0300 Subject: [PATCH 01/24] feat(autoware_launch): add expansion params (#1133) make expansion optional Signed-off-by: beyza --- .../dynamic_obstacle_avoidance.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml index 32d0caffd8..aa1fdb3048 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml @@ -51,6 +51,7 @@ max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller than this value. drivable_area_generation: + expand_drivable_area: false polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base" object_path_base: min_longitudinal_polygon_margin: 3.0 # [m] From 1bb3cdcb2ba54f8c7864829db2e8f29e0aed1235 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Fri, 6 Sep 2024 11:51:19 +0900 Subject: [PATCH 02/24] chore: add taekjin lee to perception launcher and configuration maintainer (#1154) chore: add taekjin lee to perception launcher and configuration maintainer Signed-off-by: Taekjin LEE --- .github/CODEOWNERS-manual | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/CODEOWNERS-manual b/.github/CODEOWNERS-manual index 382818e897..a27c2cc109 100644 --- a/.github/CODEOWNERS-manual +++ b/.github/CODEOWNERS-manual @@ -4,7 +4,7 @@ autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodr autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp -autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp +autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/config/system/** fumihito.ito@tier4.jp isamu.takagi@tier4.jp @@ -13,7 +13,7 @@ autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu. autoware_launch/launch/components/tier4_control_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/launch/components/tier4_localization_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/launch/components/tier4_map_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp -autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp +autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp autoware_launch/launch/components/tier4_simulator_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp From 15f5e4ac73c16ef3e53da740bd6beaeb2d618259 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Fri, 6 Sep 2024 15:44:29 +0900 Subject: [PATCH 03/24] feat(autoware_mpc_lateral_controller): add resampled reference trajectory for debug purpose (#1114) * chore: add debug_publish_resampled_reference_trajectory to parameter Signed-off-by: kyoichi-sugahara * feat: add use_delayed_initial_state flag to lateral MPC configuration Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../lateral/mpc.param.yaml | 3 +- autoware_launch/rviz/autoware.rviz | 30 +++++++++++++++++++ 2 files changed, 32 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 135aecc56b..b358e95f86 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -5,6 +5,7 @@ use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing @@ -75,4 +76,4 @@ average_num: 1000 steering_offset_limit: 0.02 - debug_publish_predicted_trajectory: true # publish debug predicted trajectory in Frenet coordinate + publish_debug_trajectories: true # flag to publish predicted trajectory and resampled reference trajectory for debug purpose diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 18c391f0db..d9e60ca5e4 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2411,6 +2411,36 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: false + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: Resampled Reference Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory + Value: true + View Path: + Alpha: 1 + Color: 153; 193; 241 + Constant Color: true + Value: false + Constant Width: true + Width: 0.2 + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: true - Class: rviz_default_plugins/Marker Enabled: false Name: Stop Reason From 137d76054b2322e2db4236f1cca6c0a48212231d Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Fri, 6 Sep 2024 16:52:39 +0900 Subject: [PATCH 04/24] feat(occupancy_grid_map_outlier_filter): add option for time keeper (#1147) add timekeeper option Signed-off-by: a-maumau Co-authored-by: Taekjin LEE --- .../occupancy_grid_map_outlier_filter.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml index 61cd3a2dc1..20289d02f9 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml @@ -10,3 +10,6 @@ cost_threshold: 45 use_radius_search_2d_filter: true enable_debugger: false + + # debug parameters + publish_processing_time_detail: False From 26465fc7ca7456b69cde8808f2d8f149c536eea9 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Fri, 6 Sep 2024 17:00:34 +0900 Subject: [PATCH 05/24] feat(ground_segmentation): add option for time keeper (#1134) add option for time keeper Signed-off-by: a-maumau Co-authored-by: Taekjin LEE --- .../ground_segmentation/ground_segmentation.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index 3f33218eb3..0237671ccf 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -34,3 +34,6 @@ low_priority_region_x: -20.0 center_pcl_shift: 0.0 radial_divider_angle_deg: 1.0 + + # debug parameters + publish_processing_time_detail: false From 8f3e2bf06c6f0fc61ed92ceea929f467439f2b4d Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Fri, 6 Sep 2024 17:00:51 +0900 Subject: [PATCH 06/24] feat(occupancy_grid_map): add option for time keeper (#1138) * add option for time keeper Signed-off-by: a-maumau * set default to false Signed-off-by: a-maumau --------- Signed-off-by: a-maumau Co-authored-by: Taekjin LEE --- .../laserscan_based_occupancy_grid_map.param.yaml | 3 +++ .../multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml | 3 +++ .../pointcloud_based_occupancy_grid_map.param.yaml | 3 +++ .../synchronized_grid_map_fusion_node.param.yaml | 3 +++ 4 files changed, 12 insertions(+) diff --git a/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml index 9dcc722587..eaaeb026d0 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml @@ -16,3 +16,6 @@ map_length: 150.0 map_width: 150.0 map_resolution: 0.5 + + # debug parameters + publish_processing_time_detail: false diff --git a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml index 878bea4cd8..8ed3fdddfa 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml @@ -12,6 +12,9 @@ map_length_x: 150.0 # [m] map_length_y: 150.0 # [m] + # debug parameters + publish_processing_time_detail: false + # downsample input pointcloud downsample_input_pointcloud: true downsample_voxel_size: 0.25 # [m] diff --git a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml index a87e8b95a0..c739c68306 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml @@ -32,3 +32,6 @@ projection_dz_threshold: 0.01 # [m] for avoiding null division obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length pub_debug_grid: false + + # debug parameters + publish_processing_time_detail: false diff --git a/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml index f8a2dc2fbc..42966e01fa 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml @@ -18,3 +18,6 @@ fusion_map_length_x: 100.0 fusion_map_length_y: 100.0 fusion_map_resolution: 0.5 + + # debug parameters + publish_processing_time_detail: false From 7debec5b25d27353461a95c738a391397e84bd0e Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Mon, 9 Sep 2024 17:17:40 +0900 Subject: [PATCH 07/24] chore(tier4_pereption_component): add image_segmentation_based_filter option param (#1158) Signed-off-by: badai-nguyen --- .../launch/components/tier4_perception_component.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 5d7b5eb321..052b4a6429 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -8,6 +8,7 @@ + @@ -35,6 +36,7 @@ + From 8a4a3e9cdc00ed5d43263ed958b112a3c7045b76 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 10 Sep 2024 09:31:28 +0900 Subject: [PATCH 08/24] feat(goal_planner): dense goal candidate sampling in BusStopArea (#1156) --- .../goal_planner/goal_planner.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index b1b03c21c1..5eb71126bb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -23,6 +23,10 @@ ignore_distance_from_lane_start: 0.0 margin_from_boundary: 0.75 high_curvature_threshold: 0.1 + bus_stop_area: + use_bus_stop_area: false + goal_search_interval: 0.5 + lateral_offset_interval: 0.25 # occupancy grid map occupancy_grid: From 63dbbeabd3d4f95081df4fae00ca6874bc57e3a8 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 10 Sep 2024 16:08:45 +0900 Subject: [PATCH 09/24] chore(planning): add maintainer (#1161) Signed-off-by: Yuki Takagi --- .github/CODEOWNERS | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 3e2397e427..7b1db618d1 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -9,7 +9,7 @@ autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp -autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp alqudah.mohammad@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp +autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp alqudah.mohammad@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp yuki.takagi@tier4.jp autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/config/system/** fumihito.ito@tier4.jp isamu.takagi@tier4.jp autoware_launch/config/vehicle/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp mamoru.sobue@tier4.jp From 2dfb684c68ce2914460a915017471c718fc54090 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 10 Sep 2024 17:55:39 +0900 Subject: [PATCH 10/24] feat: add parameters for restart suppression in crosswalk (#1160) * feat: add parameters for restart suppression in crosswalk Signed-off-by: Takayuki Murooka * update parameter Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index ca1d211d1d..e5053f7cee 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -60,6 +60,11 @@ timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s] timeout_ego_stop_for_yield: 1.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough. + # params for suppressing the ego to restart when the ego is close to the next stop position. + restart_suppression: + min_distance_to_stop: 0.5 + max_distance_to_stop: 1.0 + # param for target object filtering object_filtering: crosswalk_attention_range: 2.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk From 09645f78ae375b987f99f073e2d2d1cecd3193d3 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 11 Sep 2024 15:39:59 +0900 Subject: [PATCH 11/24] feat(mission_planner): add option to prevent rerouting in autonomous driving mode (#1153) Signed-off-by: kosuke55 --- .../mission_planning/mission_planner/mission_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml index 9b7dcffbc6..ecfbdab9e5 100644 --- a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml +++ b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml @@ -10,3 +10,4 @@ minimum_reroute_length: 30.0 consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not. check_footprint_inside_lanes: true + allow_reroute_in_autonomous_mode: true From 00862009601780f20276f42d06099212c82cb843 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 12 Sep 2024 14:15:28 +0900 Subject: [PATCH 12/24] feat(run_out): speed up run out response (#1163) speed up run out response Signed-off-by: Daniel Sanchez --- .../behavior_velocity_planner/run_out.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index c8905f66da..d5d353742c 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -17,7 +17,7 @@ ego_cut_line_length: 3.0 # The width of the ego's cut line ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path. - keep_stop_point_time: 1.0 # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled + keep_stop_point_time: 2.0 # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled # Parameter to create abstracted dynamic obstacles dynamic_obstacle: @@ -29,7 +29,7 @@ std_dev_multiplier: 1.96 # [-] min and max velocity of the obstacles are calculated from this value and covariance diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points - max_prediction_time: 3.0 # [sec] create predicted path until this time + max_prediction_time: 7.0 # [sec] create predicted path until this time time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method @@ -44,7 +44,7 @@ # Parameter to prevent abrupt stops caused by false positives in perception ignore_momentary_detection: enable: true - time_threshold: 0.5 # [sec] ignores detections that persist for less than this duration + time_threshold: 0.15 # [sec] ignores detections that persist for less than this duration # Typically used when the "detection_method" is set to ObjectWithoutPath or Points # Approach if the ego has stopped in front of the obstacle for a certain period From 3015fa9256fb0d44ade78cb68361d7582685688a Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 12 Sep 2024 17:53:12 +0900 Subject: [PATCH 13/24] feat(start_planner): add option to skip rear vehicle check (#1165) Signed-off-by: Kyoichi Sugahara --- .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 10eb7486db..a71c202b05 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -7,6 +7,7 @@ th_stopped_time: 1.0 collision_check_margins: [2.0, 1.0, 0.5, 0.1] collision_check_margin_from_front_object: 5.0 + skip_rear_vehicle_check: false extra_width_margin_for_rear_obstacle: 0.5 th_moving_object_velocity: 1.0 object_types_to_check_for_path_generation: From 42ba6abe2ca6c4c483c087aff53b7e073fd667f1 Mon Sep 17 00:00:00 2001 From: Khalil Selyan <36904941+KhalilSelyan@users.noreply.github.com> Date: Thu, 12 Sep 2024 14:12:01 +0300 Subject: [PATCH 14/24] feat: add an env variable to enable the new rviz2 theme (#1017) Signed-off-by: KhalilSelyan --- autoware_launch/launch/autoware.launch.xml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 38f8550f72..f5bd2be038 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -131,6 +131,8 @@ args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" respawn="$(var rviz_respawn)" - /> + > + + From 8fa095310428dcdcb3fe6dd03e0e52a887cd7d4d Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 13 Sep 2024 20:01:03 +0900 Subject: [PATCH 15/24] feat(crosswalk)!: update stop position caluculation (#1162) Signed-off-by: Yuki Takagi --- .../behavior_velocity_planner/crosswalk.param.yaml | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index e5053f7cee..3e99e140c8 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -16,7 +16,10 @@ # For the case where the crosswalk width is very wide far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object). # For the case where the stop position is determined according to the object position. - stop_distance_from_object: 3.0 # [m] the vehicle decelerates to be able to stop in front of object with margin + stop_distance_from_object_preferred: 3.0 # [m] + stop_distance_from_object_limit: 3.0 # [m] + min_acc_preferred: -1.0 # min acceleration [m/ss] + min_jerk_preferred: -1.0 # min jerk [m/sss] # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false". slow_down: @@ -45,11 +48,10 @@ ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering ego_min_assumed_speed: 2.0 # [m/s] assumed speed to calculate the time to collision point - no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk - max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk. - min_acc: -1.0 # min acceleration [m/ss] - min_jerk: -1.0 # min jerk [m/sss] - max_jerk: 1.0 # max jerk [m/sss] + no_stop_decision: # parameters to determine stop cancel. {-$overrun_threshold_length + f($min_acc, $min_jerk)} is compared against distance to stop pose. + min_acc: -1.5 # min acceleration [m/ss] + min_jerk: -1.5 # min jerk [m/sss] + overrun_threshold_length: 1.0 # [m] required to avoid giving up against backward movement of the stop position due to approaching pedestrians, etc. stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph) min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph) From 593ad1f6c2ad967d8d04b349d7970deeed3f47a1 Mon Sep 17 00:00:00 2001 From: SaltUhey <111027815+SaltUhey@users.noreply.github.com> Date: Tue, 17 Sep 2024 09:48:41 +0900 Subject: [PATCH 16/24] feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory (#1164) * PoseHistory to PoseWithCovarianceHistory Signed-off-by: yuhei * style(pre-commit): autofix * fix param of alpha related to PoseWithCovarianceHistory Signed-off-by: yuhei --------- Signed-off-by: yuhei Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- autoware_launch/rviz/autoware.rviz | 57 +++++++++++++++++++++--------- 1 file changed, 41 insertions(+), 16 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index d9e60ca5e4..7dcd5510b2 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -514,26 +514,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose_with_covariance - Value: true + Value: false - Buffer Size: 200 - Class: rviz_plugins::PoseHistory + Class: rviz_plugins::PoseWithCovarianceHistory + Covariance: + Alpha: 0.5 + Color: 204; 51; 204 + Scale: 1 + Value: true Enabled: false - Line: - Color: 170; 255; 127 + Name: PoseWithCovarianceHistory + Path: + Shape Type: + Alpha: 0.999 + Color: 170; 255; 127 + Head Length: 0.20000 + Head diameter: 0.30000 + Shaft Length: 0.30000 + Shaft diameter: 0.15000 + Value: Line + Width: 0.10000 Value: true - Width: 0.10000000149011612 - Alpha: 0.999 - Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /localization/pose_estimator/pose - Value: true + Value: /localization/pose_estimator/pose_with_covariance + Value: false - Alpha: 0.999 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -616,20 +629,32 @@ Visualization Manager: - Class: rviz_common/Group Displays: - Buffer Size: 1000 - Class: rviz_plugins::PoseHistory + Class: rviz_plugins::PoseWithCovarianceHistory + Covariance: + Alpha: 0.5 + Color: 153; 193; 241 + Scale: 1 + Value: false Enabled: true - Line: - Color: 0; 255; 255 + Name: PoseWithCovarianceHistory + Path: + Shape Type: + Alpha: 0.999 + Color: 0; 255; 255 + Head Length: 0.20000 + Head diameter: 0.300000 + Shaft Length: 0.30000 + Shaft diameter: 0.15000 + Value: Line + Width: 0.10000 Value: true - Width: 0.10000000149011612 - Alpha: 0.999 - Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /localization/pose_twist_fusion_filter/pose + Value: /localization/pose_with_covariance Value: true Enabled: true Name: EKF From dba8a3e64f41ac06db3c312790ebaa70c6d755aa Mon Sep 17 00:00:00 2001 From: Khalil Selyan <36904941+KhalilSelyan@users.noreply.github.com> Date: Wed, 18 Sep 2024 12:36:49 +0300 Subject: [PATCH 17/24] style(rviz-config): use colors consistent with new theme (#1169) Signed-off-by: KhalilSelyan --- autoware_launch/rviz/autoware.rviz | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 7dcd5510b2..c50f13e67f 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -260,6 +260,12 @@ Visualization Manager: Turn Signals Topic: /vehicle/status/turn_indicators_status Value: true Width: 550 + Background Alpha: 0.5 + Background Color: 23; 28; 31 + Dark Traffic Color: 255; 51; 51 + Handle Angle Scale: 17 + Light Traffic Color: 255; 153; 153 + Primary Color: 174; 174; 174 Enabled: true Name: Vehicle - Class: rviz_plugins/MrmSummaryOverlayDisplay @@ -962,6 +968,9 @@ Visualization Manager: Remaining Distance and Time Topic: /planning/mission_remaining_distance_time Enabled: true Value: true + Background Alpha: 0.5 + Background Color: 23; 28; 31 + Text Color: 194; 194; 194 Enabled: true Name: MissionPlanning - Class: rviz_common/Group @@ -3713,7 +3722,7 @@ Visualization Manager: Name: Debug Enabled: true Global Options: - Background Color: 42; 42; 42 + Background Color: 15; 20; 23 Default Light: true Fixed Frame: map Frame Rate: 30 @@ -3846,7 +3855,7 @@ Window Geometry: Hide Right Dock: false Image: collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001ee00000368fc020000000efb0000001200530065006c0065006300740069006f006e00000001e10000009b0000008900fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb00000024004100750074006f00770061007200650053007400610074006500500061006e0065006c0100000057000002740000007b00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610100000682000000eb0000000000000000fb0000000a0049006d0061006700650100000505000002680000000000000000fb0000002c0049006e0069007400690061006c0050006f007300650042007500740074006f006e00500061006e0065006c000000068f000000de0000000000000000fb0000002c0049006e0069007400690061006c0050006f007300650042007500740074006f006e00500061006e0065006c000000068f000000de0000000000000000fb00000030005200650063006f0067006e006900740069006f006e0052006500730075006c0074004f006e0049006d00610067006501000002cf000000f00000004500fffffffb0000002a004100750074006f0077006100720065004400610074006500540069006d006500500061006e0065006c0000000332000000720000006900fffffffb000000240050006f0069006e00740063006c006f00750064004f006e00430061006d006500720061000000039d000000560000004500ffffff00000001000001ab00000368fc0200000004fb000000100044006900730070006c00610079007301000000570000012e0000012500fffffffc0000018900000236000001050100001dfa000000000100000002fb0000000a0056006900650077007301000005d5000001ab000001ab00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000000ffffffff0000009000fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000e7a0000005afc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e7a0000005afc0100000002fb0000000800540069006d0065010000000000000e7a0000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003df0000036800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: From 02b90c25b9087f202a105987425167ecfef71345 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 19 Sep 2024 15:20:02 +0900 Subject: [PATCH 18/24] refactor(behavior_path_planner): remove unnecessary parameters (#1172) Signed-off-by: Takayuki Murooka --- .../behavior_path_planner/behavior_path_planner.param.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index b8a772f0b5..41f8f53a8f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -24,5 +24,3 @@ enable_cog_on_centerline: false input_path_interval: 2.0 output_path_interval: 2.0 - - visualize_maximum_drivable_area: true From f32f0d4006183cd8ded2163675ae062de0171551 Mon Sep 17 00:00:00 2001 From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com> Date: Fri, 20 Sep 2024 13:34:23 +0900 Subject: [PATCH 19/24] refactor(system_monitor/ntp_monitor): add-missing-parameters (#1174) refactor: add-missing-parameters Signed-off-by: TetsuKawa --- .../config/system/system_monitor/ntp_monitor.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml b/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml index db54f70d1c..c731865c9e 100644 --- a/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml +++ b/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml @@ -3,3 +3,4 @@ server: ntp.nict.jp offset_warn: 0.1 offset_error: 5.0 + timeout: 5 From ccf736d913838c5a566d4e7fbb70349bdd7af33c Mon Sep 17 00:00:00 2001 From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com> Date: Fri, 20 Sep 2024 13:34:35 +0900 Subject: [PATCH 20/24] refactor(system_monitor/net_monitor): remove-missing-patameters (#1175) refactor: remove-missing-patameters Signed-off-by: TetsuKawa --- .../config/system/system_monitor/net_monitor.param.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml index d72b8d1334..5d5c1bd7bd 100644 --- a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml +++ b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml @@ -1,7 +1,6 @@ /**: ros__parameters: devices: ["*"] - traffic_reader_port: 7636 monitor_program: "greengrass" crc_error_check_duration: 1 crc_error_count_threshold: 1 From 90cf23ef664e43099a4765662b83cfb938d0e83b Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Fri, 20 Sep 2024 14:16:49 +0900 Subject: [PATCH 21/24] feat(emergency_handler): delete package (#1173) * feat(emergency_handler): delete package Signed-off-by: veqcc --- .../emergency_handler/emergency_handler.param.yaml | 14 -------------- .../components/tier4_system_component.launch.xml | 2 -- 2 files changed, 16 deletions(-) delete mode 100644 autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml deleted file mode 100644 index 652a984ce5..0000000000 --- a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml +++ /dev/null @@ -1,14 +0,0 @@ -# Default configuration for emergency handler ---- -/**: - ros__parameters: - update_rate: 10 - timeout_hazard_status: 0.5 - timeout_takeover_request: 10.0 - use_takeover_request: false - use_parking_after_stopped: false - use_comfortable_stop: false - - # setting whether to turn hazard lamp on for each situation - turning_hazard_on: - emergency: true diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index d17925549b..cbe58f2425 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -11,7 +11,6 @@ - @@ -30,7 +29,6 @@ - From 8ea975ed6f6e3867f14713311ec76fefed13460c Mon Sep 17 00:00:00 2001 From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Date: Thu, 19 Sep 2024 10:29:28 +0900 Subject: [PATCH 22/24] feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (#1144) change the way to declare camera num Signed-off-by: MasatoSaeki --- .../launch/components/tier4_perception_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 052b4a6429..883a5282c1 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -48,7 +48,7 @@ - + Date: Fri, 20 Sep 2024 21:38:10 +0900 Subject: [PATCH 23/24] fix(perception): adopt awsim (tlr) camera topic (#1177) Signed-off-by: MasatoSaeki --- .../launch/components/tier4_perception_component.launch.xml | 3 ++- autoware_launch/launch/e2e_simulator.launch.xml | 4 ++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 883a5282c1..105b49a2d9 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -20,6 +20,7 @@ + @@ -48,7 +49,7 @@ - + - + @@ -79,7 +79,7 @@ - + From 584e87fc59923da9dcad417c20470e55c872f637 Mon Sep 17 00:00:00 2001 From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com> Date: Tue, 24 Sep 2024 10:59:08 +0900 Subject: [PATCH 24/24] feat(system_error_monitor): delete system error monitor (#1178) feat: delete system error monitor Signed-off-by: TetsuKawa --- .../diagnostic_aggregator/system.param.yaml | 15 ----- .../diagnostic_aggregator/vehicle.param.yaml | 11 ---- .../system_error_monitor.awsim.param.yaml | 55 ------------------ .../system_error_monitor.param.yaml | 56 ------------------- ...ror_monitor.planning_simulation.param.yaml | 54 ------------------ autoware_launch/launch/autoware.launch.xml | 1 - .../tier4_system_component.launch.xml | 5 -- .../launch/e2e_simulator.launch.xml | 6 -- 8 files changed, 203 deletions(-) delete mode 100644 autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml delete mode 100644 autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml delete mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml delete mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml delete mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml deleted file mode 100644 index 27cbe3fed2..0000000000 --- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml +++ /dev/null @@ -1,15 +0,0 @@ -/**: - ros__parameters: - system: - type: diagnostic_aggregator/AnalyzerGroup - path: system - analyzers: - debug_data_logger: - type: diagnostic_aggregator/AnalyzerGroup - path: debug_data_logger - analyzers: - storage_error: - type: diagnostic_aggregator/GenericAnalyzer - path: storage_error - contains: ["bagpacker"] - timeout: 3.0 diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml deleted file mode 100644 index e96e3b3b05..0000000000 --- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml +++ /dev/null @@ -1,11 +0,0 @@ -/**: - ros__parameters: - vehicle: - type: diagnostic_aggregator/AnalyzerGroup - path: vehicle - analyzers: - vehicle_errors: - type: diagnostic_aggregator/GenericAnalyzer - path: vehicle_errors - contains: [": vehicle_errors"] - timeout: 1.0 diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml deleted file mode 100644 index 9710e1a1e4..0000000000 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml +++ /dev/null @@ -1,55 +0,0 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. -# -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- -/**: - ros__parameters: - required_modules: - autonomous_driving: - /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default - /autoware/control/control_command_gate/node_alive_monitoring: default - - /autoware/localization/node_alive_monitoring: default - /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_error_ellipse: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_stability: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/map/node_alive_monitoring: default - - /autoware/perception/node_alive_monitoring: default - - /autoware/planning/node_alive_monitoring: default - /autoware/planning/performance_monitoring/trajectory_validation: default - - # /autoware/sensing/node_alive_monitoring: default - # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"} - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default - - external_control: - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml deleted file mode 100644 index c1821a05ab..0000000000 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml +++ /dev/null @@ -1,56 +0,0 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. -# -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- -/**: - ros__parameters: - required_modules: - autonomous_driving: - /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default - /autoware/control/control_command_gate/node_alive_monitoring: default - - /autoware/localization/node_alive_monitoring: default - /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_error_ellipse: default - /autoware/localization/performance_monitoring/localization_stability: default - /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" } - - /autoware/map/node_alive_monitoring: default - - /autoware/perception/node_alive_monitoring: default - - /autoware/planning/node_alive_monitoring: default - /autoware/planning/performance_monitoring/trajectory_validation: default - - # /autoware/sensing/node_alive_monitoring: default - # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"} - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/duplicated_node_checker: default - - /autoware/vehicle/node_alive_monitoring: default - - external_control: - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml deleted file mode 100644 index 8b76c48ac7..0000000000 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml +++ /dev/null @@ -1,54 +0,0 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. -# -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- -/**: - ros__parameters: - required_modules: - autonomous_driving: - /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default - /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default - /autoware/control/control_command_gate/node_alive_monitoring: default - - /autoware/localization/node_alive_monitoring: default - # /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/localization/performance_monitoring/localization_error_ellipse: default - # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"} - /autoware/map/node_alive_monitoring: default - - /autoware/perception/node_alive_monitoring: default - - /autoware/planning/node_alive_monitoring: default - /autoware/planning/performance_monitoring/trajectory_validation: default - - # /autoware/sensing/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/duplicated_node_checker: default - - /autoware/vehicle/node_alive_monitoring: default - - external_control: - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index f5bd2be038..d3f56eb249 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -36,7 +36,6 @@ - diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index cbe58f2425..fa5056b9d9 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,6 +1,5 @@ - @@ -15,10 +14,6 @@ - - - - diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 347e3c977c..c9ca1dd49f 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -32,11 +32,6 @@ - @@ -73,7 +68,6 @@ -