Merge branch 'autowarefoundation:main' into update_processing_time_list

autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml

@@ -12,8 +12,8 @@
     grid_length_y: 70.0
     grid_position_x: 0.0
     grid_position_y: 0.0
-    maximum_lidar_height_thres: 0.3
-    minimum_lidar_height_thres: -2.2
+    maximum_lidar_height_thres: 2.5  # [m] when use_points is true, ignore points with a z value above this (in the vehicle_frame)
+    minimum_lidar_height_thres: 0.0  # [m] when use_points is true, ignore points with a z value bellow this (in the vehicle_frame)
     use_wayarea: true
     use_parkinglot: true
     use_objects: true

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

@@ -139,13 +139,13 @@
           min_velocity: 1.0
           min_acceleration: 1.0
           max_velocity: 1.0
-          time_horizon_for_front_object: 10.0
-          time_horizon_for_rear_object: 10.0
+          time_horizon_for_front_object: 5.0
+          time_horizon_for_rear_object: 5.0
           time_resolution: 0.5
           delay_until_departure: 1.0
         # For target object filtering
         target_filtering:
-          safety_check_time_horizon: 10.0
+          safety_check_time_horizon: 5.0
           safety_check_time_resolution: 1.0
           # detection range
           object_check_forward_distance: 100.0
@@ -179,7 +179,7 @@
           # safety check configuration
           enable_safety_check: true
           method: "integral_predicted_polygon"
-          keep_unsafe_time: 3.0
+          keep_unsafe_time: 0.5
           # collision check parameters
           publish_debug_marker: false
           rss_params:
@@ -192,7 +192,7 @@
             forward_margin: 1.0
             backward_margin: 1.0
             lat_margin: 1.0
-            time_horizon: 10.0
+            time_horizon: 5.0
           # hysteresis factor to expand/shrink polygon with the value
           hysteresis_factor_expand_rate: 1.0
           collision_check_yaw_diff_threshold: 3.1416

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

@@ -13,8 +13,6 @@
 
         # For the Lanelet2 map with no explicit stop lines
         stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk
-        # 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_preferred: 3.0 # [m]
         stop_distance_from_object_limit: 3.0 # [m]
@@ -79,7 +77,7 @@
 
       # param for occlusions
       occlusion:
-        enable: true  # if true, ego will slowdown around crosswalks that are occluded
+        enable: false # if true, ego will slowdown around crosswalks that are occluded
         occluded_object_velocity: 2.0 # [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

autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml

@@ -14,4 +14,23 @@
 /**:
   ros__parameters:
     required_diags:
-      dummy_diag_empty: default
+      # map
+      ## /autoware/map/topic_rate_check/pointcloud_map
+      "topic_state_monitor_pointcloud_map: map_topic_status": default
+
+      # localization
+      ## /autoware/localization/scan_matching_status
+      "ndt_scan_matcher: scan_matching_status": default
+
+      ## /autoware/localization/accuracy
+      "localization_error_monitor: ellipse_error_status": default
+
+      ## /autoware/localization/sensor_fusion_status
+      "localization: ekf_localizer": default
+
+      ## /autoware/localization/topic_rate_check/pose_twist_fusion
+      "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default
+
+      # perception
+      ## /autoware/perception/topic_rate_check/pointcloud
+      "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default

autoware_launch/launch/components/tier4_simulator_component.launch.xml

@@ -4,7 +4,7 @@
   <arg name="launch_dummy_vehicle"/>
   <arg name="localization_sim_mode"/>
   <arg name="launch_dummy_doors"/>
-  <arg name="launch_diagnostic_converter"/>
+  <arg name="launch_scenario_simulator_v2_adapter"/>
   <arg name="perception/enable_detection_failure"/>
   <arg name="perception/enable_object_recognition"/>
   <arg name="perception/use_base_link_z"/>
@@ -20,7 +20,7 @@
     <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
     <arg name="localization_sim_mode" value="$(var localization_sim_mode)"/>
     <arg name="launch_dummy_doors" value="$(var launch_dummy_doors)"/>
-    <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
+    <arg name="launch_scenario_simulator_v2_adapter" value="$(var launch_scenario_simulator_v2_adapter)"/>
     <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
     <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
     <arg name="perception/use_base_link_z" value="$(var perception/use_base_link_z)"/>

autoware_launch/launch/planning_simulator.launch.xml

@@ -18,7 +18,7 @@
   <!-- System -->
   <arg name="launch_dummy_doors" default="true" description="launch dummy doors simulation"/>
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
-  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
+  <arg name="launch_dummy_diag_publisher" default="true" description="launch dummy diag publisher"/>
   <!-- Scenario simulation -->
   <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
   <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
@@ -68,7 +68,7 @@
       <arg name="system_run_mode" value="planning_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-psim.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
@@ -88,14 +88,14 @@
     <let name="launch_dummy_perception" value="true" unless="$(var scenario_simulation)"/>
     <let name="launch_dummy_vehicle" value="false" if="$(var scenario_simulation)"/>
     <let name="launch_dummy_vehicle" value="true" unless="$(var scenario_simulation)"/>
-    <let name="launch_diagnostic_converter" value="$(var scenario_simulation)"/>
+    <let name="launch_scenario_simulator_v2_adapter" value="$(var scenario_simulation)"/>
 
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_simulator_component.launch.xml">
       <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
       <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
       <arg name="localization_sim_mode" value="$(var localization_sim_mode)"/>
       <arg name="launch_dummy_doors" value="$(var launch_dummy_doors)"/>
-      <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
+      <arg name="launch_scenario_simulator_v2_adapter" value="$(var launch_scenario_simulator_v2_adapter)"/>
       <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
       <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
       <arg name="perception/use_base_link_z" value="$(var perception/use_base_link_z)"/>

autoware_launch/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_launch</name>
-  <version>0.1.0</version>
+  <version>0.38.0</version>
   <description>The autoware_launch package</description>
 
   <maintainer email="[email protected]">Yukihiro Saito</maintainer>

autoware_launch/rviz/planning_bev.rviz

@@ -68,6 +68,8 @@ Panels:
     Name: LoggingLevelConfigureRvizPlugin
   - Class: rviz_plugins::RTCManagerPanel
     Name: RTCManagerPanel
+  - Class: rviz_plugins::VelocitySteeringFactorsPanel
+    Name: VelocitySteeringFactorsPanel
 Visualization Manager:
   Class: ""
   Displays:

autoware_launch/rviz/planning_tpv.rviz

@@ -67,6 +67,8 @@ Panels:
     Name: LoggingLevelConfigureRvizPlugin
   - Class: rviz_plugins::RTCManagerPanel
     Name: RTCManagerPanel
+  - Class: rviz_plugins::VelocitySteeringFactorsPanel
+    Name: VelocitySteeringFactorsPanel
 Visualization Manager:
   Class: ""
   Displays: