Merge pull request autowarefoundation#554 from tier4/sync-awf-latest

chore: sync awf-latest
Kazunori-Nakajima · Aug 21, 2024 · e5ab552 · e5ab552
2 parents f371587 + 5a39a41
commit e5ab552
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Showing 5 changed files with 10 additions and 5 deletions.
diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -4,15 +4,13 @@
     system_emergency_heartbeat_timeout: 0.5
     use_emergency_handling: true
     check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
-    use_start_request: false
     enable_cmd_limit_filter: true
     filter_activated_count_threshold: 5
     filter_activated_velocity_threshold: 1.0
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4
     moderate_stop_service_acceleration: -1.5
-    stopped_state_entry_duration_time: 0.1
     stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0

diff --git a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml
@@ -18,5 +18,5 @@
     use_parkinglot: true
     use_objects: true
     use_points: true
-    expand_polygon_size: 1.0
+    expand_polygon_size: 0.5
     size_of_expansion_kernel: 9
diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -113,9 +113,11 @@
             use_back: true
             adapt_expansion_distance: true
             expansion_distance: 0.5
+            near_goal_distance: 3.0
             distance_heuristic_weight: 2.0
             smoothness_weight: 0.5
             obstacle_distance_weight: 1.75
+            goal_lat_distance_weight: 5.0
           # -- RRT* search Configurations --
           rrtstar:
             enable_update: true

diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -83,9 +83,11 @@
           use_back: true
           adapt_expansion_distance: true
           expansion_distance: 0.5
+          near_goal_distance: 3.0
           distance_heuristic_weight: 2.0
           smoothness_weight: 0.5
           obstacle_distance_weight: 1.75
+          goal_lat_distance_weight: 5.0
         # -- RRT* search Configurations --
         rrtstar:
           enable_update: true

diff --git a/.../config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/.../config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
@@ -4,11 +4,12 @@
     planning_algorithm: "astar"
     waypoints_velocity: 5.0
     update_rate: 10.0
-    th_arrived_distance_m: 1.0
+    th_arrived_distance_m: 0.5
     th_stopped_time_sec: 1.0
     th_stopped_velocity_mps: 0.01
     th_course_out_distance_m: 1.0
-    vehicle_shape_margin_m: 1.0
+    th_obstacle_time_sec: 1.0
+    vehicle_shape_margin_m: 0.5
     replan_when_obstacle_found: true
     replan_when_course_out: true
 
@@ -36,9 +37,11 @@
       use_back: true
       adapt_expansion_distance: true
       expansion_distance: 0.5
+      near_goal_distance: 3.0
       distance_heuristic_weight: 2.0
       smoothness_weight: 0.5
       obstacle_distance_weight: 1.75
+      goal_lat_distance_weight: 5.0
 
     # -- RRT* search Configurations --
     rrtstar: