From c7460372d8b5be5cb446cf7729d06dd03ecf62a7 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 2 Dec 2022 09:32:27 +0900 Subject: [PATCH 1/4] feat(planning_launch): add new param to avoidance.param.yaml (#569) * feat(planning_launch): add new param to avoidance.param.yaml Signed-off-by: satoshi-ota * fix(planning_launch): reorder params for readability Signed-off-by: satoshi-ota Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index b90ddf20bd..4fe82e3a05 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -10,11 +10,19 @@ enable_avoidance_over_same_direction: true enable_avoidance_over_opposite_direction: true - threshold_distance_object_is_on_center: 1.0 # [m] + # For target object filtering threshold_speed_object_is_stopped: 1.0 # [m/s] threshold_time_object_is_moving: 1.0 # [s] + object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 2.0 # [m] + + threshold_distance_object_is_on_center: 1.0 # [m] + + object_check_shiftable_ratio: 0.6 # [-] + object_check_min_road_shoulder_width: 0.5 # [m] + + # For lateral margin object_envelope_buffer: 0.3 # [m] lateral_collision_margin: 1.0 # [m] lateral_collision_safety_buffer: 0.7 # [m] From b32d2ed49618b9b5cb2cb0d036e870306f424543 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 6 Dec 2022 13:57:19 +0900 Subject: [PATCH 2/4] feat(transition_manager): add param to ignore autonomous transition condition (#591) Signed-off-by: Takamasa Horibe Signed-off-by: Takamasa Horibe --- .../operation_mode_transition_manager.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml index 45014428d0..a0ddef6e36 100644 --- a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml +++ b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml @@ -2,6 +2,7 @@ ros__parameters: transition_timeout: 10.0 frequency_hz: 10.0 + check_engage_condition: false # set false if you do not want to care about the engage condition. engage_acceptable_limits: allow_autonomous_in_stopped: true # no check if the velocity is zero, always allowed. dist_threshold: 1.5 From b672bc74ede0b174d0bbdf630652fe9e7a8440ce Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 7 Dec 2022 20:25:45 +0900 Subject: [PATCH 3/4] feat(autoware_launch): remove web_controller (#593) Signed-off-by: Takayuki Murooka Signed-off-by: Takayuki Murooka --- autoware_launch/launch/autoware.launch.xml | 3 --- autoware_launch/launch/logging_simulator.launch.xml | 3 --- autoware_launch/launch/planning_simulator.launch.xml | 3 --- autoware_launch/package.xml | 1 - 4 files changed, 10 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index daee5d1f31..105aeea3f4 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -115,8 +115,5 @@ if="$(var rviz)" /> - - - diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index f966932c13..d40700521b 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -130,8 +130,5 @@ if="$(var rviz)" /> - - - diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 7ff1b4afbe..e6bbf391a0 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -93,9 +93,6 @@ if="$(var rviz)" /> - - - diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index 66defd0733..2fa28bd87a 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -24,7 +24,6 @@ tier4_map_launch tier4_sensing_launch tier4_vehicle_launch - web_controller ament_lint_auto autoware_lint_common From f11809dd04a6be7de15f1726bf45ab91688819a7 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 8 Dec 2022 00:28:56 +0900 Subject: [PATCH 4/4] fix(autoware_api_launch): add rosbridge_server dependency (#594) Signed-off-by: Takayuki Murooka Signed-off-by: Takayuki Murooka --- autoware_api_launch/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_api_launch/package.xml b/autoware_api_launch/package.xml index 71a37f44f0..ef6f3e838a 100644 --- a/autoware_api_launch/package.xml +++ b/autoware_api_launch/package.xml @@ -14,6 +14,7 @@ awapi_awiv_adapter default_ad_api path_distance_calculator + rosbridge_server topic_tools ament_lint_auto