Merge pull request autowarefoundation#612 from tier4/sync-awf-latest

chore: sync awf-latest

.github/workflows/sync-awf-latest-s1.yaml

@@ -0,0 +1,31 @@
+name: sync-awf-latest-s1
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-awf-latest-s1:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: awf-latest-s1
+          sync-pr-branch: sync-awf-latest-s1
+          sync-target-repository: https://github.com/tier4/autoware_launch.git
+          sync-target-branch: awf-latest
+          pr-title: "chore: sync awf-latest-s1"
+          pr-labels: |
+            bot
+            sync-awf-latest-s1
+          auto-merge-method: merge

.github/workflows/sync-awf-latest-x1.yaml

@@ -0,0 +1,31 @@
+name: sync-awf-latest-x1
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-awf-latest-x1:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: awf-latest-x1
+          sync-pr-branch: sync-awf-latest-x1
+          sync-target-repository: https://github.com/tier4/autoware_launch.git
+          sync-target-branch: awf-latest
+          pr-title: "chore: sync awf-latest-x1"
+          pr-labels: |
+            bot
+            sync-awf-latest-x1
+          auto-merge-method: merge

.github/workflows/sync-awf-latest-x2.yaml

@@ -0,0 +1,31 @@
+name: sync-awf-latest-x2
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-awf-latest-x2:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: awf-latest-x2
+          sync-pr-branch: sync-awf-latest-x2
+          sync-target-repository: https://github.com/tier4/autoware_launch.git
+          sync-target-branch: awf-latest
+          pr-title: "chore: sync awf-latest-x2"
+          pr-labels: |
+            bot
+            sync-awf-latest-x2
+          auto-merge-method: merge

.github/workflows/sync-awf-latest-xx1.yaml

@@ -0,0 +1,31 @@
+name: sync-awf-latest-xx1
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-awf-latest-xx1:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: awf-latest-xx1
+          sync-pr-branch: sync-awf-latest-xx1
+          sync-target-repository: https://github.com/tier4/autoware_launch.git
+          sync-target-branch: awf-latest
+          pr-title: "chore: sync awf-latest-xx1"
+          pr-labels: |
+            bot
+            sync-awf-latest-xx1
+          auto-merge-method: merge

autoware_launch/launch/planning_simulator.launch.xml

@@ -72,7 +72,7 @@
       <!-- options for longitudinal_controller_mode: pid -->
       <arg name="longitudinal_controller_mode" value="pid" />
       <!-- Options for external emergency stop module. Heartbeat topic is required if this is true. -->
-      <arg name="use_external_emergency_stop" value="false" />
+      <arg name="check_external_emergency_heartbeat" value="false" />
     </include>
   </group>
 

control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml

@@ -3,6 +3,8 @@
     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.
+    nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
+    nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
     engage_acceptable_limits:
       allow_autonomous_in_stopped: true  # no check if the velocity is zero, always allowed.
       dist_threshold: 1.5

control_launch/config/trajectory_follower/mpc_follower.param.yaml

@@ -12,6 +12,9 @@
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
 
+    # -- trajectory extending --
+    extend_trajectory_for_end_yaw_control: true  # flag of trajectory extending for terminal yaw control
+
     # -- mpc optimization --
     qp_solver_type: "osqp"                       # optimization solver option (unconstraint_fast or osqp)
     mpc_prediction_horizon: 50                   # prediction horizon step

control_launch/launch/control.launch.py

@@ -168,7 +168,9 @@ def launch_setup(context, *args, **kwargs):
             vehicle_cmd_gate_param,
             {
                 "use_emergency_handling": LaunchConfiguration("use_emergency_handling"),
-                "use_external_emergency_stop": LaunchConfiguration("use_external_emergency_stop"),
+                "check_external_emergency_heartbeat": LaunchConfiguration(
+                    "check_external_emergency_heartbeat"
+                ),
                 "use_start_request": LaunchConfiguration("use_start_request"),
             },
         ],
@@ -325,7 +327,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
 
     # vehicle cmd gate
     add_launch_arg("use_emergency_handling", "false", "use emergency handling")
-    add_launch_arg("use_external_emergency_stop", "true", "use external emergency stop")
+    add_launch_arg("check_external_emergency_heartbeat", "true", "use external emergency stop")
     add_launch_arg("use_start_request", "false", "use start request service")
 
     # external cmd selector

control_launch/launch/control.launch.xml

@@ -7,7 +7,7 @@
   <arg name="operation_mode_transition_manager_param_path" default="$(find-pkg-share control_launch)/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml"/>
   <arg name="shift_decider_param_path" default="$(find-pkg-share control_launch)/config/shift_decider/shift_decider.param.yaml"/>
   <arg name="initial_selector_mode" default="remote"/>
-  <arg name="use_external_emergency_stop" default="true"/>
+  <arg name="check_external_emergency_heartbeat" default="true"/>
 
   <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
     <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)" />
@@ -17,7 +17,7 @@
     <arg name="operation_mode_transition_manager_param_path" value="$(var operation_mode_transition_manager_param_path)"/>
     <arg name="shift_decider_param_path" value="$(var shift_decider_param_path)"/>
     <arg name="initial_selector_mode" value="$(var initial_selector_mode)"/>
-    <arg name="use_external_emergency_stop" value="$(var use_external_emergency_stop)"/>
+    <arg name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
   </include>
 
 </launch>

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml

@@ -8,12 +8,6 @@
     minimum_lane_change_length: 12.0
     minimum_pull_over_length: 16.0
 
-    drivable_area_resolution: 0.1
-    drivable_lane_forward_length: 50.0
-    drivable_lane_backward_length:  5.0
-    drivable_lane_margin: 1.0
-    drivable_area_margin: 6.0
-
     refine_goal_search_radius_range: 7.5
 
     # parameters for turn signal decider

planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml

@@ -4,14 +4,17 @@
       planning_algorithm: "pid_base" # currently supported algorithm is "pid_base"
 
       is_showing_debug_info: false
+      disable_stop_planning: false # true
 
       # longitudinal info
-      idling_time: 1.5 # idling time to detect front vehicle starting deceleration [s]
+      idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
       min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
       min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
       safe_distance_margin : 6.0 # This is also used as a stop margin [m]
       terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
 
+      lpf_gain_for_accel: 0.2 # gain of low pass filter for ego acceleration [-]
+
       nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
       min_behavior_stop_margin: 3.0 # [m]
@@ -25,7 +28,7 @@
         bus: true
         trailer: true
         motorcycle: true
-        bicycle: false
+        bicycle: true
         pedestrian: false
 
       stop_obstacle_type:
@@ -72,21 +75,41 @@
         pedestrian: true
 
     pid_based_planner:
-      # use_predicted_obstacle_pose: false
+      use_velocity_limit_based_planner: true
+      error_function_type: quadratic # choose from linear, quadratic
 
-      # PID gains to keep safe distance with the front vehicle
-      kp: 2.5
-      ki: 0.0
-      kd: 2.3
+      velocity_limit_based_planner:
+          # PID gains to keep safe distance with the front vehicle
+          kp: 10.0
+          ki: 0.0
+          kd: 2.0
 
-      min_accel_during_cruise: -2.0 # minimum acceleration during cruise to slow down [m/ss]
+          output_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
+          vel_to_acc_weight: 12.0 # target acceleration is calculated by (target_velocity - current_velocity) * vel_to_acc_weight [-]
+
+          enable_jerk_limit_to_output_acc: false
+
+          disable_target_acceleration: true
 
-      output_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
-      vel_to_acc_weight: 3.0 # target acceleration is calculated by (target_velocity - current_velocity) * vel_to_acc_weight [-]
+      velocity_insertion_based_planner:
+          kp_acc: 6.0
+          ki_acc: 0.0
+          kd_acc: 2.0
 
+          kp_jerk: 20.0
+          ki_jerk: 0.0
+          kd_jerk: 0.0
+
+          output_acc_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
+          output_jerk_ratio_during_accel: 1.0 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
+
+          enable_jerk_limit_to_output_acc: true
+
+      min_accel_during_cruise: -2.0 # minimum acceleration during cruise to slow down [m/ss]
       min_cruise_target_vel: 0.0 # minimum target velocity during slow down [m/s]
+      time_to_evaluate_rss: 0.0
 
-      lpf_cruise_gain: 0.2
+      lpf_normalized_error_cruise_dist_gain: 0.2
 
     optimization_based_planner:
       dense_resampling_time_interval: 0.2