Merge pull request autowarefoundation#578 from tier4/sync-awf-latest

chore: sync awf-latest

control_launch/config/trajectory_follower/mpc_follower.param.yaml

@@ -44,7 +44,7 @@
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.24                # steering input delay time for delay compensation
     vehicle_model_steer_tau: 0.3     # steering dynamics time constant (1d approximation) [s]
-    steer_rate_lim_dps: 600.0        # steering angle rate limit [deg/s]
+    steer_rate_lim_dps: 40.0         # steering angle rate limit [deg/s]
     acceleration_limit: 2.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]
 

planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml

@@ -48,5 +48,11 @@
     post_sparse_resample_dt: 0.1             # resample time interval for sparse sampling [s]
     post_sparse_min_interval_distance: 1.0   # minimum points-interval length for sparse sampling [m]
 
+    # steering angle rate limit parameters
+    max_steering_angle_rate: 40.0            # maximum steering angle rate [degree/s]
+    resample_ds: 0.1                         # distance between trajectory points [m]
+    curvature_threshold: 0.02                # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m]
+    curvature_calculation_distance: 1.0      # distance of points while curvature is calculating [m]
+
     # system
-    over_stop_velocity_warn_thr: 1.389  # used to check if the optimization exceeds the input velocity on the stop point
+    over_stop_velocity_warn_thr: 1.389       # used to check if the optimization exceeds the input velocity on the stop point

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

@@ -27,9 +27,13 @@
 
     visualize_drivable_area_for_shared_linestrings_lanelet: true
 
-    lateral_distance_max_threshold: 5.0
+    lateral_distance_max_threshold: 2.0
     longitudinal_distance_min_threshold: 3.0
-    expected_front_deceleration: -1.0
+    expected_front_deceleration: -0.5
     expected_rear_deceleration: -1.0
+
+    expected_front_deceleration_for_abort: -2.0
+    expected_rear_deceleration_for_abort: -2.5
+
     rear_vehicle_reaction_time: 2.0
     rear_vehicle_safety_time_margin: 2.0

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

@@ -3,7 +3,7 @@
     lane_change:
       lane_change_prepare_duration: 4.0         # [s]
       lane_changing_duration: 8.0               # [s]
-      minimum_lane_change_prepare_distance: 4.0 # [m]
+      minimum_lane_change_prepare_distance: 2.0 # [m]
       lane_change_finish_judge_buffer: 3.0      # [m]
       minimum_lane_change_velocity: 5.6         # [m/s]
       prediction_time_resolution: 0.5           # [s]
@@ -15,5 +15,5 @@
       enable_abort_lane_change: true
       enable_collision_check_at_prepare_phase: true
       use_predicted_path_outside_lanelet: true
-      use_all_predicted_path: true
+      use_all_predicted_path: false
       publish_debug_marker: false

system_launch/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml

@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    update_rate: 10
+    min_acceleration: -1.0
+    max_jerk: 0.3
+    min_jerk: -0.3

system_launch/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    update_rate: 30
+    target_acceleration: -2.5
+    target_jerk: -1.5

system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml

@@ -0,0 +1,49 @@
+#   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/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        /autoware/localization/performance_monitoring/localization_accuracy: default
+
+        /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/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/vehicle/node_alive_monitoring: default

system_launch/launch/system.launch.xml

@@ -40,7 +40,12 @@
 
     <!-- Error Monitor -->
     <group>
-      <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor/system_error_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
+      <let
+        name="config_file"
+        value="$(find-pkg-share system_launch)/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml"
+        if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"
+      />
       <include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
         <arg name="config_file" value="$(var config_file)" />
         <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
@@ -60,11 +65,15 @@
 
     <!-- MRM Operator -->
     <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
       <include file="$(find-pkg-share mrm_comfortable_stop_operator)/launch/mrm_comfortable_stop_operator.launch.py">
-        <arg name="config_file" value="$(find-pkg-share mrm_comfortable_stop_operator)/config/mrm_comfortable_stop_operator.param.yaml"/>
+        <arg name="config_file" value="$(var config_file)" />
       </include>
+    </group>
+    <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
       <include file="$(find-pkg-share mrm_emergency_stop_operator)/launch/mrm_emergency_stop_operator.launch.py">
-        <arg name="config_file" value="$(find-pkg-share mrm_emergency_stop_operator)/config/mrm_emergency_stop_operator.param.yaml"/>
+        <arg name="config_file" value="$(var config_file)" />
       </include>
     </group>