feat(autonomous_emergency_braking): add autoware prefix to AEB (#1019)

* rename AEB param folder Signed-off-by: Daniel Sanchez <[email protected]> * change param path and add commented out emergency stop enabling Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>
autowarefoundation · Jun 7, 2024 · 257a024 · 257a024
1 parent d723d71
commit 257a024
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Showing 5 changed files with 4 additions and 2 deletions.
diff --git a/...g/autonomous_emergency_braking.param.yaml → ...g/autonomous_emergency_braking.param.yaml b/...g/autonomous_emergency_braking.param.yaml → ...g/autonomous_emergency_braking.param.yaml
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
@@ -35,6 +35,7 @@
         /autoware/planning/performance_monitoring/trajectory_validation: default
 
         # /autoware/sensing/node_alive_monitoring: default
+        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default

diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -35,6 +35,7 @@
         /autoware/planning/performance_monitoring/trajectory_validation: default
 
         # /autoware/sensing/node_alive_monitoring: default
+        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default

diff --git a/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -25,7 +25,7 @@
         /autoware/localization/node_alive_monitoring: default
         # /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
         # /autoware/localization/performance_monitoring/localization_error_ellipse: default
-
+        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
         /autoware/map/node_alive_monitoring: default
 
         /autoware/perception/node_alive_monitoring: default

diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -39,7 +39,7 @@
     <arg name="shift_decider_param_path" value="$(find-pkg-share autoware_launch)/config/control/shift_decider/shift_decider.param.yaml"/>
     <arg name="obstacle_collision_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml"/>
     <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
-    <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
+    <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
     <arg name="enable_autonomous_emergency_braking" value="$(var enable_autonomous_emergency_braking)"/>
     <arg name="enable_predicted_path_checker" value="$(var enable_predicted_path_checker)"/>
     <arg name="predicted_path_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/predicted_path_checker/predicted_path_checker.param.yaml"/>