Merge branch 'main' into feat/rework_tracking_parameters

autowarefoundation · Dec 6, 2023 · 88e76ed · 88e76ed
2 parents 3f62c89 + 0960260
commit 88e76ed
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Showing 5 changed files with 30 additions and 14 deletions.
diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -47,6 +47,7 @@
           max_ego_path_lat_cover_ratio: 0.3  # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value.
 
       drivable_area_generation:
+        polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]
 

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
@@ -119,7 +119,7 @@
         # EgoPredictedPath
         ego_predicted_path:
           min_velocity: 1.0
-          acceleration: 1.0
+          min_acceleration: 1.0
           max_velocity: 1.0
           time_horizon_for_front_object: 10.0
           time_horizon_for_rear_object: 10.0

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
@@ -2,8 +2,6 @@
   ros__parameters:
     start_planner:
 
-      verbose: false
-
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
@@ -85,7 +83,7 @@
         # EgoPredictedPath
         ego_predicted_path:
           min_velocity: 0.0
-          acceleration: 1.0
+          min_acceleration: 1.0
           max_velocity: 1.0
           time_horizon_for_front_object: 10.0
           time_horizon_for_rear_object: 10.0
@@ -140,3 +138,7 @@
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0
+
+      # debug
+      debug:
+        print_debug_info: false
diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml
@@ -89,6 +89,19 @@
     error_rate: 1.0
     timeout: 1.0
 
+- module: perception
+  mode: [online, logging_simulation]
+  type: autonomous
+  args:
+    node_name_suffix: traffic_light_recognition_traffic_signals
+    topic: /perception/traffic_light_recognition/traffic_signals
+    topic_type: autoware_perception_msgs/msg/TrafficSignalArray
+    best_effort: false
+    transient_local: false
+    warn_rate: 5.0
+    error_rate: 1.0
+    timeout: 1.0
+
 - module: planning
   mode: [online, logging_simulation, planning_simulation]
   type: autonomous

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -2485,13 +2485,13 @@ Visualization Manager:
                   Perception:
                     CameraLidarFusion(purple): true
                     Centerpoint(red1): true
-                    CenterpointROIFusion(red3): true
-                    CenterpointValidator(red2): true
+                    CenterpointROIFusion(red2): true
+                    CenterpointValidator(red3): true
                     Detection(yellow): true
                     DetectionByTracker(cyan): true
                     PointPainting(light_green1): true
-                    PointPaintingROIFusion(light_green3): true
-                    PointPaintingValidator(light_green2): true
+                    PointPaintingROIFusion(light_green2): true
+                    PointPaintingValidator(light_green3): true
                     Prediction(light_blue): true
                     RadarFarObjects(white): true
                     Tracking(green): true
@@ -2954,7 +2954,7 @@ Visualization Manager:
               MOTORCYCLE:
                 Alpha: 0.9990000128746033
                 Color: 255; 82; 82
-              Name: CenterpointValidator(red2)
+              Name: CenterpointROIFusion(red2)
               Namespaces:
                 {}
               PEDESTRIAN:
@@ -2972,7 +2972,7 @@ Visualization Manager:
                 Durability Policy: Volatile
                 History Policy: Keep Last
                 Reliability Policy: Best Effort
-                Value: /perception/object_recognition/detection/centerpoint/validation/objects
+                Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects
               UNKNOWN:
                 Alpha: 0.9990000128746033
                 Color: 255; 82; 82
@@ -3001,7 +3001,7 @@ Visualization Manager:
               MOTORCYCLE:
                 Alpha: 0.9990000128746033
                 Color: 213; 0; 0
-              Name: CenterpointROIFusion(red3)
+              Name: CenterpointValidator(red3)
               Namespaces:
                 {}
               PEDESTRIAN:
@@ -3095,7 +3095,7 @@ Visualization Manager:
               MOTORCYCLE:
                 Alpha: 0.9990000128746033
                 Color: 118; 255; 3
-              Name: PointPaintingValidator(light_green2)
+              Name: PointPaintingROIFusion(light_green2)
               Namespaces:
                 {}
               PEDESTRIAN:
@@ -3113,7 +3113,7 @@ Visualization Manager:
                 Durability Policy: Volatile
                 History Policy: Keep Last
                 Reliability Policy: Best Effort
-                Value: /perception/object_recognition/detection/pointpainting/validation/objects
+                Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects
               UNKNOWN:
                 Alpha: 0.9990000128746033
                 Color: 118; 255; 3
@@ -3142,7 +3142,7 @@ Visualization Manager:
               MOTORCYCLE:
                 Alpha: 0.9990000128746033
                 Color: 100; 221; 23
-              Name: PointPaintingROIFusion(light_green3)
+              Name: PointPaintingValidator(light_green3)
               Namespaces:
                 {}
               PEDESTRIAN: