Merge branch 'main' into autoware_msg

autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

@@ -69,8 +69,9 @@
     max_jerk: 2.0
     min_jerk: -5.0
 
-    # pitch
-    use_trajectory_for_pitch_calculation: false
+    # slope compensation
     lpf_pitch_gain: 0.95
+    slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
+    adaptive_trajectory_velocity_th: 1.0
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1

autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml

@@ -19,7 +19,12 @@
     use_vehicle_acceleration: false # whether to consider current vehicle acceleration when predicting paths or not
     speed_limit_multiplier: 1.5 # When using vehicle acceleration. Set vehicle's maximum predicted speed as the legal speed limit in that lanelet times this value
     acceleration_exponential_half_life: 2.5 # [s] When using vehicle acceleration. The decaying acceleration model considers that the current vehicle acceleration will be halved after this many seconds
-    use_crosswalk_signal: true
+    crosswalk_with_signal:
+      use_crosswalk_signal: true
+      threshold_velocity_assumed_as_stopping: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped
+      # If the pedestrian does not move for X seconds against green signal, the module judge that the pedestrian has no intention to walk.
+      distance_set_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order, keys of map
+      timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s] values of map
     # parameter for shoulder lane prediction
     prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
 

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml

@@ -53,11 +53,10 @@
         stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph)
         min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
         ## param for yielding
-        disable_stop_for_yield_cancel: true # for the crosswalks with traffic signal
         disable_yield_for_new_stopped_object: true # for the crosswalks with traffic signal
         # If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed.
-        distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
-        timeout_map_for_no_intention_to_walk: [1.0, 0.0] # [s]
+        distance_set_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
+        timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s]
         timeout_ego_stop_for_yield: 1.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.
 
       # param for target object filtering

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml

@@ -15,6 +15,14 @@
         enable_pass_judge_before_default_stopline: false
 
       stuck_vehicle:
+        target_type:
+          car: true
+          bus: true
+          truck: true
+          trailer: true
+          motorcycle: false
+          bicycle: false
+          unknown: false
         turn_direction:
           left: true
           right: true
@@ -27,6 +35,14 @@
         disable_against_private_lane: true
 
       yield_stuck:
+        target_type:
+          car: true
+          bus: true
+          truck: true
+          trailer: true
+          motorcycle: false
+          bicycle: false
+          unknown: false
         turn_direction:
           left: true
           right: true
@@ -37,6 +53,14 @@
         consider_wrong_direction_vehicle: false
         collision_detection_hold_time: 0.5
         min_predicted_path_confidence: 0.05
+        target_type:
+          car: true
+          bus: true
+          truck: true
+          trailer: true
+          motorcycle: true
+          bicycle: true
+          unknown: false
         velocity_profile:
           use_upstream: true
           minimum_upstream_velocity: 0.01

autoware_launch/launch/autoware.launch.xml

@@ -4,7 +4,6 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
-  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
@@ -56,12 +55,10 @@
   </group>
 
   <!-- Pointcloud container -->
-  <group if="$(var use_pointcloud_container)">
-    <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py">
-      <arg name="use_multithread" value="true"/>
-      <arg name="container_name" value="$(var pointcloud_container_name)"/>
-    </include>
-  </group>
+  <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py">
+    <arg name="use_multithread" value="true"/>
+    <arg name="container_name" value="$(var pointcloud_container_name)"/>
+  </include>
 
   <!-- Vehicle -->
   <group if="$(var launch_vehicle)">

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -7,7 +7,6 @@
 
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
 

autoware_launch/launch/components/tier4_sensing_component.launch.xml

@@ -5,7 +5,6 @@
     <arg name="sensor_model" value="$(var sensor_model)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   </include>
 </launch>

autoware_launch/launch/logging_simulator.launch.xml

@@ -21,7 +21,6 @@
   <arg name="planning" default="true" description="launch planning"/>
   <arg name="control" default="true" description="launch control"/>
   <!-- Pointcloud container -->
-  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <!-- Vehicle -->
   <arg name="launch_vehicle_interface" default="false"/>
@@ -55,7 +54,6 @@
       <!-- Global parameters -->
       <arg name="use_sim_time" value="true"/>
       <!-- Pointcloud container -->
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <!-- Vehicle -->
       <arg name="vehicle_id" value="$(var vehicle_id)"/>

autoware_launch/launch/planning_simulator.launch.xml

@@ -50,8 +50,6 @@
       <arg name="launch_sensing" value="false"/>
       <arg name="launch_localization" value="false"/>
       <arg name="launch_perception" value="false"/>
-      <!-- Pointcloud container -->
-      <arg name="use_pointcloud_container" value="false"/>
       <!-- Vehicle -->
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- System -->