From d387e66e279247c3ba849dc8399f4273f0bdfb58 Mon Sep 17 00:00:00 2001
From: Berkay Karaman <brkay54@gmail.com>
Date: Fri, 22 Sep 2023 16:08:04 +0300
Subject: [PATCH] feat(autoware_launch): add predicted_path_checker package

Signed-off-by: Berkay Karaman <brkay54@gmail.com>
---
 .../predicted_path_checker.param.yaml         | 22 +++++++++++++++++++
 .../tier4_control_component.launch.xml        |  3 +++
 2 files changed, 25 insertions(+)
 create mode 100644 autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml

diff --git a/autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml b/autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml
new file mode 100644
index 0000000000..780d86b5e9
--- /dev/null
+++ b/autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml
@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    # Node
+    update_rate: 10.0
+    delay_time: 0.17
+    max_deceleration: 1.5
+    resample_interval: 0.5
+    stop_margin: 0.5 # [m]
+    ego_nearest_dist_threshold: 3.0 # [m]
+    ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]
+    min_trajectory_check_length: 1.5 # [m]
+    trajectory_check_time: 3.0
+    distinct_point_distance_threshold: 0.3
+    distinct_point_yaw_threshold: 5.0 # [deg]
+    filtering_distance_threshold: 1.5 # [m]
+    use_object_prediction: true
+
+    collision_checker_params:
+      width_margin: 0.2
+      chattering_threshold: 0.2
+      z_axis_filtering_buffer: 0.3
+      enable_z_axis_obstacle_filtering: false
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index 8b29135048..d15e050d7a 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -5,6 +5,7 @@
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
   <arg name="enable_autonomous_emergency_braking" default="false"/>
+  <arg name="enable_predicted_path_checker" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
@@ -42,5 +43,7 @@
     <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
     <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
     <arg name="enable_autonomous_emergency_braking" value="$(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"/>
   </include>
 </launch>