Merge branch 'main' into refactor/image_projection_param

autoware_launch/config/control/control_validator/control_validator.param.yaml

@@ -1,8 +1,6 @@
 /**:
   ros__parameters:
 
-    publish_diag: false  # if true, diagnostic msg is published
-
     # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.
     # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if
     #  the next predicted_path is valid.)

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -13,7 +13,7 @@
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
 
     # -- trajectory extending --
-    extend_trajectory_for_end_yaw_control: true  # flag of trajectory extending for terminal yaw control
+    extend_trajectory_for_end_yaw_control: false  # flag of trajectory extending for terminal yaw control
 
     # -- mpc optimization --
     qp_solver_type: "osqp"                       # optimization solver option (unconstraint_fast or osqp)

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/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -3,7 +3,7 @@
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
     use_emergency_handling: false
-    check_external_emergency_heartbeat: false
+    check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
     use_start_request: false
     enable_cmd_limit_filter: true
     filter_activated_count_threshold: 5

autoware_launch/config/localization/ar_tag_based_localizer.param.yaml

@@ -0,0 +1,40 @@
+/**:
+  ros__parameters:
+    # marker_size
+    marker_size: 0.6
+
+    # target_tag_ids
+    target_tag_ids: ['0','1','2','3','4','5','6']
+
+    # base_covariance
+    #   This value is dynamically scaled according to the distance at which AR tags are detected.
+    base_covariance: [0.2, 0.0, 0.0, 0.0,  0.0,  0.0,
+                      0.0, 0.2, 0.0, 0.0,  0.0,  0.0,
+                      0.0, 0.0, 0.2, 0.0,  0.0,  0.0,
+                      0.0, 0.0, 0.0, 0.02, 0.0,  0.0,
+                      0.0, 0.0, 0.0, 0.0,  0.02, 0.0,
+                      0.0, 0.0, 0.0, 0.0,  0.0,  0.02]
+
+    # Detect AR-Tags within this range and publish the pose of ego vehicle
+    distance_threshold: 13.0  # [m]
+
+    # consider_orientation
+    consider_orientation: false
+
+    # Detector parameters
+    # See https://github.com/pal-robotics/aruco_ros/blob/7787a6794d30c248bc546d1582e65dd47bc40c12/aruco/include/aruco/markerdetector.h#L106-L126
+    detection_mode: "DM_NORMAL"  # select from [DM_NORMAL, DM_FAST, DM_VIDEO_FAST]
+    min_marker_size: 0.02
+
+    # Parameters for comparison with EKF Pose
+    # If the difference between the EKF pose and the current pose is within the range of values set below, the current pose is published.
+    # [How to determine the value]
+    # * ekf_time_tolerance: Since it is abnormal if the data comes too old from EKF, the tentative tolerance value is set at 5 seconds.
+    #                       This value is assumed to be unaffected even if it is increased or decreased by some amount.
+    # * ekf_position_tolerance: Since it is possible that multiple AR tags with the same ID could be placed, the tolerance should be as small as possible.
+    #                           And if the vehicle is running only on odometry in a section without AR tags,
+    #                           it is possible that self-position estimation could be off by a few meters.
+    #                           it should be fixed by AR tag detection, so tolerance should not be smaller than 10 meters.
+    #                           Therefore, the tolerance is set at 10 meters.
+    ekf_time_tolerance: 5.0 # [s]
+    ekf_position_tolerance: 10.0 # [m]

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -1,37 +1,46 @@
 /**:
   ros__parameters:
-    show_debug_info: false
-    enable_yaw_bias_estimation: true
-    predict_frequency: 50.0
-    tf_rate: 50.0
-    publish_tf: true
-    extend_state_step: 50
+    node:
+      show_debug_info: false
+      enable_yaw_bias_estimation: true
+      predict_frequency: 50.0
+      tf_rate: 50.0
+      publish_tf: true
+      extend_state_step: 50
 
-    # for Pose measurement
-    pose_additional_delay: 0.0
-    pose_measure_uncertainty_time: 0.01
-    pose_smoothing_steps: 5
-    pose_gate_dist: 10000.0
+    pose_measurement:
+      # for Pose measurement
+      pose_additional_delay: 0.0
+      pose_measure_uncertainty_time: 0.01
+      pose_smoothing_steps: 5
+      pose_gate_dist: 10000.0
 
-    # for twist measurement
-    twist_additional_delay: 0.0
-    twist_smoothing_steps: 2
-    twist_gate_dist: 10000.0
+    twist_measurement:
+      # for twist measurement
+      twist_additional_delay: 0.0
+      twist_smoothing_steps: 2
+      twist_gate_dist: 10000.0
 
-    # for process model
-    proc_stddev_yaw_c: 0.005
-    proc_stddev_vx_c: 10.0
-    proc_stddev_wz_c: 5.0
+    process_noise:
+      # for process model
+      proc_stddev_yaw_c: 0.005
+      proc_stddev_vx_c: 10.0
+      proc_stddev_wz_c: 5.0
 
-    #Simple1DFilter parameters
-    z_filter_proc_dev: 1.0
-    roll_filter_proc_dev: 0.01
-    pitch_filter_proc_dev: 0.01
-    # for diagnostics
-    pose_no_update_count_threshold_warn: 50
-    pose_no_update_count_threshold_error: 100
-    twist_no_update_count_threshold_warn: 50
-    twist_no_update_count_threshold_error: 100
+    simple_1d_filter_parameters:
+      #Simple1DFilter parameters
+      z_filter_proc_dev: 1.0
+      roll_filter_proc_dev: 0.01
+      pitch_filter_proc_dev: 0.01
 
-    # for velocity measurement limitation (Set 0.0 if you want to ignore)
-    threshold_observable_velocity_mps: 0.0 # [m/s]
+    diagnostics:
+      # for diagnostics
+      pose_no_update_count_threshold_warn: 50
+      pose_no_update_count_threshold_error: 100
+      twist_no_update_count_threshold_warn: 50
+      twist_no_update_count_threshold_error: 100
+
+    misc:
+      # for velocity measurement limitation (Set 0.0 if you want to ignore)
+      threshold_observable_velocity_mps: 0.0 # [m/s]
+      pose_frame_id: "map"

autoware_launch/config/localization/pose_initializer.param.yaml

@@ -2,6 +2,11 @@
   ros__parameters:
     gnss_pose_timeout: 3.0 # [sec]
     stop_check_duration: 3.0 # [sec]
+    ekf_enabled: $(var ekf_enabled)
+    gnss_enabled: $(var gnss_enabled)
+    yabloc_enabled: $(var yabloc_enabled)
+    ndt_enabled: $(var ndt_enabled)
+    stop_check_enabled: $(var stop_check_enabled)
 
     # from gnss
     gnss_particle_covariance:

autoware_launch/config/map/lanelet2_map_loader.param.yaml

@@ -1,3 +1,4 @@
 /**:
   ros__parameters:
     center_line_resolution: 5.0         # [m]
+    lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path

autoware_launch/config/map/map_tf_generator.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    map_frame: map
+    viewer_frame: viewer

autoware_launch/config/map/pointcloud_map_loader.param.yaml

@@ -7,3 +7,5 @@
 
     # only used when downsample_whole_load enabled
     leaf_size: 3.0 # downsample leaf size [m]
+    pcd_paths_or_directory: [$(var pointcloud_map_path)] # Path to the pointcloud map file or directory
+    pcd_metadata_path: $(var pointcloud_map_metadata_path) # Path to pointcloud metadata file

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml

@@ -13,3 +13,14 @@
     iou_nms_search_distance_2d: 10.0
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    score_threshold: 0.35
+    has_twist: false
+    trt_precision: fp16
+    densification_num_past_frames: 1
+    densification_world_frame_id: map
+
+    # weight files
+    encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+    encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+    head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+    head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml

@@ -13,3 +13,14 @@
     iou_nms_search_distance_2d: 10.0
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    score_threshold: 0.35
+    has_twist: false
+    trt_precision: fp16
+    densification_num_past_frames: 1
+    densification_world_frame_id: map
+
+    # weight files
+    encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+    encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+    head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+    head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"

autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml

@@ -1,5 +1,11 @@
 /**:
   ros__parameters:
+    trt_precision: fp16
+    encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+    encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+    head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+    head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
+
     model_params:
       class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
       paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]

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

@@ -19,6 +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
+    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/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml

@@ -24,3 +24,6 @@
     max_distance_from_lane: 5.0 # [m]
     max_angle_diff_from_lane: 0.785398 # [rad] (45 deg)
     max_lateral_velocity: 7.0 # [m/s]
+
+    # tracking model parameters
+    tracking_config_directory: $(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/tracking/

autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml

@@ -3,3 +3,4 @@
     external_time_tolerance: 5.0
     perception_time_tolerance: 1.0
     external_priority: false
+    enable_signal_matching: false

autoware_launch/config/planning/preset/default_preset.yaml

@@ -9,6 +9,9 @@ launch:
   - arg:
       name: launch_dynamic_avoidance_module
       default: "false"
+  - arg:
+      name: launch_sampling_planner_module
+      default: "false" # Warning, experimental module, use only in simulations
   - arg:
       name: launch_lane_change_right_module
       default: "true"

autoware_launch/config/planning/scenario_planning/common/common.param.yaml

@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    max_vel: 11.1           # max velocity limit [m/s]
+
     # constraints param for normal driving
     normal:
       min_acc: -1.0         # min deceleration [m/ss]

autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml

@@ -1,32 +1,31 @@
 /**:
   ros__parameters:
     # motion state constraints
-    max_velocity: 20.0      # max velocity limit [m/s]
     stop_decel: 0.0         # deceleration at a stop point[m/ss]
 
     # external velocity limit parameter
     margin_to_insert_external_velocity_limit: 0.3   #  margin distance to insert external velocity limit [m]
 
     # -- curve parameters  --
     # common parameters
-    curvature_calculation_distance: 5.0         # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m]
+    curvature_calculation_distance: 2.0         # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m]
     # lateral acceleration limit parameters
     enable_lateral_acc_limit: true     # To toggle the lateral acc filter on and off. You can switch it dynamically at runtime.
     max_lateral_accel: 1.0             # max lateral acceleration limit [m/ss]
-    min_curve_velocity: 2.74            # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
+    min_curve_velocity: 2.0            # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
     decel_distance_before_curve: 3.5   # slow speed distance before a curve for lateral acceleration limit
     decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit
     min_decel_for_lateral_acc_lim_filter: -2.5  # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]
     # steering angle rate limit parameters
     enable_steering_rate_limit: true         # To toggle the steer rate filter on and off. You can switch it dynamically at runtime.
-    max_steering_angle_rate: 40.0            # maximum steering angle rate [degree/s]
+    max_steering_angle_rate: 11.5            # 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]
 
     # engage & replan parameters
     replan_vel_deviation: 5.53         # velocity deviation to replan initial velocity [m/s]
     engage_velocity: 0.25              # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed)
-    engage_acceleration: 0.1           # engage acceleration [m/ss] (use this acceleration when engagement)
+    engage_acceleration: 0.5           # engage acceleration [m/ss] (use this acceleration when engagement)
     engage_exit_ratio: 0.5             # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity.
     stop_dist_to_prohibit_engage: 0.5  # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]
 

autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml

@@ -26,3 +26,14 @@
       steering_rate: 10.0
       velocity_deviation: 100.0
       distance_deviation: 100.0
+      longitudinal_distance_deviation: 1.0
+
+    parameters:
+      # The required trajectory length is calculated as the distance needed
+      # to stop from the current speed at this deceleration.
+      forward_trajectory_length_acceleration: -3.0
+
+      # An error is raised if the required trajectory length is less than this distance.
+      # Setting it to 0 means an error will occur if even slightly exceeding the end of the path,
+      # therefore, a certain margin is necessary.
+      forward_trajectory_length_margin: 2.0

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

@@ -127,7 +127,7 @@
         object_check_return_pose_distance: 20.0          # [m]
         # filtering parking objects
         threshold_distance_object_is_on_center: 1.0     # [m]
-        object_check_shiftable_ratio: 0.6               # [-]
+        object_check_shiftable_ratio: 0.8               # [-]
         object_check_min_road_shoulder_width: 0.5       # [m]
         # lost object compensation
         object_last_seen_threshold: 2.0
@@ -187,6 +187,7 @@
         time_horizon_for_rear_object: 10.0               # [s]
         delay_until_departure: 0.0                       # [s]
         # rss parameters
+        extended_polygon_policy: "along_path"            # [-] select "rectangle" or "along_path"
         expected_front_deceleration: -1.0                # [m/ss]
         expected_rear_deceleration: -1.0                 # [m/ss]
         rear_vehicle_reaction_time: 2.0                  # [s]
@@ -206,7 +207,7 @@
           hard_road_shoulder_margin: 0.3                # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
-          max_deviation_from_lane: 0.5                  # [m]
+          max_deviation_from_lane: 0.2                  # [m]
         # avoidance distance parameters
         longitudinal:
           min_prepare_time: 1.0                         # [s]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml

@@ -39,6 +39,9 @@
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
         th_moving_object_velocity: 1.0
         detection_bound_offset: 15.0
+        outer_road_detection_offset: 1.0
+        inner_road_detection_offset: 0.0
+
 
       # pull over
       pull_over:
@@ -128,7 +131,7 @@
           delay_until_departure: 1.0
         # For target object filtering
         target_filtering:
-          safety_check_time_horizon: 5.0
+          safety_check_time_horizon: 10.0
           safety_check_time_resolution: 1.0
           # detection range
           object_check_forward_distance: 100.0
@@ -164,7 +167,6 @@
           method: "integral_predicted_polygon"
           keep_unsafe_time: 3.0
           # collision check parameters
-          check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
             rear_vehicle_reaction_time: 2.0