autowarefoundation · youtalk · Apr 19, 2024 · Apr 19, 2024 · Apr 22, 2024 · Apr 22, 2024
diff --git a/NOTICE b/NOTICE
@@ -8,7 +8,7 @@ launch:
       default: "true"
   - arg:
       name: launch_dynamic_obstacle_avoidance
-      default: "false"
+      default: "true"
   - arg:
       name: launch_sampling_planner_module
       default: "false" # Warning, experimental module, use only in simulations
@@ -120,7 +120,7 @@ launch:
 
   - arg:
       name: launch_surround_obstacle_checker
-      default: "false"
+      default: "true"
 
   # parking modules
   - arg:

@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    max_vel: 4.17           # max velocity limit [m/s]
+    max_vel: 11.1           # max velocity limit [m/s]
 
     # constraints param for normal driving
     normal:

@@ -89,7 +89,7 @@
           object_time_margin_to_collision_point: 4.0
 
       occlusion:
-        enable: false
+        enable: true
         occlusion_attention_area_length: 70.0
         free_space_max: 43
         occupied_min: 58

@@ -3,7 +3,7 @@
     option:
       enable_skip_optimization: false                              # skip elastic band and model predictive trajectory
       enable_reset_prev_optimization: false                        # If true, optimization has no fix constraint to the previous result.
-      enable_outside_drivable_area_stop: true                      # stop if the ego's trajectory footprint is outside the drivable area
+      enable_outside_drivable_area_stop: false                     # stop if the ego's trajectory footprint is outside the drivable area
       use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered.
 
       debug:

@@ -12,7 +12,7 @@
       idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
       min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
       min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
-      safe_distance_margin : 4.0 # This is also used as a stop margin [m]
+      safe_distance_margin : 5.0 # This is also used as a stop margin [m]
       terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
       hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
       hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
@@ -99,8 +99,8 @@
       stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle
 
       # hysteresis for cruise and stop
-      obstacle_velocity_threshold_from_cruise_to_stop : 1.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
-      obstacle_velocity_threshold_from_stop_to_cruise : 1.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
+      obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
+      obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
 
       # if crossing vehicle is determined as target obstacles or not
       crossing_obstacle:
@@ -126,7 +126,7 @@
           ego_obstacle_overlap_time_threshold : 0.2 #  time threshold to decide cut-in obstacle for cruise or stop [s]
           max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego
           max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s]
-          num_of_predicted_paths: 3 # number of the highest confidence predicted path to check collision between obstacle and ego
+          num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego
         yield:
           enable_yield: true
           lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding

@@ -3,3 +3,4 @@ files:
 
 edits:
   - { type: remove, path: /autoware/system/duplicated_node_checker }
+  - { type: remove, path: /autoware/control/emergency_braking }
@@ -1,2 +1,5 @@
 files:
-  - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml }
+  - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml }
+
+edits:
+  - { type: remove, path: /autoware/control/emergency_braking }
@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Fork the repository and add the parameters here if needed. -->
-  <arg name="scenario_simulation" default="false"/>
-  <arg name="launch_deprecated_api" default="$(var scenario_simulation)"/>
+  <arg name="launch_deprecated_api" default="true"/>
+  <arg name="rosbridge_enabled" default="true"/>
+  <arg name="rosbridge_max_message_size" default="1000000000"/>
   <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>
 </launch>
@@ -28,4 +28,11 @@
     <arg name="diagnostic_graph_aggregator_param_path" value="$(var diagnostic_graph_aggregator_param_path)"/>
     <arg name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path)"/>
   </include>
+
+  <!-- For logging of diagnostics_graph error -->
+  <include file="$(find-pkg-share diagnostic_graph_utils)/launch/logging.launch.xml">
+    <arg name="root_path" value="/autoware/modes/autonomous"/>
+    <arg name="max_depth" value="3"/>
+    <arg name="show_rate" value="0.2"/>
+  </include>
 </launch>
Original file line number	Diff line number	Diff line change
Expand Up		@@ -3,3 +3,4 @@ files:

		edits:
		- { type: remove, path: /autoware/system/duplicated_node_checker }
		- { type: remove, path: /autoware/control/emergency_braking }