From b644c4b2508439ae825c098b466aa2dec17928e6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 8 Sep 2023 14:51:08 +0900 Subject: [PATCH] feat(autoware_launch): additional margin parameters in surround ostacle checker Signed-off-by: Takayuki Murooka --- .../surround_obstacle_checker.param.yaml | 56 +++++++++++++++++-- 1 file changed, 51 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml index 6aa4e71774..5ec10572ff 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml @@ -1,11 +1,56 @@ /**: ros__parameters: - # obstacle check - use_pointcloud: true # use pointcloud as obstacle check - use_dynamic_object: true # use dynamic object as obstacle check - surround_check_distance: 0.5 # if objects exist in this distance, transit to "exist-surrounding-obstacle" status [m] - surround_check_recover_distance: 0.8 # if no object exists in this distance, transit to "non-surrounding-obstacle" status [m] + # surround_check_*_distance: if objects exist in this distance, transit to "exist-surrounding-obstacle" status [m] + # surround_check_hysteresis_distance: if no object exists in this hysteresis distance added to the above distance, transit to "non-surrounding-obstacle" status [m] + pointcloud: + enable_check: false + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.5 + surround_check_back_distance: 0.5 + unknown: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.5 + surround_check_back_distance: 0.5 + car: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.0 + surround_check_back_distance: 0.5 + truck: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.0 + surround_check_back_distance: 0.5 + bus: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.0 + surround_check_back_distance: 0.5 + trailer: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.0 + surround_check_back_distance: 0.5 + motorcycle: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.0 + surround_check_back_distance: 0.5 + bicycle: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.5 + surround_check_back_distance: 0.5 + pedestrian: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.5 + surround_check_back_distance: 0.5 + + surround_check_hysteresis_distance: 0.3 + state_clear_time: 2.0 # ego stop state @@ -13,3 +58,4 @@ # debug publish_debug_footprints: true # publish vehicle footprint & footprints with surround_check_distance and surround_check_recover_distance offsets + debug_footprint_label: "car"