chore: sync upstream (partial-1)

.cspell.json

@@ -66,6 +66,7 @@
     "cyclonedds",
     "dallara",
     "dcmake",
+    "decel",
     "distro",
     "downsample",
     "freespace",

aichallenge/workspace/aichallenge_launch.sh

@@ -0,0 +1,5 @@
+#!/usr/bin/bash
+
+source install/setup.bash
+
+ros2 launch aichallenge_launch aichallenge_system.launch.xml

aichallenge/workspace/colcon_build.bash

@@ -0,0 +1,2 @@
+#!/usr/bin/bash
+MAKEFLAGS=-j4 colcon build --symlink-install --packages-up-to aichallenge_launch --executor sequential

aichallenge/workspace/depends.repos

@@ -0,0 +1,27 @@
+repositories:
+  # used for autoware cmake and lanelet2 related packages
+  autoware_common:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_common.git
+    version: awsim-stable
+  # used for goal pose setter
+  autoware_adapi_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
+    version: 9679b5a7a1f4cfff2fa50b80d2759d3937f2f953
+  autoware_auto_msgs:
+    type: git
+    url: https://github.com/tier4/autoware_auto_msgs.git
+    version: f6642370c6f4f42a5dc0b6c1fc4a21396d4dc34c
+  autoware_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_msgs.git
+    version: 90ed3f1f3371d75eb30b6e7d2acb88ccec4e8030
+  tier4_autoware_msgs:
+    type: git
+    url: https://github.com/tier4/tier4_autoware_msgs.git
+    version: 87febc35abc9310eaec0b6dd3ce2a4845ce515aa
+  autoware.universe:
+    type: git
+    url: https://github.com/autowarefoundation/autoware.universe.git
+    version: awsim-stable

aichallenge/workspace/depends/.gitignore

@@ -0,0 +1,2 @@
+*
+!.gitignore

aichallenge/workspace/src/aichallenge_launch/CMakeLists.txt

@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.14)
+project(aichallenge_launch)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_package(INSTALL_TO_SHARE launch config data)

aichallenge/workspace/src/aichallenge_launch/config/converter.param.yaml

@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+    use_steer_ff: true
+    use_steer_fb: true
+    is_debugging: false
+    steer_pid:
+      kp: 150.0
+      ki: 15.0
+      kd: 0.0
+      max: 8.0
+      min: -8.0
+      max_p: 8.0
+      min_p: -8.0
+      max_i: 8.0
+      min_i: -8.0
+      max_d: 0.0
+      min_d: 0.0
+      invalid_integration_decay: 0.97

aichallenge/workspace/src/aichallenge_launch/data/accel_map.csv

@@ -0,0 +1,8 @@
+default,0.0,1.0,2.0,3.0,4.0,5.0
+0.0,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3
+0.1,0.0,0.0,0.0,0.0,0.0,0.0
+0.2,0.0,0.0,0.0,0.0,0.0,0.0
+0.3,0.05,0.05,0.05,0.05,0.05,0.05
+0.4,0.1,0.1,0.1,0.1,0.1,0.1
+0.5,0.175,0.175,0.175,0.175,0.175,0.175
+0.6,0.25,0.25,0.25,0.25,0.25,0.25

aichallenge/workspace/src/aichallenge_launch/data/brake_map.csv

@@ -0,0 +1,10 @@
+default,0.0, 1.39, 2.78, 4.17, 5.56, 6.94, 8.33, 9.72, 11.11, 12.50, 13.89
+0,0.3,-0.05,-0.3,-0.39,-0.4,-0.41,-0.42,-0.44,-0.46,-0.48,-0.5
+0.1,0.29,-0.06,-0.31,-0.4,-0.41,-0.42,-0.43,-0.45,-0.47,-0.49,-0.51
+0.2,-0.38,-0.4,-0.72,-0.8,-0.82,-0.85,-0.87,-0.89,-0.91,-0.94,-0.96
+0.3,-1,-1.04,-1.48,-1.55,-1.57,-1.59,-1.61,-1.63,-1.631,-1.632,-1.633
+0.4,-1.48,-1.5,-1.85,-2.05,-2.1,-2.101,-2.102,-2.103,-2.104,-2.105,-2.106
+0.5,-1.49,-1.51,-1.86,-2.06,-2.11,-2.111,-2.112,-2.113,-2.114,-2.115,-2.116
+0.6,-1.5,-1.52,-1.87,-2.07,-2.12,-2.121,-2.122,-2.123,-2.124,-2.125,-2.126
+0.7,-1.51,-1.53,-1.88,-2.08,-2.13,-2.131,-2.132,-2.133,-2.134,-2.135,-2.136
+0.8,-2.18,-2.2,-2.7,-2.8,-2.9,-2.95,-2.951,-2.952,-2.953,-2.954,-2.955

aichallenge/workspace/src/aichallenge_launch/data/steer_map.csv

@@ -0,0 +1,14 @@
+default,-0.6,-0.5,-0.4,-0.3,-0.2,-0.1,0,0.1,0.2,0.3,0.4,0.5,0.6
+-12,-0.29,-0.3234236132,-0.3468991362,-0.37274847,-0.4288688461,-0.4696573,-0.4781014157,-0.49,-0.51,-0.52,-0.53,-0.54,-0.55
+-10,-0.2,-0.2451308686,-0.2667782734,-0.3090752469,-0.3575200568,-0.3874868999,-0.4041493831,-0.42,-0.43,-0.44,-0.45,-0.46,-0.47
+-8,-0.1,-0.1586739777,-0.2020698818,-0.2317654357,-0.2778998646,-0.3029839842,-0.3188172953,-0.32,-0.33,-0.34,-0.35,-0.36,-0.37
+-6,-0.0404761584,-0.0806574159,-0.1208386734,-0.1559621241,-0.1888907059,-0.210790018,-0.2322336736,-0.24,-0.25,-0.26,-0.27,-0.28,-0.29
+-4,0.01,-0.01428569928,-0.04,-0.06805018099,-0.09718925222,-0.1189509092,-0.1361293637,-0.14,-0.153044463,-0.1688321844,-0.18,-0.2,-0.22
+-2,0.06,0.05,0.03,0.01,-0.006091655083,-0.03546033903,-0.05319488695,-0.06097627388,-0.07576251508,-0.09165178816,-0.1,-0.12,-0.14
+0,0.11,0.09,0.07,0.05,0.03,0.01,-0.0004106386541,-0.01,-0.03,-0.05,-0.07,-0.09,-0.11
+2,0.15,0.13,0.11,0.09,0.07812978496,0.06023545297,0.04386326928,0.02314813566,0.003779338416,-0.01390526686,-0.0324840879,-0.05106290894,-0.06964172998
+4,0.24,0.22,0.2,0.1839795042,0.1649754952,0.1455879759,0.1274837062,0.1020632549,0.0861964856,0.06971503353,0.04541294018,0.01308869356,-0.01923555307
+6,0.33,0.31,0.29,0.274963497,0.2447295892,0.2337353319,0.2126138313,0.1767700907,0.1578757866,0.1440584148,0.1136331403,0.0827443595,0.05185557872
+8,0.43,0.41,0.39,0.3714915121,0.3299578073,0.3156403746,0.2997845963,0.2500495071,0.2339668568,0.2153133621,0.1815127859,0.156071251,0.1306297162
+10,0.5,0.49,0.48,0.4629455165,0.4210353203,0.3977027236,0.3865034288,0.3250957262,0.312237913,0.2885123051,0.2474220915,0.2123900615,0.1773580315
+12,0.56,0.54,0.53,0.5151036525,0.5046070554,0.4897214196,0.4687756354,0.4036994672,0.3812674227,0.3496883008,0.32482655,0.2783538423,0.2318811345