From c3479f695820272818d4ca7bb149e950cd8ef222 Mon Sep 17 00:00:00 2001 From: apollon Date: Tue, 22 Aug 2023 10:21:40 +0900 Subject: [PATCH 01/10] add do.bash --- docker/aichallenge/do.bash | 2 ++ 1 file changed, 2 insertions(+) create mode 100644 docker/aichallenge/do.bash diff --git a/docker/aichallenge/do.bash b/docker/aichallenge/do.bash new file mode 100644 index 0000000..07dfe6d --- /dev/null +++ b/docker/aichallenge/do.bash @@ -0,0 +1,2 @@ +#! /usr/bin/bash +bash /aichallenge/run.sh & /aichallenge/AWSIM/AWSIM.x86_64 From 7e3be55f732e95b2c7484c4b4844160bd0df2516 Mon Sep 17 00:00:00 2001 From: apollon Date: Tue, 22 Aug 2023 11:19:55 +0900 Subject: [PATCH 02/10] Behave Avoidance interval & envelope buffer --- .../avoidance/avoidance.param.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index c14f59f..7b3c2f0 100644 --- a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -2,16 +2,16 @@ /**: ros__parameters: avoidance: - resample_interval_for_planning: 0.3 # [m] - resample_interval_for_output: 4.0 # [m] + resample_interval_for_planning: 0.1 # [m] + resample_interval_for_output: 0.5 # [m] detection_area_right_expand_dist: 0.0 # [m] - detection_area_left_expand_dist: 1.0 # [m] + detection_area_left_expand_dist: 0.0 # [m] drivable_area_right_bound_offset: 0.0 # [m] drivable_area_left_bound_offset: 0.0 # [m] - object_envelope_buffer: 0.3 # [m] + object_envelope_buffer: 0.0 # [m] # avoidance module common setting - enable_bound_clipping: false + enable_bound_clipping: true enable_avoidance_over_same_direction: true enable_avoidance_over_opposite_direction: true enable_update_path_when_object_is_gone: false From 8035b29167fafee0d06c1c8a661d16a82d11f26c Mon Sep 17 00:00:00 2001 From: apollon Date: Tue, 22 Aug 2023 11:29:36 +0900 Subject: [PATCH 03/10] rviZ Behavior Path --- .../autoware_launch/rviz/autoware.rviz | 625 +++++++++++++----- 1 file changed, 468 insertions(+), 157 deletions(-) diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz index cac9bb8..0da485c 100644 --- a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz +++ b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz @@ -3,9 +3,11 @@ Panels: Help Height: 0 Name: Displays Property Tree Widget: - Expanded: ~ + Expanded: + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Behavior_Path1/Status1 Splitter Ratio: 0.557669460773468 - Tree Height: 397 + Tree Height: 183 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -13,7 +15,8 @@ Panels: Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz_common/Views - Expanded: ~ + Expanded: + - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel @@ -37,7 +40,8 @@ Visualization Manager: Show Arrows: true Show Axes: true Show Names: true - Tree: {} + Tree: + {} Update Interval: 0 Value: false - Alpha: 0.5 @@ -62,9 +66,12 @@ Visualization Manager: Displays: - Class: rviz_plugins/SteeringAngle Enabled: true + Left: 71 + Length: 142 Name: SteeringAngle Scale: 17 Text Color: 25; 255; 240 + Top: 71 Topic: Depth: 5 Durability Policy: Volatile @@ -72,12 +79,15 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/steering_status Value: true + Value Scale: 0.14999249577522278 Value height offset: 0 - Class: rviz_plugins/ConsoleMeter Enabled: true + Left: 284 + Length: 142 Name: ConsoleMeter - Scale: 3 Text Color: 25; 255; 240 + Top: 71 Topic: Depth: 5 Durability Policy: Volatile @@ -85,8 +95,9 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/velocity_status Value: true + Value Scale: 0.14999249577522278 Value height offset: 0 - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Class: rviz_plugins/VelocityHistory Color Border Vel Max: 3 Constant Color: @@ -122,154 +133,139 @@ Visualization Manager: Expand Tree: false Link Tree Style: Links in Alphabetic Order base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera0/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera0/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera1/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera1/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera2/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera2/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera3/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera3/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera4/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera4/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera5/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera5/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false gnss_link: - Alpha: 0.999 - Show Axes: false - Show Trail: false - Value: true - livox_front_left: - Alpha: 0.999 - Show Axes: false - Show Trail: false - livox_front_left_base_link: - Alpha: 0.999 - Show Axes: false - Show Trail: false - Value: true - livox_front_right: - Alpha: 0.999 - Show Axes: false - Show Trail: false - livox_front_right_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true sensor_kit_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false tamagawa/imu_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true traffic_light_left_camera/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true traffic_light_left_camera/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false traffic_light_right_camera/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true traffic_light_right_camera/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false velodyne_left: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_left_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_rear: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_rear_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_right: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_right_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_top: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_top_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true + Mass Properties: + Inertia: false + Mass: false Name: VehicleModel TF Prefix: "" Update Interval: 0 @@ -282,8 +278,8 @@ Visualization Manager: Max Alpha: 0.5 Max Range: 100 Max Wave Alpha: 0.5 - Min Alpha: 0.01 - Min Wave Alpha: 0.01 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 Name: PolarGridDisplay Reference Frame: base_link Value: true @@ -291,18 +287,20 @@ Visualization Manager: Wave Velocity: 40 - Class: rviz_plugins/MaxVelocity Enabled: true + Left: 331 + Length: 53 Name: MaxVelocity Text Color: 255; 255; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/current_max_velocity + Top: 156 + Topic: /planning/scenario_planning/current_max_velocity Value: true + Value Scale: 0.25 - Class: rviz_plugins/TurnSignal Enabled: true + Height: 142 + Left: 109 Name: TurnSignal + Top: 194 Topic: Depth: 5 Durability Policy: Volatile @@ -310,6 +308,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/turn_indicators_status Value: true + Width: 284 Enabled: true Name: Vehicle Enabled: true @@ -338,11 +337,12 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.02 + Size (m): 0.019999999552965164 Style: Points Topic: Depth: 5 Durability Policy: Transient Local + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /map/pointcloud_map @@ -355,26 +355,11 @@ Visualization Manager: Namespaces: center_lane_line: false center_line_arrows: false - crosswalk_lanelets: true lane_start_bound: false - lanelet direction: true lanelet_id: false left_lane_bound: true - parking_lots: true - parking_space: true - pedestrian_marking: true right_lane_bound: true road_lanelets: false - speed_bump: true - stop_lines: true - shoulder_center_lane_line: false - shoulder_left_lane_bound: true - shoulder_right_lane_bound: true - shoulder_road_lanelets: false - traffic_light: true - traffic_light_id: false - traffic_light_triangle: true - walkway_lanelets: true Topic: Depth: 5 Durability Policy: Transient Local @@ -388,7 +373,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.4 + - Alpha: 0.4000000059604645 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 5 @@ -410,18 +395,19 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.02 + Size (m): 0.019999999552965164 Style: Points Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /sensing/lidar/concatenated/pointcloud Use Fixed Frame: false Use rainbow: true Value: true - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Class: rviz_default_plugins/Polygon Color: 25; 255; 0 Enabled: false @@ -429,6 +415,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/lidar/crop_box_filter/crop_box_polygon @@ -467,6 +454,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/gnss/pose_with_covariance @@ -479,7 +467,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -509,11 +497,12 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/initial_pose_with_covariance - Value: true - - Alpha: 0.999 + Value: false + - Alpha: 0.9990000128746033 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -543,27 +532,29 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose_with_covariance - Value: true + Value: false - Buffer Size: 200 Class: rviz_plugins::PoseHistory Enabled: false Line: + Alpha: 0.9990000128746033 Color: 170; 255; 127 Value: true Width: 0.10000000149011612 - Alpha: 0.999 Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose - Value: true - - Alpha: 0.999 + Value: false + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -590,13 +581,14 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /localization/util/downsample/pointcloud Use Fixed Frame: true Use rainbow: true Value: false - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -623,6 +615,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/points_aligned @@ -632,7 +625,13 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MonteCarloInitialPose - Namespaces: {} + Namespaces: + initial_pose_index_color_marker: true + initial_pose_iteration_color_marker: true + initial_pose_transform_probability_color_marker: true + result_pose_index_color_marker: true + result_pose_iteration_color_marker: true + result_pose_transform_probability_color_marker: true Topic: Depth: 5 Durability Policy: Volatile @@ -648,14 +647,15 @@ Visualization Manager: Class: rviz_plugins::PoseHistory Enabled: true Line: + Alpha: 0.9990000128746033 Color: 0; 255; 255 Value: true Width: 0.10000000149011612 - Alpha: 0.999 Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_twist_fusion_filter/pose @@ -668,7 +668,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 15 @@ -690,11 +690,12 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 3 - Size (m): 0.02 + Size (m): 0.019999999552965164 Style: Points Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/obstacle_segmentation/pointcloud @@ -708,16 +709,16 @@ Visualization Manager: - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/DetectedObjects - Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -725,21 +726,23 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: DetectedObjects - Namespaces: {} + Namespaces: + {} PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 + Polygon Type: 3d TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -748,24 +751,25 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/detection/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true + Visualization Type: Normal Enabled: false Name: Detection - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/TrackedObjects - Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -773,21 +777,23 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: TrackedObjects - Namespaces: {} + Namespaces: + {} PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 + Polygon Type: 3d TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -796,24 +802,25 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/tracking/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true + Visualization Type: Normal Enabled: false Name: Tracking - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/PredictedObjects - Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: false Display Predicted Path Confidence: true @@ -821,21 +828,30 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: PredictedObjects - Namespaces: {} + Namespaces: + acceleration: true + label: true + path: true + path confidence: true + shape: true + twist: true + uuid: true + velocity: true PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 + Polygon Type: 3d TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -844,20 +860,22 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true + Visualization Type: Normal - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Maneuver - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/object_recognition/prediction/maneuver - Value: true + Value: false Enabled: true Name: Prediction Enabled: true @@ -881,7 +899,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MapBasedDetectionResult - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -938,7 +957,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/mission_planning/route_marker Value: true - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Axes Length: 1 Axes Radius: 0.30000001192092896 Class: rviz_default_plugins/Pose @@ -953,6 +972,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/mission_planning/echo_back_goal_pose @@ -968,18 +988,36 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/trajectory Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -995,16 +1033,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/path Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.4000000059604645 Color: 0; 0; 0 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.4000000059604645 Color: 0; 0; 0 @@ -1018,16 +1079,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1041,16 +1125,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/ext_request_lane_change_right Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1064,16 +1171,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/ext_request_lane_change_left Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1087,16 +1217,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1110,16 +1263,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/pull_out Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1133,16 +1309,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/pull_over Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1158,7 +1357,6 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound @@ -1265,8 +1463,7 @@ Visualization Manager: Enabled: true Name: VirtualWall (StopLine) Namespaces: - stop_factor_text: true - stop_virtual_wall: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1555,18 +1752,36 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/trajectory Value: false + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -1577,7 +1792,8 @@ Visualization Manager: Enabled: true Name: VirtualWall (ObstacleStop) Namespaces: - {} + stop_factor_text: true + stop_virtual_wall: true Topic: Depth: 5 Durability Policy: Volatile @@ -1749,6 +1965,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid @@ -1760,7 +1977,7 @@ Visualization Manager: Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates Use Timestamp: false Value: false - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Arrow Length: 0.30000001192092896 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 @@ -1776,11 +1993,12 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array Value: true - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Arrow Length: 0.5 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 @@ -1796,6 +2014,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/freespace_planner/debug/pose_array @@ -1825,7 +2044,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: PlanningErrorMarker - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1846,16 +2066,34 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /control/trajectory_follower/lateral/predicted_trajectory Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 1 Color: 255; 255; 255 Constant Color: true Value: true Width: 0.05000000074505806 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 1 Color: 0; 0; 0 @@ -1865,7 +2103,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/MPC - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1876,7 +2115,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/PurePursuit - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1886,10 +2126,55 @@ Visualization Manager: Value: false Enabled: true Name: Control + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: Behavior_Path + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/path + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true Enabled: true Global Options: Background Color: 10; 10; 10 - Default Light: true Fixed Frame: map Frame Rate: 30 Name: root @@ -1902,15 +2187,15 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose - Theta std deviation: 0.2617993950843811 + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - Class: rviz_default_plugins/SetGoal Topic: Depth: 5 @@ -1918,26 +2203,47 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /planning/mission_planning/goal - - Class: rviz_plugins/PedestrianInitialPoseTool + - Acceleration: 0 + Class: rviz_plugins/PedestrianInitialPoseTool + Interactive: false + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 0 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 1 Z std deviation: 0.029999999329447746 - - Class: rviz_plugins/CarInitialPoseTool + - Acceleration: 0 + Class: rviz_plugins/CarInitialPoseTool + H vehicle height: 2 + Interactive: false + L vehicle length: 4 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 3 + W vehicle width: 1.7999999523162842 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 0 Z std deviation: 0.029999999329447746 - - Class: rviz_plugins/BusInitialPoseTool + - Acceleration: 0 + Class: rviz_plugins/BusInitialPoseTool + H vehicle height: 3.5 + Interactive: false + L vehicle length: 10.5 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 0 + W vehicle width: 2.5 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 0 @@ -1950,10 +2256,13 @@ Visualization Manager: Z position: 0 - Class: rviz_plugins/DeleteAllObjectsTool Pose Topic: /simulation/dummy_perception_publisher/object_info + Transformation: + Current: + Class: rviz_default_plugins/TF Value: true Views: Current: - Angle: 0 + Angle: 0.48499995470046997 Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -1963,11 +2272,11 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 10 + Scale: 16.154529571533203 Target Frame: viewer Value: TopDownOrtho (rviz_default_plugins) - X: 0 - Y: 0 + X: 38.426212310791016 + Y: 9.410938262939453 Saved: - Class: rviz_default_plugins/ThirdPersonFollower Distance: 18 @@ -2005,16 +2314,18 @@ Visualization Manager: X: 0 Y: 0 Window Geometry: + AutowareDateTimePanel: + collapsed: false AutowareStatePanel: collapsed: false Displays: collapsed: false - Height: 1565 + Height: 1129 Hide Left Dock: false Hide Right Dock: false - Image: + InitialPoseButtonPanel: collapsed: false - QMainWindow State: 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 + QMainWindow State: 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 RecognitionResultOnImage: collapsed: false Selection: @@ -2023,6 +2334,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 2813 - X: 67 + Width: 1440 + X: 2483 Y: 27 From 13145b3fa73e3ca1735f5b14fb2fef11cfae41bc Mon Sep 17 00:00:00 2001 From: apollon Date: Tue, 22 Aug 2023 11:31:46 +0900 Subject: [PATCH 04/10] rviz Motion traj --- .../autoware_launch/rviz/autoware.rviz | 60 +++++++++++++++---- 1 file changed, 49 insertions(+), 11 deletions(-) diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz index 0da485c..f7da19a 100644 --- a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz +++ b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz @@ -6,6 +6,9 @@ Panels: Expanded: - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 - /Behavior_Path1/Status1 + - /Motion Traj1 + - /Motion Traj1/Status1 + - /Motion Traj1/Topic1 Splitter Ratio: 0.557669460773468 Tree Height: 183 - Class: rviz_common/Selection @@ -945,11 +948,7 @@ Visualization Manager: Enabled: true Name: RouteArea Namespaces: - goal_lanelets: true - lane_start_bound: false - left_lane_bound: false - right_lane_bound: false - route_lanelets: true + {} Topic: Depth: 5 Durability Policy: Transient Local @@ -1352,8 +1351,7 @@ Visualization Manager: Enabled: true Name: Bound Namespaces: - left_bound: true - right_bound: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1792,8 +1790,7 @@ Visualization Manager: Enabled: true Name: VirtualWall (ObstacleStop) Namespaces: - stop_factor_text: true - stop_virtual_wall: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2055,7 +2052,7 @@ Visualization Manager: Value: true Enabled: false Name: Diagnostic - Enabled: true + Enabled: false Name: Planning - Class: rviz_common/Group Displays: @@ -2172,6 +2169,47 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: true + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: Motion Traj + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/trajectory + Value: false + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true Enabled: true Global Options: Background Color: 10; 10; 10 @@ -2272,7 +2310,7 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 16.154529571533203 + Scale: 14.215986251831055 Target Frame: viewer Value: TopDownOrtho (rviz_default_plugins) X: 38.426212310791016 From 07003d833ee1008bc6cb58a30e66c19a14d69430 Mon Sep 17 00:00:00 2001 From: apollon Date: Tue, 22 Aug 2023 11:32:41 +0900 Subject: [PATCH 05/10] rviz Traj --- .../autoware_launch/autoware_launch/rviz/autoware.rviz | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz index f7da19a..c4877e0 100644 --- a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz +++ b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz @@ -2171,7 +2171,7 @@ Visualization Manager: Value: true - Class: rviz_plugins/Trajectory Color Border Vel Max: 3 - Enabled: false + Enabled: true Name: Motion Traj Topic: Depth: 5 @@ -2179,8 +2179,8 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/trajectory - Value: false + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory + Value: true View Footprint: Alpha: 1 Color: 230; 230; 50 @@ -2363,7 +2363,7 @@ Window Geometry: Hide Right Dock: false InitialPoseButtonPanel: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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 RecognitionResultOnImage: collapsed: false Selection: From b4cd6a1c6afd55ed3ff4c7d35383624ce99d3a23 Mon Sep 17 00:00:00 2001 From: apollon Date: Tue, 22 Aug 2023 15:58:11 +0900 Subject: [PATCH 06/10] validator curveture --- .../planning_validator.param.yaml | 2 +- .../autoware_launch/rviz/autoware.rviz | 39 +++++++++++-------- 2 files changed, 23 insertions(+), 18 deletions(-) diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml index 658a968..339f130 100644 --- a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml +++ b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml @@ -18,7 +18,7 @@ thresholds: interval: 100.0 relative_angle: 2.0 # (= 115 degree) - curvature: 1.0 + curvature: 100.0 lateral_acc: 9.8 longitudinal_max_acc: 9.8 longitudinal_min_acc: -9.8 diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz index c4877e0..25a0d8a 100644 --- a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz +++ b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz @@ -5,12 +5,11 @@ Panels: Property Tree Widget: Expanded: - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 - - /Behavior_Path1/Status1 - - /Motion Traj1 - - /Motion Traj1/Status1 + - /Planning1 + - /Planning1/ScenarioPlanning1 - /Motion Traj1/Topic1 Splitter Ratio: 0.557669460773468 - Tree Height: 183 + Tree Height: 366 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -886,7 +885,7 @@ Visualization Manager: - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/Image - Enabled: true + Enabled: false Max Value: 1 Median window: 5 Min Value: 0 @@ -898,7 +897,7 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/traffic_light_recognition/debug/rois - Value: true + Value: false - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MapBasedDetectionResult @@ -948,7 +947,11 @@ Visualization Manager: Enabled: true Name: RouteArea Namespaces: - {} + goal_lanelets: true + lane_start_bound: true + left_lane_bound: true + right_lane_bound: true + route_lanelets: true Topic: Depth: 5 Durability Policy: Transient Local @@ -1351,7 +1354,8 @@ Visualization Manager: Enabled: true Name: Bound Namespaces: - {} + left_bound: true + right_bound: true Topic: Depth: 5 Durability Policy: Volatile @@ -1790,7 +1794,8 @@ Visualization Manager: Enabled: true Name: VirtualWall (ObstacleStop) Namespaces: - {} + stop_factor_text: true + stop_virtual_wall: true Topic: Depth: 5 Durability Policy: Volatile @@ -2052,7 +2057,7 @@ Visualization Manager: Value: true Enabled: false Name: Diagnostic - Enabled: false + Enabled: true Name: Planning - Class: rviz_common/Group Displays: @@ -2171,7 +2176,7 @@ Visualization Manager: Value: true - Class: rviz_plugins/Trajectory Color Border Vel Max: 3 - Enabled: true + Enabled: false Name: Motion Traj Topic: Depth: 5 @@ -2180,7 +2185,7 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory - Value: true + Value: false View Footprint: Alpha: 1 Color: 230; 230; 50 @@ -2310,11 +2315,11 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 14.215986251831055 + Scale: 20.950204849243164 Target Frame: viewer Value: TopDownOrtho (rviz_default_plugins) - X: 38.426212310791016 - Y: 9.410938262939453 + X: 42.15711212158203 + Y: 7.101736068725586 Saved: - Class: rviz_default_plugins/ThirdPersonFollower Distance: 18 @@ -2363,7 +2368,7 @@ Window Geometry: Hide Right Dock: false InitialPoseButtonPanel: collapsed: false - QMainWindow State: 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 + QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: @@ -2373,5 +2378,5 @@ Window Geometry: Views: collapsed: false Width: 1440 - X: 2483 + X: 2400 Y: 27 From f2efad5ba9feed47f156449d1046894a62784c26 Mon Sep 17 00:00:00 2001 From: apollon Date: Tue, 22 Aug 2023 19:15:49 +0900 Subject: [PATCH 07/10] kill autoware --- .../autoware_launch/rviz/autoware.rviz | 27 ++++++++++++------- docker/aichallenge/terminate.bash | 5 ++++ 2 files changed, 22 insertions(+), 10 deletions(-) create mode 100644 docker/aichallenge/terminate.bash diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz index 25a0d8a..95f405f 100644 --- a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz +++ b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz @@ -5,8 +5,12 @@ Panels: Property Tree Widget: Expanded: - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 - - /Planning1 + - /Perception1 + - /Perception1/Segmentation1 + - /Perception1/ObjectRecognition1 + - /Perception1/ObjectRecognition1/Tracking1/TrackedObjects1 - /Planning1/ScenarioPlanning1 + - /Behavior_Path1/View Path1 - /Motion Traj1/Topic1 Splitter Ratio: 0.557669460773468 Tree Height: 366 @@ -735,7 +739,10 @@ Visualization Manager: Color: 119; 11; 32 Name: DetectedObjects Namespaces: - {} + label: true + shape: true + twist: true + velocity: true PEDESTRIAN: Alpha: 0.9990000128746033 Color: 255; 192; 203 @@ -757,7 +764,7 @@ Visualization Manager: Color: 255; 255; 255 Value: true Visualization Type: Normal - Enabled: false + Enabled: true Name: Detection - Class: rviz_common/Group Displays: @@ -2305,7 +2312,7 @@ Visualization Manager: Value: true Views: Current: - Angle: 0.48499995470046997 + Angle: 0.4750000238418579 Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -2315,11 +2322,11 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 20.950204849243164 + Scale: 85.11080169677734 Target Frame: viewer Value: TopDownOrtho (rviz_default_plugins) - X: 42.15711212158203 - Y: 7.101736068725586 + X: 45.90351104736328 + Y: 10.50330924987793 Saved: - Class: rviz_default_plugins/ThirdPersonFollower Distance: 18 @@ -2368,7 +2375,7 @@ Window Geometry: Hide Right Dock: false InitialPoseButtonPanel: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: @@ -2377,6 +2384,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1440 - X: 2400 + Width: 1436 + X: 2404 Y: 27 diff --git a/docker/aichallenge/terminate.bash b/docker/aichallenge/terminate.bash new file mode 100644 index 0000000..d4b8077 --- /dev/null +++ b/docker/aichallenge/terminate.bash @@ -0,0 +1,5 @@ +#!/bin/sh +for i in $(seq 2 10000) +do + kill ${i} +done \ No newline at end of file From 467c745920dbea956396cd449c5b053e81cba66f Mon Sep 17 00:00:00 2001 From: apollon Date: Wed, 23 Aug 2023 10:05:23 +0900 Subject: [PATCH 08/10] behavior expand target object --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 7b3c2f0..018fbd5 100644 --- a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -30,8 +30,8 @@ truck: true bus: true trailer: true - unknown: false - bicycle: false + unknown: true + bicycle: true motorcycle: false pedestrian: false @@ -51,7 +51,7 @@ object_check_shiftable_ratio: 0.6 # [-] object_check_min_road_shoulder_width: 0.5 # [m] # lost object compensation - object_last_seen_threshold: 2.0 + object_last_seen_threshold: 0.0 # For safety check safety_check: From 22db4646ceca53dbdd550f3f966a403338eff246 Mon Sep 17 00:00:00 2001 From: apollon Date: Wed, 23 Aug 2023 10:05:57 +0900 Subject: [PATCH 09/10] some bash tools --- docker/aichallenge/do.bash | 1 + .../lidar_centerpoint_visualizer.py | 55 +++++++++++++++++++ docker/aichallenge/terminate.bash | 2 +- 3 files changed, 57 insertions(+), 1 deletion(-) create mode 100644 docker/aichallenge/lidar_centerpoint_visualizer.py diff --git a/docker/aichallenge/do.bash b/docker/aichallenge/do.bash index 07dfe6d..d159a7d 100644 --- a/docker/aichallenge/do.bash +++ b/docker/aichallenge/do.bash @@ -1,2 +1,3 @@ #! /usr/bin/bash + bash /aichallenge/run.sh & /aichallenge/AWSIM/AWSIM.x86_64 diff --git a/docker/aichallenge/lidar_centerpoint_visualizer.py b/docker/aichallenge/lidar_centerpoint_visualizer.py new file mode 100644 index 0000000..5a11353 --- /dev/null +++ b/docker/aichallenge/lidar_centerpoint_visualizer.py @@ -0,0 +1,55 @@ +#!/usr/bin/env python +# Copyright 2022 TIER IV, Inc. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os +import time + +import open3d as o3d +import rclpy +from rclpy.node import Node + + +def main(args=None): + rclpy.init(args=args) + + node = Node("lidar_centerpoint_visualizer") + node.declare_parameter("pcd_path", rclpy.Parameter.Type.STRING) + node.declare_parameter("detections_path", rclpy.Parameter.Type.STRING) + + pcd_path = node.get_parameter("pcd_path").get_parameter_value().string_value + detections_path = node.get_parameter("detections_path").get_parameter_value().string_value + + while not os.path.exists(pcd_path) and not os.path.exists(detections_path): + time.sleep(1.0) + + if not rclpy.ok(): + rclpy.shutdown() + return + + mesh = o3d.io.read_triangle_mesh(detections_path) + pcd = o3d.io.read_point_cloud(pcd_path) + + mesh_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=1.0, origin=[0, 0, 0]) + + detection_lines = o3d.geometry.LineSet.create_from_triangle_mesh(mesh) + detection_lines.paint_uniform_color([1.0, 0.0, 1.0]) + + o3d.visualization.draw_geometries([mesh_frame, pcd, detection_lines]) + + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/docker/aichallenge/terminate.bash b/docker/aichallenge/terminate.bash index d4b8077..b3615da 100644 --- a/docker/aichallenge/terminate.bash +++ b/docker/aichallenge/terminate.bash @@ -1,5 +1,5 @@ #!/bin/sh -for i in $(seq 2 10000) +for i in $(seq 2 100000) do kill ${i} done \ No newline at end of file From 9aef76c887f7a12c01ebce42ef24bcd0598c9d5c Mon Sep 17 00:00:00 2001 From: apollon Date: Thu, 24 Aug 2023 10:38:27 +0900 Subject: [PATCH 10/10] Use center_point --- .../tier4_perception_launch/launch/perception.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_universe_launch/tier4_perception_launch/launch/perception.launch.xml b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_universe_launch/tier4_perception_launch/launch/perception.launch.xml index 51f61dd..a6ff83f 100644 --- a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_universe_launch/tier4_perception_launch/launch/perception.launch.xml +++ b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_universe_launch/tier4_perception_launch/launch/perception.launch.xml @@ -9,7 +9,7 @@ - +