Changed by tomoki

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

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
@@ -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:

docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz

@@ -8,8 +8,6 @@ Panels:
         - /Perception1
         - /Perception1/Segmentation1
         - /Perception1/ObjectRecognition1
-        - /Perception1/ObjectRecognition1/Detection1
-        - /Perception1/ObjectRecognition1/Detection1/DetectedObjects1/CAR1
         - /Perception1/ObjectRecognition1/Tracking1/TrackedObjects1
         - /Planning1/ScenarioPlanning1
         - /Behavior_Path1/View Path1
@@ -727,7 +725,7 @@ Visualization Manager:
                     Color: 119; 11; 32
                   Class: autoware_auto_perception_rviz_plugin/DetectedObjects
                   Display Acceleration: true
-                  Display Label: false
+                  Display Label: true
                   Display PoseWithCovariance: true
                   Display Predicted Path Confidence: true
                   Display Predicted Paths: true
@@ -741,6 +739,8 @@ Visualization Manager:
                     Color: 119; 11; 32
                   Name: DetectedObjects
                   Namespaces:
+
+                    label: true
                     shape: true
                     twist: true
                     velocity: true
@@ -794,6 +794,7 @@ Visualization Manager:
                     Color: 119; 11; 32
                   Name: TrackedObjects
                   Namespaces:
+
                     acceleration: true
                     label: true
                     position covariance: true
@@ -822,7 +823,8 @@ Visualization Manager:
                     Color: 255; 255; 255
                   Value: true
                   Visualization Type: Normal
-              Enabled: true
+
+              Enabled: false
               Name: Tracking
             - Class: rviz_common/Group
               Displays:
@@ -2144,7 +2146,8 @@ Visualization Manager:
       Name: Control
     - Class: rviz_plugins/Path
       Color Border Vel Max: 3
-      Enabled: true
+
+      Enabled: false
       Name: Behavior_Path
       Topic:
         Depth: 5
@@ -2153,7 +2156,7 @@ Visualization Manager:
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /planning/scenario_planning/lane_driving/behavior_planning/path
-      Value: true
+      Value: false
       View Drivable Area:
         Alpha: 0.9990000128746033
         Color: 0; 148; 205
@@ -2319,7 +2322,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Angle: 0.43000009655952454
+      Angle: 0.4750000238418579
       Class: rviz_default_plugins/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
@@ -2329,11 +2332,11 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 55.90018844604492
+      Scale: 85.11080169677734
       Target Frame: viewer
       Value: TopDownOrtho (rviz_default_plugins)
-      X: 53.38139343261719
-      Y: 13.1110258102417
+      X: 45.90351104736328
+      Y: 10.50330924987793
     Saved:
       - Class: rviz_default_plugins/ThirdPersonFollower
         Distance: 18
@@ -2382,7 +2385,7 @@ 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:
@@ -2392,5 +2395,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1436
-  X: 2298
+  X: 2404
   Y: 27

docker/aichallenge/do.bash

@@ -1,3 +1,4 @@
 #! /usr/bin/bash
+
 export ROS_LOCALHOST_ONLY=1
 bash /aichallenge/run.sh & /aichallenge/AWSIM/AWSIM.x86_64

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()