From 0347c34e64ef0ce2edb8947b30e70cee68be8a7b Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Tue, 7 Feb 2023 16:41:56 +0900 Subject: [PATCH 01/68] chore: change control parameter for X2 (#231) Signed-off-by: Tomohito Ando --- .../external_cmd_selector/external_cmd_selector.param.yaml | 2 +- .../control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml b/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml index 6556656cc8..3de702aa00 100644 --- a/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml +++ b/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml @@ -1,4 +1,4 @@ /**: ros__parameters: update_rate: 10.0 - initial_selector_mode: "local" # ["local", "remote"] + initial_selector_mode: "remote" # ["local", "remote"] diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 9cc038352e..5ea1256056 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -2,8 +2,8 @@ ros__parameters: update_rate: 10.0 system_emergency_heartbeat_timeout: 0.5 - use_emergency_handling: false - use_start_request: false + use_emergency_handling: true + use_start_request: true external_emergency_stop_heartbeat_timeout: 0.0 stop_hold_acceleration: -1.5 emergency_acceleration: -2.4 From 584f6b6320a197cda568ae05aaae4a1439d45055 Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa Date: Mon, 22 May 2023 01:38:22 +0900 Subject: [PATCH 02/68] feat: add fault injection params for x2 --- .../simulator/fault_injection.param.yaml | 26 +++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/autoware_launch/config/simulator/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml index 1a57b852f7..a7d9663acc 100644 --- a/autoware_launch/config/simulator/fault_injection.param.yaml +++ b/autoware_launch/config/simulator/fault_injection.param.yaml @@ -35,3 +35,29 @@ /sensing/gnss/node_alive_monitoring: "gnss_connection" /system/node_alive_monitoring: "system_topic_status" /vehicle/node_alive_monitoring: "vehicle_topic_status" + cpu_frequency: "CPU Frequency" + cpu_load_average: "CPU Load Average" + gpu_frequency: "GPU Frequency" + lidar_blockage_validation: "blockage_validation" + lidar_visibility: "left_upper: visibility_validation" + memory_usage: "Memory Usage" + network_crc_error: "Network CRC Error" + network_ip_packet_reassembles_failed: "IP Packet Reassembles Failed" + network_traffic: "Network Traffic" + perception_topic_status: "perception_topic_status" + process_high_load: "High-load" + process_high_mem: "High-mem" + process_tasks_summary: "Tasks Summary" + remote_control_topic_status: "remote_control_topic_status" + sensing_topic_status: "sensing_topic_status" + storage_connection: "HDD Connection" + storage_power_on_hours: "HDD PowerOnHours" + storage_read_data_rate: "HDD ReadDataRate" + storage_read_iops: "HDD ReadIOPS" + storage_recovered_error: "HDD RecoveredError" + storage_total_data_written: "HDD TotalDataWritten" + storage_write_data_rate: "HDD WriteDataRate" + storage_write_iops: "HDD WriteIOPS" + trajectory_curvature_validation: "trajectory_curvature_validation" + trajectory_interval_validation : "trajectory_interval_validation" + trajectory_relative_angle_validation: "trajectory_relative_angle_validation" From 626c041e5e9b6fd7c89795cebbd466ab7d46da32 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Mon, 14 Nov 2022 16:58:52 +0900 Subject: [PATCH 03/68] feat(system_launch): use mrm comfortable stop (#199) Signed-off-by: Makoto Kurihara Signed-off-by: Makoto Kurihara --- .../system/emergency_handler/emergency_handler.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml index 652a984ce5..d064f2a2dd 100644 --- a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml +++ b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml @@ -7,7 +7,7 @@ timeout_takeover_request: 10.0 use_takeover_request: false use_parking_after_stopped: false - use_comfortable_stop: false + use_comfortable_stop: true # setting whether to turn hazard lamp on for each situation turning_hazard_on: From 948b19a8af6769403b165491a02bb063314a3592 Mon Sep 17 00:00:00 2001 From: Tomohito Ando Date: Fri, 28 Jan 2022 09:55:32 +0900 Subject: [PATCH 04/68] change default parameter for scenario_simulation to true --- autoware_launch/launch/logging_simulator.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 6621c15ea3..79db9f9c24 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -30,7 +30,7 @@ - + From 79d4c614b6b352cac22beb5a691847c1c30d05bf Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Date: Thu, 18 Aug 2022 16:03:36 +0900 Subject: [PATCH 05/68] chore: extend the range for ndt_scan_matching (#172) --- .../crop_box_filter_measurement_range.param.yaml | 8 ++++---- .../config/localization/ndt_scan_matcher.param.yaml | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml b/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml index ad55423154..be5a50ef0f 100644 --- a/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml +++ b/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml @@ -2,10 +2,10 @@ ros__parameters: input_frame: "base_link" output_frame: "base_link" - min_x: -60.0 - max_x: 60.0 - min_y: -60.0 - max_y: 60.0 + min_x: -100.0 + max_x: 100.0 + min_y: -100.0 + max_y: 100.0 min_z: -30.0 max_z: 50.0 negative: False diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 4c29059581..2e48924b9d 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -32,7 +32,7 @@ # If converged_param_type is 1 # Threshold for deciding whether to trust the estimation result - converged_param_nearest_voxel_transformation_likelihood: 2.3 + converged_param_nearest_voxel_transformation_likelihood: 2.1 # The number of particles to estimate initial pose initial_estimate_particles_num: 100 From 76d1b93653f971b17a3824e2baeb1a29c54be0b3 Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa Date: Mon, 22 May 2023 01:53:05 +0900 Subject: [PATCH 06/68] feat(ground_segmentation): x2 setting --- .../ground_segmentation.param.yaml | 66 ++++++++++++++++++- 1 file changed, 63 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index b367fef386..aa3ee6a54a 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - additional_lidars: [] + additional_lidars: ["front_upper", "front_lower"] ransac_input_topics: [] use_single_frame_filter: False use_time_series_filter: True @@ -19,14 +19,74 @@ plugin: "ground_segmentation::ScanGroundFilterComponent" parameters: global_slope_max_angle_deg: 10.0 - local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode + local_slope_max_angle_deg: 25.0 # recommended 30.0 for non elevation_grid_mode split_points_distance_tolerance: 0.2 use_virtual_ground_point: True split_height_distance: 0.2 non_ground_height_threshold: 0.20 + grid_size_m: 0.2 + grid_mode_switch_radius: 20.0 + gnd_grid_buffer_size: 5 + detection_range_z_max: 2.5 + elevation_grid_mode: true + center_pcl_shift: 0.0 + + # common_ground_filter: + # plugin: "ground_segmentation::RayGroundFilterComponent" + # parameters: + # general_max_slope: 10.0 + # local_max_slope: 10.0 + # min_height_threshold: 0.2 + + front_upper_crop_box_filter: + parameters: + min_x: -50.0 + max_x: 100.0 + min_y: -50.0 + max_y: 50.0 + max_z: 2.5 # recommended 2.5 for non elevation_grid_mode + min_z: -2.5 # recommended 0.0 for non elevation_grid_mode + negative: False + + front_upper_ground_filter: + plugin: "ground_segmentation::ScanGroundFilterComponent" + parameters: + global_slope_max_angle_deg: 10.0 + local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode + split_points_distance_tolerance: 0.20 # recommended 0.045 for non elevation_grid_mode + split_height_distance: 0.2 # recommended 0.15 for non elevation_grid_mode + use_virtual_ground_point: False + non_ground_height_threshold: 0.1 + grid_size_m: 0.1 + grid_mode_switch_radius: 20.0 + gnd_grid_buffer_size: 4 + detection_range_z_max: 2.5 + center_pcl_shift: 0.0 + elevation_grid_mode: true + + front_lower_crop_box_filter: + parameters: + min_x: -50.0 + max_x: 100.0 + min_y: -50.0 + max_y: 50.0 + max_z: 2.5 # recommended 2.5 for non elevation_grid_mode + min_z: -2.5 # recommended 0.0 for non elevation_grid_mode + negative: False + + front_lower_ground_filter: + plugin: "ground_segmentation::ScanGroundFilterComponent" + parameters: + global_slope_max_angle_deg: 10.0 + local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode + split_points_distance_tolerance: 0.20 # recommended 0.1 for non elevation_grid_mode + split_height_distance: 0.2 # recommended 0.05 for non elevation_grid_mode + use_virtual_ground_point: False + non_ground_height_threshold: 0.1 grid_size_m: 0.1 grid_mode_switch_radius: 20.0 gnd_grid_buffer_size: 4 detection_range_z_max: 2.5 + center_pcl_shift: 0.0 elevation_grid_mode: true - use_recheck_ground_cluster: true + use_recheck_ground_cluster: false From 8530bcce6e4fb5d995400055961fa0778bf79c52 Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa Date: Mon, 22 May 2023 22:02:08 +0900 Subject: [PATCH 07/68] feat: specify input pointcloud for localization --- .../launch/components/tier4_localization_component.launch.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index 560fc8f557..6c1880d810 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -8,8 +8,9 @@ /> + - + From 3f0c7c8650931941d346b28551504d05c5cfeb86 Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Tue, 6 Jun 2023 18:35:33 +0900 Subject: [PATCH 08/68] update lane_departure_cheker parameter Parameters need to be changed to allow entering another lane. --- .../lane_departure_checker.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml index 59e25cbc5d..f518f8825e 100644 --- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml +++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml @@ -3,10 +3,10 @@ # Node update_rate: 10.0 visualize_lanelet: false - include_right_lanes: false - include_left_lanes: false - include_opposite_lanes: false - include_conflicting_lanes: false + include_right_lanes: true + include_left_lanes: true + include_opposite_lanes: true + include_conflicting_lanes: true # Core footprint_margin_scale: 1.0 From 6d9b097ea1f354bbb8d2b22051f62b9c0f054503 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Tue, 13 Jun 2023 09:33:22 +0900 Subject: [PATCH 09/68] feat: use ml model provider (#304) Signed-off-by: wep21 --- .../launch/components/tier4_perception_component.launch.xml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 4417dba4d8..c3fd5dbc42 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -8,6 +8,9 @@ + + + Date: Wed, 14 Jun 2023 17:10:50 +0900 Subject: [PATCH 10/68] feat: allow drivable area dynamic expansion (#306) Allow drivable area dynamic expansion --- .../behavior_path_planner/drivable_area_expansion.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 1609cdbc60..d488200122 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -7,7 +7,7 @@ # Dynamic expansion by projecting the ego footprint along the path dynamic_expansion: - enabled: false + enabled: true ego: extra_footprint_offset: front: 0.5 # [m] extra length to add to the front of the ego footprint From 02b1d9655adccdcc8b04e9082bdbf8bf022c9626 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 15 Jun 2023 14:16:47 +0900 Subject: [PATCH 11/68] feat(avoidance): change object_check_backward_distance from 100m to 10m (#388) Signed-off-by: kosuke55 --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 4b8b514a5f..f7f1cfc07e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -89,7 +89,7 @@ object_ignore_distance_crosswalk_forward: 30.0 # [m] object_ignore_distance_crosswalk_backward: 30.0 # [m] object_check_forward_distance: 150.0 # [m] - object_check_backward_distance: 100.0 # [m] + object_check_backward_distance: 10.0 # [m] object_check_goal_distance: 20.0 # [m] # filtering parking objects threshold_distance_object_is_on_center: 1.0 # [m] From 12bcbfda49e834d436a565ec7c61b479ce2d568c Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu, 15 Jun 2023 20:23:45 +0900 Subject: [PATCH 12/68] feat(planning_launch): add a turn signal deactivation parameter for lane change (#398) --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index fb63a1b35c..a6e1594b89 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -6,7 +6,6 @@ backward_length_buffer_for_end_of_lane: 3.0 # [m] lane_change_finish_judge_buffer: 2.0 # [m] - min_length_for_turn_signal_activation: 10.0 #[m] lane_changing_lateral_jerk: 0.5 # [m/s3] lateral_acc_switching_velocity: 4.0 #[m/s] @@ -16,6 +15,10 @@ longitudinal_acceleration_sampling_num: 5 lateral_acceleration_sampling_num: 3 + # turn signal + min_length_for_turn_signal_activation: 10.0 # [m] + length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position) + # longitudinal acceleration min_longitudinal_acc: -1.0 max_longitudinal_acc: 1.0 From 7ee68a6a60ea278078c43c00ef83ca107b48ce7e Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 16 Jun 2023 15:32:40 +0900 Subject: [PATCH 13/68] ci(pre-commit): autoupdate (#318) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * ci(pre-commit): autoupdate updates: - [github.com/igorshubovych/markdownlint-cli: v0.33.0 → v0.34.0](https://github.com/igorshubovych/markdownlint-cli/compare/v0.33.0...v0.34.0) - [github.com/pre-commit/mirrors-prettier: v3.0.0-alpha.6 → v3.0.0-alpha.9-for-vscode](https://github.com/pre-commit/mirrors-prettier/compare/v3.0.0-alpha.6...v3.0.0-alpha.9-for-vscode) - [github.com/adrienverge/yamllint: v1.30.0 → v1.32.0](https://github.com/adrienverge/yamllint/compare/v1.30.0...v1.32.0) - [github.com/shellcheck-py/shellcheck-py: v0.9.0.2 → v0.9.0.5](https://github.com/shellcheck-py/shellcheck-py/compare/v0.9.0.2...v0.9.0.5) * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .pre-commit-config.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 65cf91e8c4..5ad60de003 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -18,18 +18,18 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.33.0 + rev: v0.34.0 hooks: - id: markdownlint args: [-c, .markdownlint.yaml, --fix] - repo: https://github.com/pre-commit/mirrors-prettier - rev: v3.0.0-alpha.6 + rev: v3.0.0-alpha.9-for-vscode hooks: - id: prettier - repo: https://github.com/adrienverge/yamllint - rev: v1.30.0 + rev: v1.32.0 hooks: - id: yamllint @@ -44,7 +44,7 @@ repos: - id: sort-package-xml - repo: https://github.com/shellcheck-py/shellcheck-py - rev: v0.9.0.2 + rev: v0.9.0.5 hooks: - id: shellcheck From ef39481d5d2a91fad50fe3d0309e5bf7ed236e85 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 19 Jun 2023 13:41:12 +0900 Subject: [PATCH 14/68] feat(avoidance): can set stop/move judge threshold for each object class (#399) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index f7f1cfc07e..d660de0743 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -29,48 +29,64 @@ target_object: car: enable: true # [-] + moving_speed_threshold: 1.0 # [m/s] + moving_time_threshold: 1.0 # [s] max_expand_ratio: 0.0 # [-] envelope_buffer_margin: 0.3 # [m] safety_buffer_lateral: 0.7 # [m] safety_buffer_longitudinal: 0.0 # [m] truck: enable: true + moving_speed_threshold: 1.0 # 3.6km/h + moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 bus: enable: true + moving_speed_threshold: 1.0 # 3.6km/h + moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 trailer: enable: true + moving_speed_threshold: 1.0 # 3.6km/h + moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 unknown: enable: false + moving_speed_threshold: 0.28 # 1.0km/h + moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 bicycle: enable: false + moving_speed_threshold: 0.28 # 1.0km/h + moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 motorcycle: enable: false + moving_speed_threshold: 1.0 # 3.6km/h + moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 pedestrian: enable: false + moving_speed_threshold: 0.28 # 1.0km/h + moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 safety_buffer_lateral: 1.0 @@ -81,8 +97,6 @@ # For target object filtering target_filtering: # filtering moving objects - threshold_speed_object_is_stopped: 1.0 # [m/s] - threshold_time_object_is_moving: 1.0 # [s] threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s] # detection range object_ignore_distance_traffic_light: 30.0 # [m] From 08e8cf626db001ad5a2955457997b017a91f4aa3 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 19 Jun 2023 21:54:04 +0900 Subject: [PATCH 15/68] feat(start_planner): start with acceleration (#402) Signed-off-by: kosuke55 --- .../start_planner/start_planner.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 0d8782cb50..9a8b2ff973 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -9,12 +9,12 @@ collision_check_distance_from_end: 1.0 # shift pull out enable_shift_pull_out: true - shift_pull_out_velocity: 2.0 - pull_out_sampling_num: 4 minimum_shift_pull_out_distance: 0.0 - maximum_lateral_jerk: 2.0 - minimum_lateral_jerk: 0.1 deceleration_interval: 15.0 + lateral_jerk: 0.5 + lateral_acceleration_sampling_num: 1 + minimum_lateral_acc: 0.15 + maximum_lateral_acc: 0.5 # geometric pull out enable_geometric_pull_out: true divide_pull_out_path: false From 542119407cd452d6e3a1959ab7c14f665d5f8253 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 20 Jun 2023 16:53:09 +0900 Subject: [PATCH 16/68] feat(start_planner): change lateral acceleration sampling num (#404) Signed-off-by: kosuke55 --- .../start_planner/start_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 9a8b2ff973..da2c6da930 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -12,7 +12,7 @@ minimum_shift_pull_out_distance: 0.0 deceleration_interval: 15.0 lateral_jerk: 0.5 - lateral_acceleration_sampling_num: 1 + lateral_acceleration_sampling_num: 3 minimum_lateral_acc: 0.15 maximum_lateral_acc: 0.5 # geometric pull out From 3bb177a6bf654334c82b20d729ad956036da26da Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 20 Jun 2023 20:13:57 +0900 Subject: [PATCH 17/68] fix(mpc): relax steering rate limit (#405) Signed-off-by: Takamasa Horibe --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 538224cf2b..4222082d40 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -47,9 +47,9 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.24 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.3 # steering dynamics time constant (1d approximation) [s] - steer_rate_lim_dps_list_by_curvature: [10.0, 20.0, 30.0] # steering angle rate limit list depending on curvature [deg/s] + steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] - steer_rate_lim_dps_list_by_velocity: [40.0, 30.0, 20.0] # steering angle rate limit list depending on velocity [deg/s] + steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0] # steering angle rate limit list depending on velocity [deg/s] velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0] # velocity list for steering angle rate limit interpolation in ascending order [m/s] acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] From aae4c9e05d234022f418efaa5e3ed08751a9c79a Mon Sep 17 00:00:00 2001 From: Riki OTA Date: Thu, 29 Jun 2023 10:53:53 +0900 Subject: [PATCH 18/68] feat: change centerpoint model path (#314) feat: change centerpoint model path (#313) * chore: change centerpoint model path * Parameter to specify model path --------- Co-authored-by: Shohei Sakai --- autoware_launch/launch/autoware.launch.xml | 2 ++ .../launch/components/tier4_perception_component.launch.xml | 4 ++-- autoware_launch/launch/logging_simulator.launch.xml | 3 +++ 3 files changed, 7 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 3d972188e1..9bd25166d0 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -38,6 +38,8 @@ + + diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index c3fd5dbc42..e750b6a9c8 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -9,8 +9,8 @@ - - + + + + + From 8ecfdda79fc60bf24b1ce60eed929f5ab4cc6506 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Thu, 13 Jul 2023 10:21:02 +0900 Subject: [PATCH 19/68] chore(behavior_velocity): enable run out module (#325) Signed-off-by: Tomohito Ando --- .../behavior_velocity_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index 7a0ef047f7..ebddd0c75c 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -20,7 +20,7 @@ - behavior_velocity_planner::NoStoppingAreaModulePlugin # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom. - behavior_velocity_planner::StopLineModulePlugin # Permanent stop line module should be after no stopping area # behavior_velocity_planner::OcclusionSpotModulePlugin - # behavior_velocity_planner::RunOutModulePlugin + - behavior_velocity_planner::RunOutModulePlugin # behavior_velocity_planner::SpeedBumpModulePlugin - behavior_velocity_planner::OutOfLaneModulePlugin # behavior_velocity_planner::NoDrivableLaneModulePlugin From 97b7c81521c400985249102f988c0fa6bb32a518 Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Fri, 14 Jul 2023 11:07:34 +0900 Subject: [PATCH 20/68] fix: launch args of centerpoint model path do not work (#326) fix launch parameter of centerpoint model path --- .../launch/components/tier4_perception_component.launch.xml | 4 ++-- autoware_launch/launch/logging_simulator.launch.xml | 3 +++ 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index e750b6a9c8..8140d29553 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -9,8 +9,8 @@ - - + + + + + From f9db873a6507806bec14d94279547f3dfaacd8d4 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Wed, 19 Jul 2023 09:52:12 +0900 Subject: [PATCH 21/68] chore(run_out): disable slow down limit (#332) Signed-off-by: Tomohito Ando --- .../behavior_velocity_planner/run_out.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index f9668549f2..ff67360785 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -45,6 +45,6 @@ # parameter to avoid sudden stopping slow_down_limit: - enable: true + enable: false max_jerk: -0.7 # [m/s^3] minimum jerk deceleration for safe brake. max_acc : -2.0 # [m/s^2] minimum accel deceleration for safe brake. From 00f67186a6603d1bcee0bd24044109fe9e42ad85 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Mon, 7 Aug 2023 09:48:20 +0900 Subject: [PATCH 22/68] chore(perception): change namespace of traffic light nodes (#342) Signed-off-by: Tomohito Ando --- .../launch/components/tier4_perception_component.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 8140d29553..bc7ec0e770 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -11,6 +11,7 @@ + Date: Mon, 7 Aug 2023 14:21:40 +0900 Subject: [PATCH 23/68] chore(perception): set fusion_only to true (#341) Signed-off-by: Tomohito Ando --- .../launch/components/tier4_perception_component.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index bc7ec0e770..6414bf09ab 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -11,6 +11,7 @@ + Date: Wed, 5 Jul 2023 07:28:48 +0900 Subject: [PATCH 24/68] feat: disable lane departure checker (#317) * feat(obstacle_avoidance_planner): change optimization_center_offset Signed-off-by: 1222-takeshi * feat(system_error_monitor): do not monitor lane_departure_checker Signed-off-by: 1222-takeshi * feat: add comment Signed-off-by: 1222-takeshi --------- Signed-off-by: 1222-takeshi --- .../obstacle_avoidance_planner.param.yaml | 4 ++-- .../system_error_monitor/system_error_monitor.param.yaml | 2 +- .../system_error_monitor.planning_simulation.param.yaml | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index f681398717..2fb1796198 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -46,11 +46,11 @@ num_points: 100 # number of points for optimization [-] delta_arc_length: 1.0 # delta arc length for optimization [m] - # kinematics: + kinematics: # If this parameter is commented out, the parameter is set as below by default. # The logic could be `optimization_center_offset = vehicle_info.wheelbase * 0.8` # The 0.8 scale is adopted as it performed the best. - # optimization_center_offset: 2.3 # optimization center offset from base link + optimization_center_offset: 0.0 # optimization center offset from base link clearance: # clearance(distance) between vehicle and roads/objects when generating trajectory # if collision_free_constraints.option.hard_constraint is true diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml index 71dc2ac600..14c0c7e556 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml @@ -18,7 +18,7 @@ required_modules: autonomous_driving: /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default + # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # temporarily until logic is improved /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/localization/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml index 9708456df4..40616d37d8 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml @@ -18,7 +18,7 @@ required_modules: autonomous_driving: /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default + # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # temporarily until logic is improved /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/localization/node_alive_monitoring: default From dec44890c05ee979ea4777ff48b34e2ef81b42a4 Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Date: Wed, 5 Jul 2023 13:28:31 +0900 Subject: [PATCH 25/68] chore: update converged param (#318) chore: update likelihood threshold --- autoware_launch/config/localization/ndt_scan_matcher.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 2e48924b9d..4c29059581 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -32,7 +32,7 @@ # If converged_param_type is 1 # Threshold for deciding whether to trust the estimation result - converged_param_nearest_voxel_transformation_likelihood: 2.1 + converged_param_nearest_voxel_transformation_likelihood: 2.3 # The number of particles to estimate initial pose initial_estimate_particles_num: 100 From b3d99ce59d5a965d1762c188b52b5068d833694f Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Date: Thu, 6 Jul 2023 17:00:19 +0900 Subject: [PATCH 26/68] chore(start_planner): disable back (#320) --- .../start_planner/start_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 60f2927440..8b4a555a4d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -26,7 +26,7 @@ backward_velocity: -1.0 pull_out_max_steer_angle: 0.26 # 15deg # search start pose backward - enable_back: true + enable_back: false search_priority: "efficient_path" # "efficient_path" or "short_back_distance" max_back_distance: 30.0 backward_search_resolution: 2.0 From aac25c2b05b851d45ac53aa75c3aea3f5390a68d Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Sun, 9 Jul 2023 13:42:06 +0900 Subject: [PATCH 27/68] feat(behavior_path_planner): update behavior path module config (#323) Signed-off-by: satoshi-ota --- .../scene_module_manager.param.yaml | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 65582656b9..ff2613d2f6 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -7,7 +7,7 @@ enable_module: false enable_rtc: true enable_simultaneous_execution_as_approved_module: false - enable_simultaneous_execution_as_candidate_module: true + enable_simultaneous_execution_as_candidate_module: false priority: 7 max_module_size: 1 @@ -15,36 +15,36 @@ enable_module: false enable_rtc: true enable_simultaneous_execution_as_approved_module: false - enable_simultaneous_execution_as_candidate_module: true + enable_simultaneous_execution_as_candidate_module: false priority: 7 max_module_size: 1 lane_change_left: enable_module: true enable_rtc: true - enable_simultaneous_execution_as_approved_module: true - enable_simultaneous_execution_as_candidate_module: true + enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_candidate_module: false priority: 6 max_module_size: 1 lane_change_right: enable_module: true enable_rtc: true - enable_simultaneous_execution_as_approved_module: true - enable_simultaneous_execution_as_candidate_module: true + enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_candidate_module: false priority: 6 max_module_size: 1 start_planner: enable_module: true enable_rtc: true - enable_simultaneous_execution_as_approved_module: true + enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false priority: 0 max_module_size: 1 side_shift: - enable_module: true + enable_module: false enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -62,7 +62,7 @@ avoidance: enable_module: true enable_rtc: true - enable_simultaneous_execution_as_approved_module: true + enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false priority: 5 max_module_size: 1 From 073cc87fd4fb3df99c26f42c5198093aa09c435c Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Sun, 9 Jul 2023 13:42:20 +0900 Subject: [PATCH 28/68] feat(avoidacne): update avoidance config (#324) Signed-off-by: satoshi-ota Signed-off-by: Tomohito Ando --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index f27429ae81..71a71685ec 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -154,7 +154,7 @@ lateral_execution_threshold: 0.09 # [m] lateral_small_shift_threshold: 0.101 # [m] lateral_avoid_check_threshold: 0.1 # [m] - road_shoulder_safety_margin: 0.3 # [m] + road_shoulder_safety_margin: 0.8 # [m] max_right_shift_length: 5.0 max_left_shift_length: 5.0 # avoidance distance parameters From 12da7186fa74495c465c18484bea820905df63a8 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 12 Jul 2023 12:07:17 +0900 Subject: [PATCH 29/68] feat(autoware_launch): use obstacle_cruise_planner (#322) Signed-off-by: Takayuki Murooka --- .../launch/components/tier4_planning_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index ad55c76d82..101afc5c35 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -4,7 +4,7 @@ - + From a2015024c4a0fa02580ae64d1b2a9ed92b6650cb Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Date: Thu, 13 Jul 2023 09:35:52 +0900 Subject: [PATCH 30/68] fix: netmonitor config (#321) fix(system_monitor): restrict monitored port --- .../system/system_monitor/net_monitor.param.yaml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml index d72b8d1334..adcae5a458 100644 --- a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml +++ b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml @@ -1,9 +1,9 @@ /**: ros__parameters: - devices: ["*"] - traffic_reader_port: 7636 - monitor_program: "greengrass" - crc_error_check_duration: 1 - crc_error_count_threshold: 1 - reassembles_failed_check_duration: 1 - reassembles_failed_check_count: 1 + devices: ["enp2s0f1"] + traffic_reader_port: 7636 + monitor_program: "greengrass" + crc_error_check_duration: 1 + crc_error_count_threshold: 1 + reassembles_failed_check_duration: 1 + reassembles_failed_check_count: 1 From 6c13a97f5f54a10dae5ab51947ebda2c0255698a Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Date: Fri, 21 Jul 2023 13:03:10 +0900 Subject: [PATCH 31/68] chore: update perception settings (#329) * chore: use unknown object * feat: expand camera usage range * chore(ground_segmentation): change z range Signed-off-by: Tomohito Ando --- .../ground_segmentation.param.yaml | 12 ++++++------ .../components/tier4_perception_component.launch.xml | 2 ++ 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index aa3ee6a54a..c0cad93c6a 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -11,7 +11,7 @@ max_x: 150.0 min_y: -70.0 max_y: 70.0 - max_z: 2.5 + max_z: 3.2 min_z: -2.5 # recommended 0.0 for non elevation_grid_mode negative: False @@ -27,7 +27,7 @@ grid_size_m: 0.2 grid_mode_switch_radius: 20.0 gnd_grid_buffer_size: 5 - detection_range_z_max: 2.5 + detection_range_z_max: 3.2 elevation_grid_mode: true center_pcl_shift: 0.0 @@ -44,7 +44,7 @@ max_x: 100.0 min_y: -50.0 max_y: 50.0 - max_z: 2.5 # recommended 2.5 for non elevation_grid_mode + max_z: 3.2 # recommended 2.5 for non elevation_grid_mode min_z: -2.5 # recommended 0.0 for non elevation_grid_mode negative: False @@ -60,7 +60,7 @@ grid_size_m: 0.1 grid_mode_switch_radius: 20.0 gnd_grid_buffer_size: 4 - detection_range_z_max: 2.5 + detection_range_z_max: 3.2 center_pcl_shift: 0.0 elevation_grid_mode: true @@ -70,7 +70,7 @@ max_x: 100.0 min_y: -50.0 max_y: 50.0 - max_z: 2.5 # recommended 2.5 for non elevation_grid_mode + max_z: 3.2 # recommended 2.5 for non elevation_grid_mode min_z: -2.5 # recommended 0.0 for non elevation_grid_mode negative: False @@ -86,7 +86,7 @@ grid_size_m: 0.1 grid_mode_switch_radius: 20.0 gnd_grid_buffer_size: 4 - detection_range_z_max: 2.5 + detection_range_z_max: 3.2 center_pcl_shift: 0.0 elevation_grid_mode: true use_recheck_ground_cluster: false diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 054537d6da..29a1a56744 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -24,6 +24,8 @@ + + From 89a1236053ba77f00ef95f5d0d8a34ef06513f4b Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Date: Fri, 21 Jul 2023 17:52:46 +0900 Subject: [PATCH 32/68] feat: enable camera_lidar_radar_fusion (#330) --- .../detection/image_projection_based_fusion/roi_sync.param.yaml | 2 +- autoware_launch/launch/autoware.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml index 21ba13787f..9b801a8c01 100644 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0] + input_offset_ms: [50.0, 66.67, 83.33, 100.0, 16.67, 33.33] timeout_ms: 70.0 match_threshold_ms: 50.0 diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 8127340921..165b7561e4 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -36,7 +36,7 @@ - + From 9cc3e543bd4c93d5348fc560d3dbc0effc17bca6 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Thu, 3 Aug 2023 10:17:03 +0900 Subject: [PATCH 33/68] fix(occlusion_spot): add lacking param (#336) Signed-off-by: satoshi-ota Co-authored-by: satoshi-ota Signed-off-by: Tomohito Ando --- .../trajectory_follower/lateral/mpc.param.yaml | 4 ++-- .../trajectory_follower/longitudinal/pid.param.yaml | 12 ++++++------ .../motion_velocity_smoother/Analytical.param.yaml | 4 ++-- .../motion_velocity_smoother.param.yaml | 2 +- .../components/tier4_planning_component.launch.xml | 2 +- 5 files changed, 12 insertions(+), 12 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 4222082d40..8e28e37780 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -45,8 +45,8 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics - input_delay: 0.24 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.3 # steering dynamics time constant (1d approximation) [s] + input_delay: 0.17 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.15 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0] # steering angle rate limit list depending on velocity [deg/s] diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index bc3213081d..2fdb829aed 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - delay_compensation_time: 0.17 + delay_compensation_time: 0.15 enable_smooth_stop: true enable_overshoot_emergency: true @@ -56,16 +56,16 @@ # emergency state emergency_vel: 0.0 - emergency_acc: -5.0 - emergency_jerk: -3.0 + emergency_acc: -2.5 + emergency_jerk: -1.5 # acceleration limit - max_acc: 3.0 - min_acc: -5.0 + max_acc: 1.86 + min_acc: -3.36 # jerk limit max_jerk: 2.0 - min_jerk: -5.0 + min_jerk: -2.0 # pitch use_trajectory_for_pitch_calculation: false diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml index 329714e3d3..232610713f 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml @@ -17,8 +17,8 @@ kp: 0.3 backward: - start_jerk: -0.1 - min_jerk_mild_stop: -0.3 + start_jerk: -0.3 + min_jerk_mild_stop: -0.5 min_jerk: -1.5 min_acc_mild_stop: -1.0 min_acc: -2.5 diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 868b1bd15c..1758330718 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: # motion state constraints - max_velocity: 20.0 # max velocity limit [m/s] + max_velocity: 9.72 # max velocity limit [m/s] stop_decel: 0.0 # deceleration at a stop point[m/ss] # external velocity limit parameter diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 101afc5c35..b7035a5d0b 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -7,7 +7,7 @@ - + From f8d19bfe7e0e980fb9b3231f679a26664c5333d1 Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Date: Mon, 7 Aug 2023 15:25:56 +0900 Subject: [PATCH 34/68] chore(system_error_monitor): update diag (#334) * chore(system_error_monitor): update diag * style(pre-commit): autofix --------- Co-authored-by: 0x126 <0x126@users.noreply.github.com> --- .../diagnostic_aggregator/system.param.yaml | 9 +++++++++ .../system_error_monitor.param.yaml | 12 ++++++++++++ 2 files changed, 21 insertions(+) diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml index 27cbe3fed2..5d559b56cb 100644 --- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml @@ -13,3 +13,12 @@ path: storage_error contains: ["bagpacker"] timeout: 3.0 + fms_connection: + type: diagnostic_aggregator/AnalyzerGroup + path: fms_connection + analyzers: + connection_error: + type: diagnostic_aggregator/GenericAnalyzer + path: connection_error + contains: ["edge_core_internet_connection"] + timeout: 10.0 diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml index 14c0c7e556..d1035f3606 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml @@ -17,28 +17,40 @@ ros__parameters: required_modules: autonomous_driving: + # Control (from control.param.yaml) /autoware/control/autonomous_driving/node_alive_monitoring: default # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # temporarily until logic is improved /autoware/control/control_command_gate/node_alive_monitoring: default + # Localization (from localization.param.yaml) /autoware/localization/node_alive_monitoring: default /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/localization/performance_monitoring/localization_accuracy: default + # Map (from map.param.yaml) /autoware/map/node_alive_monitoring: default + # Perception (from perception.param.yaml) /autoware/perception/node_alive_monitoring: default + # Planning (from planning.param.yaml) /autoware/planning/node_alive_monitoring: default /autoware/planning/performance_monitoring/trajectory_validation: default + # Sensors (from sensor_kit.param.yaml) # /autoware/sensing/node_alive_monitoring: default + /autoware/sensing/lidar/pandar/health_monitoring/connection: { sf_at: "none", lf_at: "none", spf_at: "error", auto_recovery: "true"} + /autoware/sensing/lidar/pandar/health_monitoring/temperature: { sf_at: "warn", lf_at: "error", spf_at: "none", auto_recovery: "true"} + /autoware/sensing/lidar/pandar/health_monitoring/ptp: { sf_at: "none", lf_at: "none", spf_at: "warn", auto_recovery: "true"} + # System (from system.param.yaml in universe and system.param.yaml in system_launch) /autoware/system/node_alive_monitoring: default /autoware/system/emergency_stop_operation: default /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/system/fms_connection: { sf_at: "warn", lf_at: "none", spf_at: "none" } + # Vehicle (from vehicle.param.yaml in universe and vehicle.param.yaml in system_launch) /autoware/vehicle/node_alive_monitoring: default external_control: From bf2712b94d34373cd434fd1fe1baabaf1128f4d4 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Mon, 7 Aug 2023 17:08:55 +0900 Subject: [PATCH 35/68] chore(traffic_light_arbiter): prioritize V2X input over the perception input (#346) Signed-off-by: Tomohito Ando --- .../traffic_light_arbiter/traffic_light_arbiter.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml b/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml index 5dc2b62eaa..f6263c621a 100644 --- a/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml +++ b/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml @@ -2,4 +2,4 @@ ros__parameters: external_time_tolerance: 5.0 perception_time_tolerance: 1.0 - external_priority: false + external_priority: true From 0e3484388fe84085c8e9e65ed5c28d42a2ca020f Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Tue, 8 Aug 2023 09:51:34 +0900 Subject: [PATCH 36/68] refactor(traffic_light_arbiter): add traffic_light_arbiter param file (#343) refactor(traffic_light_arbiter): add traffic_light_arbiter param file (#489) Signed-off-by: Tomohito Ando Co-authored-by: Kenzo Lobos Tsunekawa Signed-off-by: Tomohito Ando --- .../launch/components/tier4_perception_component.launch.xml | 1 + .../launch/components/tier4_simulator_component.launch.xml | 1 + 2 files changed, 2 insertions(+) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 29a1a56744..05047c0136 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -26,6 +26,7 @@ + diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index bd191f7a56..576ccb4ec4 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -25,6 +25,7 @@ + Date: Thu, 17 Aug 2023 17:10:38 +0900 Subject: [PATCH 37/68] feat(behavior_velocity_planner): change walkway stop line distance (#350) feat(behavior_velocity_planner): change walkway stop line distance margin Signed-off-by: Makoto Kurihara Signed-off-by: Tomohito Ando --- .../behavior_velocity_planner/walkway.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml index f21e3d12db..f102af1b2e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml @@ -2,4 +2,4 @@ ros__parameters: walkway: stop_duration: 1.0 # [s] stop time at stop position - stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists + stop_distance_from_crosswalk: 0.5 # [m] make stop line away from crosswalk when no explicit stop line exists From 53379ca2e03181e735e2a24d14c7d3e1488e8c91 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Wed, 9 Aug 2023 17:32:18 +0900 Subject: [PATCH 38/68] feat: launch V2X node in autoware launch (#349) * feat: launch V2X node in autoware launch Signed-off-by: Tomohito Ando * style(pre-commit): autofix --------- Signed-off-by: Tomohito Ando Co-authored-by: TomohitoAndo --- autoware_launch/launch/autoware.launch.xml | 10 ++++++++++ autoware_launch/launch/logging_simulator.launch.xml | 2 ++ autoware_launch/launch/planning_simulator.launch.xml | 2 ++ 3 files changed, 14 insertions(+) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 165b7561e4..dde373b631 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -18,6 +18,7 @@ + @@ -108,6 +109,15 @@ + + + + + + + + + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index b240e7c4ba..b7d412d699 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -70,6 +70,8 @@ + + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 941399db7e..3032e8f982 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -53,6 +53,8 @@ + + From 8b735f8edf2b04bf1e0f02e8fe3faffdb92badce Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Mon, 14 Aug 2023 11:09:50 +0900 Subject: [PATCH 39/68] feat(behavior_path_planner): set params for short distance lane change (#351) Signed-off-by: Makoto Kurihara --- .../lane_change/lane_change.param.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 7408456d3e..daaaa41cf7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -2,14 +2,14 @@ ros__parameters: lane_change: backward_lane_length: 200.0 #[m] - prepare_duration: 4.0 # [s] + prepare_duration: 3.0 # [s] - backward_length_buffer_for_end_of_lane: 3.0 # [m] - lane_change_finish_judge_buffer: 2.0 # [m] + backward_length_buffer_for_end_of_lane: 0.5 # [m] + lane_change_finish_judge_buffer: 0.0 # [m] lane_changing_lateral_jerk: 0.5 # [m/s3] - minimum_lane_changing_velocity: 2.78 # [m/s] + minimum_lane_changing_velocity: 0.75 # [m/s] prediction_time_resolution: 0.5 # [s] longitudinal_acceleration_sampling_num: 5 lateral_acceleration_sampling_num: 3 @@ -30,7 +30,7 @@ lateral_acceleration: velocity: [0.0, 4.0, 10.0] min_values: [0.15, 0.15, 0.15] - max_values: [0.5, 0.5, 0.5] + max_values: [0.75, 0.75, 0.75] # target object target_object: From cfdac4bc8477764eebfebe13d76f2f0813d210e3 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Tue, 15 Aug 2023 20:56:47 +0900 Subject: [PATCH 40/68] feat(behavior_path_planner): configure dynamic drivable area expansion (#352) * feat(behavior_path_planner): configure dynamic drivable area expansion Signed-off-by: Makoto Kurihara * fix(behavior_path_planner): fix to expand only front offset Signed-off-by: Makoto Kurihara --------- Signed-off-by: Makoto Kurihara --- .../drivable_area_expansion.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index d488200122..122b8bdcaf 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -10,12 +10,12 @@ enabled: true ego: extra_footprint_offset: - front: 0.5 # [m] extra length to add to the front of the ego footprint + front: 1.0 # [m] extra length to add to the front of the ego footprint rear: 0.5 # [m] extra length to add to the rear of the ego footprint left: 0.5 # [m] extra length to add to the left of the ego footprint right: 0.5 # [m] extra length to add to the rear of the ego footprint dynamic_objects: - avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects + avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects extra_footprint_offset: front: 0.5 # [m] extra length to add to the front of the dynamic object footprint rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint @@ -33,5 +33,5 @@ - road_border distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid compensate: - enable: true # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction + enable: false # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction extra_distance: 3.0 # [m] extra distance to add to the compensation From 407bbbd718ab6b184fcfd0bfe2744331ed217e7f Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Wed, 16 Aug 2023 09:43:43 +0900 Subject: [PATCH 41/68] chore: simultaneous launch of lane_change & goal_planner (#345) * Simultaneous launch of lane_change & goal_planner * Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml --------- Co-authored-by: Kosuke Takeuchi --- .../behavior_path_planner/scene_module_manager.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index ff2613d2f6..c48943bc9d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -22,7 +22,7 @@ lane_change_left: enable_module: true enable_rtc: true - enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false priority: 6 max_module_size: 1 @@ -30,7 +30,7 @@ lane_change_right: enable_module: true enable_rtc: true - enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false priority: 6 max_module_size: 1 From 6d93a34f03379e993c130e6d03da0c639b94a6ce Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Wed, 16 Aug 2023 11:39:20 +0900 Subject: [PATCH 42/68] feat(autoware_launch): changes for shiojiri run (#356) * chore(autoware_launch): disable rviz on main ecu Signed-off-by: t4-x2 * feat(autoware_launch): change perception type to camera_lidar_fusion Signed-off-by: t4-x2 --------- Signed-off-by: t4-x2 Co-authored-by: t4-x2 --- autoware_launch/launch/autoware.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index dde373b631..578bda07fb 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -34,10 +34,10 @@ - + - + From 8927c31ca075d7d29899f21b0d4c1be49ddacd63 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Wed, 16 Aug 2023 11:41:17 +0900 Subject: [PATCH 43/68] feat(behavior_path_planner): tune for short distance lane change (#354) Signed-off-by: Makoto Kurihara Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Signed-off-by: Tomohito Ando --- .../lane_change/lane_change.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index daaaa41cf7..d9d33e4083 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -7,9 +7,9 @@ backward_length_buffer_for_end_of_lane: 0.5 # [m] lane_change_finish_judge_buffer: 0.0 # [m] - lane_changing_lateral_jerk: 0.5 # [m/s3] + lane_changing_lateral_jerk: 0.75 # [m/s3] - minimum_lane_changing_velocity: 0.75 # [m/s] + minimum_lane_changing_velocity: 1.0 # [m/s] prediction_time_resolution: 0.5 # [s] longitudinal_acceleration_sampling_num: 5 lateral_acceleration_sampling_num: 3 @@ -30,7 +30,7 @@ lateral_acceleration: velocity: [0.0, 4.0, 10.0] min_values: [0.15, 0.15, 0.15] - max_values: [0.75, 0.75, 0.75] + max_values: [1.25, 1.25, 1.25] # target object target_object: From 7c7be851227dce787ed38a6fcbb90924f191558c Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Date: Wed, 16 Aug 2023 12:29:08 +0900 Subject: [PATCH 44/68] chore(surround_obstacle_checker): use object (#353) --- .../surround_obstacle_checker.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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..4834a7c673 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 @@ -2,7 +2,7 @@ ros__parameters: # obstacle check - use_pointcloud: true # use pointcloud as obstacle check + use_pointcloud: false # 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] From 1a6a43fb29db3e8f2a51831ea920c408fd7f7fa6 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Thu, 17 Aug 2023 12:00:31 +0900 Subject: [PATCH 45/68] chore(tier4_simulator_component): add traffic light arbiter param path (#358) Signed-off-by: Tomohito Ando --- .../launch/components/tier4_simulator_component.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index 576ccb4ec4..5f8c7256e0 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -44,5 +44,6 @@ + From 2e070f928d0cec99302e214750df09fd942795ff Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Mon, 21 Aug 2023 14:05:36 +0900 Subject: [PATCH 46/68] chore(avoidance): update road shoulder margin (#367) Signed-off-by: Tomohito Ando --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 7f2e92419b..2a21e4cecb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -154,8 +154,8 @@ lateral_execution_threshold: 0.09 # [m] lateral_small_shift_threshold: 0.101 # [m] lateral_avoid_check_threshold: 0.1 # [m] - soft_road_shoulder_margin: 0.3 # [m] - hard_road_shoulder_margin: 0.3 # [m] + soft_road_shoulder_margin: 0.8 # [m] + hard_road_shoulder_margin: 0.8 # [m] max_right_shift_length: 5.0 max_left_shift_length: 5.0 # avoidance distance parameters From 0f3ef8b28303264bd0f97dad77c5904bdfddbb58 Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Date: Mon, 28 Aug 2023 11:57:00 +0900 Subject: [PATCH 47/68] fix: camera offset (#379) * fix: camera sync offset * fix: typo --- .../detection/image_projection_based_fusion/roi_sync.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml index 9b801a8c01..a626bc0269 100644 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - input_offset_ms: [50.0, 66.67, 83.33, 100.0, 16.67, 33.33] + input_offset_ms: [50.0, 66.67, 83.33, 0.0, 16.67, 33.33] timeout_ms: 70.0 match_threshold_ms: 50.0 From 0a54513beda6841123cc1305a5d239cfca275c48 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Sun, 20 Aug 2023 22:01:24 +0900 Subject: [PATCH 48/68] feat(behavior_path_planner): expand footprint for dynamic drivalble area expansion (#357) feat(behavior_path_planner): expand footprint for drivable area expansion Signed-off-by: Makoto Kurihara --- .../behavior_path_planner/drivable_area_expansion.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 122b8bdcaf..38f1b9107d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -10,7 +10,7 @@ enabled: true ego: extra_footprint_offset: - front: 1.0 # [m] extra length to add to the front of the ego footprint + front: 1.5 # [m] extra length to add to the front of the ego footprint rear: 0.5 # [m] extra length to add to the rear of the ego footprint left: 0.5 # [m] extra length to add to the left of the ego footprint right: 0.5 # [m] extra length to add to the rear of the ego footprint From 6531f5dbea689b6dbe3cb67d333ecf0b2d1d3c5b Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Sun, 20 Aug 2023 22:02:40 +0900 Subject: [PATCH 49/68] chore(rtc_auto_mode_manager): disable auto approval for the avoidance module (#361) chore(rtc_auto_mode_manager): disable auto approval for the avoidance module Signed-off-by: Makoto Kurihara --- .../rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml index 9d761b15ee..c0e3e147dc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml @@ -26,8 +26,8 @@ - "traffic_light" - "lane_change_left" - "lane_change_right" - - "avoidance_left" - - "avoidance_right" + # - "avoidance_left" + # - "avoidance_right" - "avoidance_by_lane_change_left" - "avoidance_by_lane_change_right" - "goal_planner" From bf250ee051778f6dc24d8dc1a11e740384c44627 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Mon, 21 Aug 2023 08:11:32 +0900 Subject: [PATCH 50/68] feat(behavior_velocity_planner): shorten the distance margin and stop time for walkway Signed-off-by: Makoto Kurihara --- .../behavior_velocity_planner/walkway.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml index f102af1b2e..2bdfacd868 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: walkway: - stop_duration: 1.0 # [s] stop time at stop position - stop_distance_from_crosswalk: 0.5 # [m] make stop line away from crosswalk when no explicit stop line exists + stop_duration: 0.1 # [s] stop time at stop position + stop_distance_from_crosswalk: 0.0 # [m] make stop line away from crosswalk when no explicit stop line exists From 2105a9e70a0884028b6b1af6290afc1d8a39b464 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Tue, 22 Aug 2023 06:11:14 +0900 Subject: [PATCH 51/68] feat(behavior_path_planner): shorten minimum request length for goal (#366) planner Signed-off-by: Makoto Kurihara --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index cd2bc6168d..6cd6b1f06d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -2,7 +2,7 @@ ros__parameters: goal_planner: # general params - minimum_request_length: 100.0 + minimum_request_length: 10.0 th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 2.0 # It must be greater than the state_machine's. From c82fe72bf8f746e5d1e438e290d374aba7d2b23e Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 22 Aug 2023 15:23:20 +0900 Subject: [PATCH 52/68] change merge_from_private stop_margin to 0.5m Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index 4e77e0591f..696113d6bf 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -54,5 +54,5 @@ intersection_to_occlusion: true merge_from_private: - stop_line_margin: 3.0 + stop_line_margin: 0.5 stop_duration_sec: 1.0 From e14e1664efff007ee3928b41e8a97ad9c83c480e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 22 Aug 2023 11:17:12 +0900 Subject: [PATCH 53/68] feat(autoware_launch): no conflict of arc length between drivable area expansion and optimization path planning Signed-off-by: Takayuki Murooka --- .../behavior_path_planner/drivable_area_expansion.param.yaml | 2 +- .../obstacle_avoidance_planner.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 38f1b9107d..d0c87f6479 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -26,7 +26,7 @@ # 'lanelet': add lanelets overlapped by the ego footprints # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) - max_path_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit) + max_path_arc_length: 80.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit) extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint avoid_linestring: types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 0bf78ead05..a96971fe84 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -45,7 +45,7 @@ common: num_points: 100 # number of points for optimization [-] - delta_arc_length: 1.0 # delta arc length for optimization [m] + delta_arc_length: 0.5 # delta arc length for optimization [m] kinematics: # If this parameter is commented out, the parameter is set as below by default. From 2568622ff0cf3327774e1a43503bc82b4b523f9d Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 22 Aug 2023 11:15:51 +0900 Subject: [PATCH 54/68] feat(autoware_launch): set terminal obstacle stop margin to 6.0 Signed-off-by: Takayuki Murooka --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index b71c2d667c..a01df1447c 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -13,7 +13,7 @@ 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 : 6.0 # 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] + terminal_safe_distance_margin : 6.0 # 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] From 3e37659846f947dd9c3f288ea537e3ca2c3935fb Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Thu, 24 Aug 2023 16:32:50 +0900 Subject: [PATCH 55/68] chore(e2e_simulator_launch): disable V2X in e2e simulator (#378) Signed-off-by: Tomohito Ando --- autoware_launch/launch/e2e_simulator.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index a089da6397..b33e325f14 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -59,6 +59,8 @@ + + From 464f2d1e77592668e9c55c4ffa9403da904f2d42 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Tue, 29 Aug 2023 11:47:57 +0900 Subject: [PATCH 56/68] feat(trajectory_follower): use trajectory for pitch calculation (#382) Signed-off-by: Makoto Kurihara --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index 2fdb829aed..63c73e9fb6 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -68,7 +68,7 @@ min_jerk: -2.0 # pitch - use_trajectory_for_pitch_calculation: false + use_trajectory_for_pitch_calculation: true lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 From cf8783a0065a84634b32da2217935bdeaf9a2bf0 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Tue, 29 Aug 2023 11:48:35 +0900 Subject: [PATCH 57/68] feat(behavior_path_planner): prevent from approaching the curbstone (#384) Signed-off-by: Makoto Kurihara --- .../behavior_path_planner/drivable_area_expansion.param.yaml | 2 +- .../obstacle_avoidance_planner.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index d0c87f6479..e6fab6e5aa 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -31,7 +31,7 @@ avoid_linestring: types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area - road_border - distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid + distance: 0.3 # [m] distance to keep between the drivable area and the linestrings to avoid compensate: enable: false # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction extra_distance: 3.0 # [m] extra distance to add to the compensation diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index a96971fe84..0a44d8aabd 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -51,7 +51,7 @@ # If this parameter is commented out, the parameter is set as below by default. # The logic could be `optimization_center_offset = vehicle_info.wheelbase * 0.8` # The 0.8 scale is adopted as it performed the best. - optimization_center_offset: 0.0 # optimization center offset from base link + optimization_center_offset: 2.0 # optimization center offset from base link clearance: # clearance(distance) between vehicle and roads/objects when generating trajectory # if collision_free_constraints.option.hard_constraint is true From 747fcf6e18bf80a044463b151083dd3aad1eaf58 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Tue, 29 Aug 2023 11:49:06 +0900 Subject: [PATCH 58/68] feat(motion_velocity_smoother): use strong lateral acceleration limit (#383) Signed-off-by: Makoto Kurihara --- .../motion_velocity_smoother.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 1758330718..2fd2ee8542 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -8,7 +8,7 @@ margin_to_insert_external_velocity_limit: 0.3 # margin distance to insert external velocity limit [m] # curve parameters - max_lateral_accel: 1.0 # max lateral acceleration limit [m/ss] + max_lateral_accel: 0.6 # max lateral acceleration limit [m/ss] min_curve_velocity: 2.74 # min velocity at lateral acceleration limit and steering angle rate limit [m/s] decel_distance_before_curve: 3.5 # slow speed distance before a curve for lateral acceleration limit decel_distance_after_curve: 2.0 # slow speed distance after a curve for lateral acceleration limit From 411d53fb20ee87e04c3aa5ff2675a89883972e28 Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Thu, 31 Aug 2023 11:26:16 +0900 Subject: [PATCH 59/68] Disable yaw bias estimation of EKF --- autoware_launch/config/localization/ekf_localizer.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 4d3f5b9643..6b349c7dab 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: show_debug_info: false - enable_yaw_bias_estimation: true + enable_yaw_bias_estimation: false predict_frequency: 50.0 tf_rate: 50.0 extend_state_step: 50 From b31a1fe69aed95bbc890d1a60069c1d1eefc2069 Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Date: Fri, 1 Sep 2023 08:44:29 +0900 Subject: [PATCH 60/68] chore: remove unknown object form avoidance target (#391) --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 97658262a0..e7d59aecb5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -68,7 +68,7 @@ safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 unknown: - is_target: true + is_target: false execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 From e2b82fa3bbd98f779534481261c6ebff37c39b24 Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Fri, 8 Sep 2023 14:34:34 +0900 Subject: [PATCH 61/68] Adjust parameters according to vehicle size --- .../obstacle_cruise_planner.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index a01df1447c..3409e2d250 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -96,7 +96,7 @@ max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego slow_down: - max_lat_margin: 1.1 # lateral margin between obstacle and trajectory band with ego's width + max_lat_margin: 0.8 # lateral margin between obstacle and trajectory band with ego's width lat_hysteresis_margin: 0.2 successive_num_to_entry_slow_down_condition: 5 @@ -169,7 +169,7 @@ slow_down: # parameters to calculate slow down velocity by linear interpolation min_lat_margin: 0.2 - max_lat_margin: 1.0 + max_lat_margin: 0.7 min_ego_velocity: 2.0 max_ego_velocity: 8.0 From 34d2daf09137c45415e74b34fac3a329d2bbbb5f Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Wed, 13 Sep 2023 09:09:47 +0900 Subject: [PATCH 62/68] chore: display virtul wall of obstacle cruise slowdown (#407) display virtul wall of obstacle cruise slowdown --- autoware_launch/rviz/autoware.rviz | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 915a296d79..f1173bfbd5 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2223,7 +2223,7 @@ Visualization Manager: Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall Value: true - Class: rviz_default_plugins/MarkerArray - Enabled: true + Enabled: false Name: DebugMarker Namespaces: {} @@ -2234,7 +2234,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker Value: true - Enabled: false + Enabled: true Name: ObstacleCruise - Class: rviz_default_plugins/MarkerArray Enabled: false From 9307c8697efa06c17476db2ea1d3ea41b560c565 Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Date: Wed, 13 Sep 2023 09:34:47 +0900 Subject: [PATCH 63/68] fix: lidar_model_param_path (#388) * fix: lidar_model_param_path * chore: move * chore: delete unused param --- autoware_launch/launch/autoware.launch.xml | 1 - .../launch/components/tier4_perception_component.launch.xml | 4 ++-- autoware_launch/launch/logging_simulator.launch.xml | 2 -- 3 files changed, 2 insertions(+), 5 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 4fb0c0bede..d4ece803de 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -41,7 +41,6 @@ - diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index f2acba895e..dd39fb2141 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -21,7 +21,7 @@ - + @@ -71,7 +71,7 @@ name="object_recognition_detection_object_merger_distance_threshold_list_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml" /> - + - @@ -69,7 +68,6 @@ - From fe883fa5ee5842fb9fa1623dab5826ec2dbf532c Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Fri, 15 Sep 2023 09:51:32 +0900 Subject: [PATCH 64/68] chore(tier4_simulator_component): change namespace1 to camera7 (#426) Signed-off-by: Tomohito Ando --- .../launch/components/tier4_simulator_component.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index 5f8c7256e0..0e395f7251 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -26,6 +26,7 @@ + Date: Mon, 25 Sep 2023 14:37:17 +0900 Subject: [PATCH 65/68] fix(autoware_launch): tune avoidance clearance (#444) Tune avoidance clearance --- .../avoidance/avoidance.param.yaml | 28 +++++++++---------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index e7d59aecb5..81d7f27d5b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -34,8 +34,8 @@ moving_time_threshold: 1.0 # [s] max_expand_ratio: 0.0 # [-] envelope_buffer_margin: 0.3 # [m] - avoid_margin_lateral: 1.0 # [m] - safety_buffer_lateral: 0.7 # [m] + avoid_margin_lateral: 0.0 # [m] + safety_buffer_lateral: 0.8 # [m] safety_buffer_longitudinal: 0.0 # [m] truck: is_target: true @@ -44,8 +44,8 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + avoid_margin_lateral: 0.0 + safety_buffer_lateral: 0.8 safety_buffer_longitudinal: 0.0 bus: is_target: true @@ -54,8 +54,8 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + avoid_margin_lateral: 0.0 + safety_buffer_lateral: 0.8 safety_buffer_longitudinal: 0.0 trailer: is_target: true @@ -64,8 +64,8 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + avoid_margin_lateral: 0.0 + safety_buffer_lateral: 0.8 safety_buffer_longitudinal: 0.0 unknown: is_target: false @@ -84,8 +84,8 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 1.0 + avoid_margin_lateral: 0.0 + safety_buffer_lateral: 1.5 safety_buffer_longitudinal: 1.0 motorcycle: is_target: true @@ -94,8 +94,8 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 1.0 + avoid_margin_lateral: 0.0 + safety_buffer_lateral: 1.5 safety_buffer_longitudinal: 1.0 pedestrian: is_target: true @@ -104,8 +104,8 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 1.0 + avoid_margin_lateral: 0.0 + safety_buffer_lateral: 1.5 safety_buffer_longitudinal: 1.0 lower_distance_for_polygon_expansion: 30.0 # [m] upper_distance_for_polygon_expansion: 100.0 # [m] From e3bcbe1e26e308822563fd1c3e5718d0f40f283d Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Thu, 5 Oct 2023 09:22:42 +0900 Subject: [PATCH 66/68] fix(autoware_launch): tune avoidance clearance v2.3.0 (#445) Tune avoidance clearance From 2d223b2e3ceed8de7e8ce0820377b2c7051ae13e Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Sat, 7 Oct 2023 11:24:47 +0900 Subject: [PATCH 67/68] fix(autoware_launch): tune avoidance clearance for pedestrian (#477) tune avoidance clearance for pedestrian --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 81d7f27d5b..389e77ed6f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -85,7 +85,7 @@ max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 avoid_margin_lateral: 0.0 - safety_buffer_lateral: 1.5 + safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 motorcycle: is_target: true @@ -95,7 +95,7 @@ max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 avoid_margin_lateral: 0.0 - safety_buffer_lateral: 1.5 + safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 pedestrian: is_target: true @@ -105,7 +105,7 @@ max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 avoid_margin_lateral: 0.0 - safety_buffer_lateral: 1.5 + safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 lower_distance_for_polygon_expansion: 30.0 # [m] upper_distance_for_polygon_expansion: 100.0 # [m] From 506d060e9bef87fc8e7de2a199f9622e560f314e Mon Sep 17 00:00:00 2001 From: takeshi-iwanari Date: Mon, 30 Oct 2023 14:02:57 +0900 Subject: [PATCH 68/68] feat(system_monitor): increase the number of monitored processes (#534) Signed-off-by: takeshi.iwanari --- .../config/system/system_monitor/process_monitor.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/system_monitor/process_monitor.param.yaml b/autoware_launch/config/system/system_monitor/process_monitor.param.yaml index 3d6d82fae5..64303dd472 100644 --- a/autoware_launch/config/system/system_monitor/process_monitor.param.yaml +++ b/autoware_launch/config/system/system_monitor/process_monitor.param.yaml @@ -1,3 +1,3 @@ /**: ros__parameters: - num_of_procs: 5 + num_of_procs: 40