Merge pull request autowarefoundation#624 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml

@@ -1,13 +1,18 @@
 /**:
   ros__parameters:
+    # Enable feature
+    will_out_of_lane_checker: true
+    out_of_lane_checker: true
+    boundary_departure_checker: false
+
     # Node
     update_rate: 10.0
     visualize_lanelet: false
     include_right_lanes: false
     include_left_lanes: false
     include_opposite_lanes: false
     include_conflicting_lanes: false
-    road_border_departure_checker: false
+    boundary_types_to_detect: [road_border]
 
     # Core
     footprint_margin_scale: 1.0

autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml

@@ -4,6 +4,10 @@
   ros__parameters:
     transition_timeout: 5.0
     frequency_hz: 10.0
+
+    # set true if you want to engage the autonomous driving mode while the vehicle is driving. If set to false, it will deny Engage in any situation where the vehicle speed is not zero. Note that if you use this feature without adjusting the parameters, it may cause issues like sudden deceleration. Before using, please ensure the engage condition and the vehicle_cmd_gate transition filter are appropriately adjusted.
+    enable_engage_on_driving: true
+
     check_engage_condition: true # set false if you do not want to care about the engage condition.
     nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
     nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index

autoware_launch/config/localization/ndt_scan_matcher.param.yaml

@@ -37,6 +37,9 @@
     # The number of particles to estimate initial pose
     initial_estimate_particles_num: 400
 
+    # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
+    lidar_topic_timeout_sec: 1.0
+
     # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec]
     initial_pose_timeout_sec: 1.0
 

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml

@@ -1,15 +1,61 @@
 /**:
   ros__parameters:
-
     # obstacle check
-    use_pointcloud: true # use pointcloud as obstacle check
-    use_dynamic_object: true # use dynamic object as obstacle check
-    surround_check_distance: 0.5 # if objects exist in this distance, transit to "exist-surrounding-obstacle" status [m]
-    surround_check_recover_distance: 0.8 # if no object exists in this distance, transit to "non-surrounding-obstacle" status [m]
+    # surround_check_*_distance: if objects exist in this distance, transit to "exist-surrounding-obstacle" status [m]
+    # surround_check_hysteresis_distance: if no object exists in this hysteresis distance added to the above distance, transit to "non-surrounding-obstacle" status [m]
+    pointcloud:
+      enable_check: false
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.5
+      surround_check_back_distance: 0.5
+    unknown:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.5
+      surround_check_back_distance: 0.5
+    car:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.0
+      surround_check_back_distance: 0.5
+    truck:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.0
+      surround_check_back_distance: 0.5
+    bus:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.0
+      surround_check_back_distance: 0.5
+    trailer:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.0
+      surround_check_back_distance: 0.5
+    motorcycle:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.0
+      surround_check_back_distance: 0.5
+    bicycle:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.5
+      surround_check_back_distance: 0.5
+    pedestrian:
+      enable_check: true
+      surround_check_front_distance: 0.5
+      surround_check_side_distance: 0.5
+      surround_check_back_distance: 0.5
+
+    surround_check_hysteresis_distance: 0.3
+
     state_clear_time: 2.0
 
     # ego stop state
     stop_state_ego_speed: 0.1 #[m/s]
 
     # debug
     publish_debug_footprints: true # publish vehicle footprint & footprints with surround_check_distance and surround_check_recover_distance offsets
+    debug_footprint_label: "car"

autoware_launch/launch/e2e_simulator.launch.xml

@@ -18,6 +18,8 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <!-- Perception -->
+  <arg name="traffic_light_namespace" default="traffic_light" description="traffic light recognition namespace1"/>
   <!-- Control -->
   <!-- Vehicle -->
   <arg name="launch_vehicle_interface" default="false"/>