From 89acef1fa863eb0ac36a78373a3cd2477a161a4a Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Mon, 11 Jul 2022 12:08:05 +0900 Subject: [PATCH 1/2] fix(perception_launch): fix vehicle param in perception launch (#402) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * chore: sync awf-latest (#322) style: fix flake8 C417 (#321) Signed-off-by: Kenji Miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: sync awf-latest (#325) * chore: sync files (#311) Signed-off-by: GitHub Co-authored-by: kenji-miyake * feat: disable namespace `lane_start_bound` (#314) * feat: disable lane_bound * fix: lane_start_bound * feat: add center_line_arrows to disable * ci: add sync-awf.yaml (#318) * ci: add sync-awf.yaml Signed-off-by: Kenji Miyake * rename Signed-off-by: Kenji Miyake * refactor(vehicle_cmd_gate): add namespace (#316) Signed-off-by: Takamasa Horibe * style: fix flake8 C417 (#321) Signed-off-by: Kenji Miyake * chore(behavior_velocity): update latest params (#320) * chore(behavior_velocity): update latest params Signed-off-by: tanaka3 * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * ci(pre-commit): autoupdate (#324) updates: - [github.com/tier4/pre-commit-hooks-ros: v0.7.0 → v0.7.1](https://github.com/tier4/pre-commit-hooks-ros/compare/v0.7.0...v0.7.1) - [github.com/scop/pre-commit-shfmt: v3.4.3-1 → v3.5.0-1](https://github.com/scop/pre-commit-shfmt/compare/v3.4.3-1...v3.5.0-1) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_api_launch): add rtc controller (#305) * add rtc controller Signed-off-by: tkhmy * change line Signed-off-by: tkhmy * change back to alphabetical order Signed-off-by: tkhmy Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake Co-authored-by: Hiroki OTA Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> * chore: sync awf-latest (#334) * chore: sync files (#327) Signed-off-by: GitHub Co-authored-by: kenji-miyake * refactor: virtual wall rviz config (#326) Signed-off-by: Takamasa Horibe * feat(rviz_plugin): adaptive scaling for display size (#329) Signed-off-by: Takamasa Horibe * fix: support context dict key for humble (#328) * fix: support context dict key for humble Signed-off-by: wep21 * add todo comment Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix: modify type of global parameter (#333) Signed-off-by: wep21 * chore: sync files (#335) Signed-off-by: GitHub Co-authored-by: kenji-miyake * feat: use multithread for traffic light container as default (#336) Signed-off-by: tomoya.kimura * fix(localization_launch): fix input topic name (#338) * feat(behavior_velocity): add run out module (#339) * feat(behavior_velocity): add parameter yaml for behavior_velocity_planner Signed-off-by: Tomohito Ando * feat(behavior_velocity): add run out module Signed-off-by: Tomohito Ando * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake Co-authored-by: Takamasa Horibe Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Tomoya Kimura Co-authored-by: Yamato Ando Co-authored-by: Tomohito ANDO Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(mission_planner): disable lane_start_bound in Rviz (#341) Signed-off-by: h-ohta * fix(stop_line): add ros_parameter (#347) * fix(stop_line): add ros_parameter Signed-off-by: k-obitsu * fix(perception_launch): fix vehicle param in perception launch Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: kenji-miyake Co-authored-by: Hiroki OTA Co-authored-by: Takamasa Horibe Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Tomoya Kimura Co-authored-by: Yamato Ando Co-authored-by: Tomohito ANDO Co-authored-by: k-obitsu <56008637+k-obitsu@users.noreply.github.com> --- autoware_launch/rviz/autoware.rviz | 1 + perception_launch/launch/perception.launch.xml | 2 ++ .../behavior_velocity_planner/stop_line.param.yaml | 1 + 3 files changed, 4 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 249cc72cdc..5268291d47 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -903,6 +903,7 @@ Visualization Manager: Name: RouteArea Namespaces: goal_lanelets: true + lane_start_bound: false left_lane_bound: false right_lane_bound: false route_lanelets: true diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml index 9c90589fc1..eec9eb99c4 100644 --- a/perception_launch/launch/perception.launch.xml +++ b/perception_launch/launch/perception.launch.xml @@ -4,6 +4,7 @@ + @@ -42,6 +43,7 @@ + diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml index 6d723c510c..936bfc76cc 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml @@ -4,5 +4,6 @@ stop_margin: 0.0 stop_check_dist: 2.0 stop_duration_sec: 1.0 + use_initialization_stop_line_state: true debug: show_stopline_collision_check: false # [-] whether to show stopline collision From f9c2b64fc41e69cc6ac46bbc1e12f04eb1b14541 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 11 Jul 2022 12:41:40 +0900 Subject: [PATCH 2/2] fix(planning_launch): update crosswalk config (#401) Signed-off-by: satoshi-ota --- .../behavior_velocity_planner/crosswalk.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 4ea3229d46..2cc5260e4e 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -10,7 +10,7 @@ stop_position_threshold: 1.0 # [m] threshold for check whether the vehicle stop in front of crosswalk # param for ego velocity - slow_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph) + min_slow_down_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph) max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph)