From 8e0e7bc6bb4265372b45596b8f47c863bad3250f Mon Sep 17 00:00:00 2001 From: wep21 Date: Tue, 26 Jan 2021 18:20:40 +0900 Subject: [PATCH 001/349] Add vehicle config Signed-off-by: wep21 --- vehicle_launch/config/1089/accel_map.csv | 7 ++ .../1089/aip_xx1/sensor_kit_calibration.yaml | 91 +++++++++++++++++++ .../1089/aip_xx1/sensors_calibration.yaml | 28 ++++++ vehicle_launch/config/1089/brake_map.csv | 10 ++ vehicle_launch/config/1089/bridge_params.yaml | 13 +++ vehicle_launch/config/1089/driver_params.yaml | 4 + vehicle_launch/config/1089/pacmod_param.yaml | 24 +++++ vehicle_launch/config/1090/accel_map.csv | 7 ++ .../1090/aip_xx1/sensor_kit_calibration.yaml | 91 +++++++++++++++++++ .../1090/aip_xx1/sensors_calibration.yaml | 28 ++++++ vehicle_launch/config/1090/brake_map.csv | 10 ++ vehicle_launch/config/1090/bridge_params.yaml | 13 +++ vehicle_launch/config/1090/driver_params.yaml | 4 + vehicle_launch/config/1090/pacmod_param.yaml | 24 +++++ vehicle_launch/config/4939/accel_map.csv | 7 ++ .../4939/aip_xx1/sensor_kit_calibration.yaml | 91 +++++++++++++++++++ .../4939/aip_xx1/sensors_calibration.yaml | 28 ++++++ vehicle_launch/config/4939/brake_map.csv | 10 ++ vehicle_launch/config/4939/bridge_params.yaml | 13 +++ vehicle_launch/config/4939/driver_params.yaml | 4 + vehicle_launch/config/4939/pacmod_param.yaml | 24 +++++ .../4940/aip_xx1/sensor_kit_calibration.yaml | 91 +++++++++++++++++++ .../4940/aip_xx1/sensors_calibration.yaml | 28 ++++++ vehicle_launch/config/4940/bridge_params.yaml | 13 +++ vehicle_launch/config/4940/driver_params.yaml | 4 + vehicle_launch/config/4940/pacmod_param.yaml | 24 +++++ vehicle_launch/config/4941/accel_map.csv | 7 ++ .../4941/aip_xx1/sensor_kit_calibration.yaml | 91 +++++++++++++++++++ .../4941/aip_xx1/sensors_calibration.yaml | 28 ++++++ vehicle_launch/config/4941/brake_map.csv | 10 ++ vehicle_launch/config/4941/bridge_params.yaml | 13 +++ vehicle_launch/config/4941/driver_params.yaml | 4 + vehicle_launch/config/4941/pacmod_param.yaml | 24 +++++ vehicle_launch/config/4943/accel_map.csv | 7 ++ .../4943/aip_xx1/sensor_kit_calibration.yaml | 91 +++++++++++++++++++ .../4943/aip_xx1/sensors_calibration.yaml | 28 ++++++ vehicle_launch/config/4943/brake_map.csv | 10 ++ vehicle_launch/config/4943/bridge_params.yaml | 13 +++ vehicle_launch/config/4943/driver_params.yaml | 4 + vehicle_launch/config/4943/pacmod_param.yaml | 24 +++++ vehicle_launch/config/4944/accel_map.csv | 7 ++ .../4944/aip_xx1/sensor_kit_calibration.yaml | 91 +++++++++++++++++++ .../4944/aip_xx1/sensors_calibration.yaml | 28 ++++++ vehicle_launch/config/4944/brake_map.csv | 10 ++ vehicle_launch/config/4944/bridge_params.yaml | 13 +++ vehicle_launch/config/4944/driver_params.yaml | 4 + vehicle_launch/config/4944/pacmod_param.yaml | 24 +++++ vehicle_launch/config/4945/accel_map.csv | 7 ++ .../4945/aip_xx1/sensor_kit_calibration.yaml | 91 +++++++++++++++++++ .../4945/aip_xx1/sensors_calibration.yaml | 28 ++++++ vehicle_launch/config/4945/brake_map.csv | 10 ++ vehicle_launch/config/4945/bridge_params.yaml | 13 +++ vehicle_launch/config/4945/driver_params.yaml | 4 + vehicle_launch/config/4945/pacmod_param.yaml | 24 +++++ vehicle_launch/config/4946/accel_map.csv | 7 ++ .../4946/aip_xx1/sensor_kit_calibration.yaml | 91 +++++++++++++++++++ .../4946/aip_xx1/sensors_calibration.yaml | 28 ++++++ vehicle_launch/config/4946/brake_map.csv | 10 ++ vehicle_launch/config/4946/bridge_params.yaml | 13 +++ vehicle_launch/config/4946/driver_params.yaml | 4 + vehicle_launch/config/4946/pacmod_param.yaml | 24 +++++ vehicle_launch/config/8676/accel_map.csv | 7 ++ .../8676/aip_xx1/sensor_kit_calibration.yaml | 91 +++++++++++++++++++ .../8676/aip_xx1/sensors_calibration.yaml | 28 ++++++ vehicle_launch/config/8676/brake_map.csv | 10 ++ vehicle_launch/config/8676/bridge_params.yaml | 13 +++ vehicle_launch/config/8676/driver_params.yaml | 4 + vehicle_launch/config/8676/pacmod_param.yaml | 24 +++++ vehicle_launch/config/default/accel_map.csv | 7 ++ vehicle_launch/config/default/brake_map.csv | 10 ++ .../config/default/bridge_params.yaml | 13 +++ .../config/default/driver_params.yaml | 4 + .../config/default/pacmod_param.yaml | 24 +++++ 73 files changed, 1811 insertions(+) create mode 100644 vehicle_launch/config/1089/accel_map.csv create mode 100644 vehicle_launch/config/1089/aip_xx1/sensor_kit_calibration.yaml create mode 100644 vehicle_launch/config/1089/aip_xx1/sensors_calibration.yaml create mode 100644 vehicle_launch/config/1089/brake_map.csv create mode 100644 vehicle_launch/config/1089/bridge_params.yaml create mode 100644 vehicle_launch/config/1089/driver_params.yaml create mode 100644 vehicle_launch/config/1089/pacmod_param.yaml create mode 100644 vehicle_launch/config/1090/accel_map.csv create mode 100644 vehicle_launch/config/1090/aip_xx1/sensor_kit_calibration.yaml create mode 100644 vehicle_launch/config/1090/aip_xx1/sensors_calibration.yaml create mode 100644 vehicle_launch/config/1090/brake_map.csv create mode 100644 vehicle_launch/config/1090/bridge_params.yaml create mode 100644 vehicle_launch/config/1090/driver_params.yaml create mode 100644 vehicle_launch/config/1090/pacmod_param.yaml create mode 100644 vehicle_launch/config/4939/accel_map.csv create mode 100644 vehicle_launch/config/4939/aip_xx1/sensor_kit_calibration.yaml create mode 100644 vehicle_launch/config/4939/aip_xx1/sensors_calibration.yaml create mode 100644 vehicle_launch/config/4939/brake_map.csv create mode 100644 vehicle_launch/config/4939/bridge_params.yaml create mode 100644 vehicle_launch/config/4939/driver_params.yaml create mode 100644 vehicle_launch/config/4939/pacmod_param.yaml create mode 100644 vehicle_launch/config/4940/aip_xx1/sensor_kit_calibration.yaml create mode 100644 vehicle_launch/config/4940/aip_xx1/sensors_calibration.yaml create mode 100644 vehicle_launch/config/4940/bridge_params.yaml create mode 100644 vehicle_launch/config/4940/driver_params.yaml create mode 100644 vehicle_launch/config/4940/pacmod_param.yaml create mode 100644 vehicle_launch/config/4941/accel_map.csv create mode 100644 vehicle_launch/config/4941/aip_xx1/sensor_kit_calibration.yaml create mode 100644 vehicle_launch/config/4941/aip_xx1/sensors_calibration.yaml create mode 100644 vehicle_launch/config/4941/brake_map.csv create mode 100644 vehicle_launch/config/4941/bridge_params.yaml create mode 100644 vehicle_launch/config/4941/driver_params.yaml create mode 100644 vehicle_launch/config/4941/pacmod_param.yaml create mode 100644 vehicle_launch/config/4943/accel_map.csv create mode 100644 vehicle_launch/config/4943/aip_xx1/sensor_kit_calibration.yaml create mode 100644 vehicle_launch/config/4943/aip_xx1/sensors_calibration.yaml create mode 100644 vehicle_launch/config/4943/brake_map.csv create mode 100644 vehicle_launch/config/4943/bridge_params.yaml create mode 100644 vehicle_launch/config/4943/driver_params.yaml create mode 100644 vehicle_launch/config/4943/pacmod_param.yaml create mode 100644 vehicle_launch/config/4944/accel_map.csv create mode 100644 vehicle_launch/config/4944/aip_xx1/sensor_kit_calibration.yaml create mode 100644 vehicle_launch/config/4944/aip_xx1/sensors_calibration.yaml create mode 100644 vehicle_launch/config/4944/brake_map.csv create mode 100644 vehicle_launch/config/4944/bridge_params.yaml create mode 100644 vehicle_launch/config/4944/driver_params.yaml create mode 100644 vehicle_launch/config/4944/pacmod_param.yaml create mode 100644 vehicle_launch/config/4945/accel_map.csv create mode 100644 vehicle_launch/config/4945/aip_xx1/sensor_kit_calibration.yaml create mode 100644 vehicle_launch/config/4945/aip_xx1/sensors_calibration.yaml create mode 100644 vehicle_launch/config/4945/brake_map.csv create mode 100644 vehicle_launch/config/4945/bridge_params.yaml create mode 100644 vehicle_launch/config/4945/driver_params.yaml create mode 100644 vehicle_launch/config/4945/pacmod_param.yaml create mode 100644 vehicle_launch/config/4946/accel_map.csv create mode 100644 vehicle_launch/config/4946/aip_xx1/sensor_kit_calibration.yaml create mode 100644 vehicle_launch/config/4946/aip_xx1/sensors_calibration.yaml create mode 100644 vehicle_launch/config/4946/brake_map.csv create mode 100644 vehicle_launch/config/4946/bridge_params.yaml create mode 100644 vehicle_launch/config/4946/driver_params.yaml create mode 100644 vehicle_launch/config/4946/pacmod_param.yaml create mode 100644 vehicle_launch/config/8676/accel_map.csv create mode 100644 vehicle_launch/config/8676/aip_xx1/sensor_kit_calibration.yaml create mode 100644 vehicle_launch/config/8676/aip_xx1/sensors_calibration.yaml create mode 100644 vehicle_launch/config/8676/brake_map.csv create mode 100644 vehicle_launch/config/8676/bridge_params.yaml create mode 100644 vehicle_launch/config/8676/driver_params.yaml create mode 100644 vehicle_launch/config/8676/pacmod_param.yaml create mode 100644 vehicle_launch/config/default/accel_map.csv create mode 100644 vehicle_launch/config/default/brake_map.csv create mode 100644 vehicle_launch/config/default/bridge_params.yaml create mode 100644 vehicle_launch/config/default/driver_params.yaml create mode 100644 vehicle_launch/config/default/pacmod_param.yaml diff --git a/vehicle_launch/config/1089/accel_map.csv b/vehicle_launch/config/1089/accel_map.csv new file mode 100644 index 0000000000..c871dee542 --- /dev/null +++ b/vehicle_launch/config/1089/accel_map.csv @@ -0,0 +1,7 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 +0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 +0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 +0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 +0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/1089/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/1089/aip_xx1/sensor_kit_calibration.yaml new file mode 100644 index 0000000000..17e98cab8e --- /dev/null +++ b/vehicle_launch/config/1089/aip_xx1/sensor_kit_calibration.yaml @@ -0,0 +1,91 @@ +sensor_kit_base_link2camera0: + x: 0.215 + y: 0.031 + z: -0.024 + roll: -0.010 + pitch: 0.002 + yaw: 0.041 +sensor_kit_base_link2camera1: + x: -0.111 + y: -0.020 + z: -0.084 + roll: -0.010 + pitch: -0.016 + yaw: -3.106 +sensor_kit_base_link2camera2: + x: 0.087 + y: 0.581 + z: -0.274 + roll: -0.008 + pitch: 0.354 + yaw: 1.101 +sensor_kit_base_link2camera3: + x: -0.122 + y: 0.570 + z: -0.254 + roll: 0.010 + pitch: 0.353 + yaw: 2.152 +sensor_kit_base_link2camera4: + x: 0.083 + y: -0.580 + z: -0.234 + roll: 0.003 + pitch: 0.359 + yaw: -0.981 +sensor_kit_base_link2camera5: + x: -0.078 + y: -0.565 + z: -0.254 + roll: -0.021 + pitch: 0.369 + yaw: -2.036 +sensor_kit_base_link2traffic_light_right_camera: + x: 0.520 + y: 0.052 + z: -0.144 + roll: 0.00 + pitch: 0.027 + yaw: 0.045 +sensor_kit_base_link2traffic_light_left_camera: + x: 0.431 + y: -0.148 + z: -0.135 + roll: 0.00 + pitch: 0.038 + yaw: 0.043 +sensor_kit_base_link2velodyne_top_base_link: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 1.575 +sensor_kit_base_link2velodyne_left_base_link: + x: -0.017 + y: 0.598 + z: -0.301 + roll: -0.023 + pitch: 0.71 + yaw: 1.591 +sensor_kit_base_link2velodyne_right_base_link: + x: -0.027 + y: -0.552 + z: -0.294 + roll: -0.016 + pitch: 0.708 + yaw: -1.543 +sensor_kit_base_link2gnss: + x: -0.1 + y: 0.0 + z: -0.2 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +sensor_kit_base_link2imu_tamagawa: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 3.14159265359 + pitch: 0.0 + yaw: 3.14159265359 \ No newline at end of file diff --git a/vehicle_launch/config/1089/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/1089/aip_xx1/sensors_calibration.yaml new file mode 100644 index 0000000000..3e7c5d50b6 --- /dev/null +++ b/vehicle_launch/config/1089/aip_xx1/sensors_calibration.yaml @@ -0,0 +1,28 @@ +base_link2sensor_kit_base_link: + x: 0.6895 + y: 0.0 + z: 2.10 + roll: 0.0 + pitch: -0.02 + yaw: -0.059 +base_link2livox_front_right_base_link: + x: 3.38 + y: -0.65 + z: 0.424839 + roll: 3.1287 + pitch: -3.13127 + yaw: 2.25 +base_link2livox_front_left_base_link: + x: 3.38 + y: 0.672172 + z: 0.409508 + roll: 0.01 + pitch: -0.00851071 + yaw: 0.852876 +base_link2velodyne_rear_base_link: + x: -0.40 + y: 0.02 + z: 1.67 + roll: -3.143 + pitch: 2.435 + yaw: 0.00 \ No newline at end of file diff --git a/vehicle_launch/config/1089/brake_map.csv b/vehicle_launch/config/1089/brake_map.csv new file mode 100644 index 0000000000..bc2a195901 --- /dev/null +++ b/vehicle_launch/config/1089/brake_map.csv @@ -0,0 +1,10 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 +0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 +0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 +0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 +0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 +0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 +0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 +0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/1089/bridge_params.yaml b/vehicle_launch/config/1089/bridge_params.yaml new file mode 100644 index 0000000000..2f7952909e --- /dev/null +++ b/vehicle_launch/config/1089/bridge_params.yaml @@ -0,0 +1,13 @@ +/**: + kvaser_reader: + ros__parameters: + hardware_id: 66605 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false + kvaser_writer: + ros__parameters: + hardware_id: 66605 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/1089/driver_params.yaml b/vehicle_launch/config/1089/driver_params.yaml new file mode 100644 index 0000000000..609d2c7a0d --- /dev/null +++ b/vehicle_launch/config/1089/driver_params.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + vehicle_type: "LEXUS_RX_450H" + frame_id: "pacmod" diff --git a/vehicle_launch/config/1089/pacmod_param.yaml b/vehicle_launch/config/1089/pacmod_param.yaml new file mode 100644 index 0000000000..590c0542eb --- /dev/null +++ b/vehicle_launch/config/1089/pacmod_param.yaml @@ -0,0 +1,24 @@ +/**: + ros__parameters: + base_frame_id: "base_link" + command_timeout_ms: 1000 + loop_rate: 30.0 + emergency_brake: 0.95 + max_throttle: 0.4 + max_brake: 0.8 + max_steering_wheel: 11.0 + min_steering_wheel: -11.0 + max_steering_wheel_rate: 3.5 + min_steering_wheel_rate: 1.0 + steering_offset: -0.004 + enable_steering_rate_control: false + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + accel_pedal_offset: 0.0 + brake_pedal_offset: 0.0 + + # steer rotation rate limiter + low_vel_thresh: 0.83 # 3kmh + steering_wheel_rate_stopped: 2.2 + steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/1090/accel_map.csv b/vehicle_launch/config/1090/accel_map.csv new file mode 100644 index 0000000000..c871dee542 --- /dev/null +++ b/vehicle_launch/config/1090/accel_map.csv @@ -0,0 +1,7 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 +0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 +0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 +0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 +0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/1090/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/1090/aip_xx1/sensor_kit_calibration.yaml new file mode 100644 index 0000000000..021cfffe54 --- /dev/null +++ b/vehicle_launch/config/1090/aip_xx1/sensor_kit_calibration.yaml @@ -0,0 +1,91 @@ +sensor_kit_base_link2camera0: + pitch: 0.002 + roll: -0.01 + x: 0.215 + y: 0.031 + yaw: 0.032 + z: -0.024 +sensor_kit_base_link2camera1: + pitch: -0.0 + roll: -0.01 + x: -0.111 + y: -0.02 + yaw: -3.1 + z: -0.084 +sensor_kit_base_link2camera2: + pitch: 0.354 + roll: -0.008 + x: 0.087 + y: 0.581 + yaw: 1.075 + z: -0.274 +sensor_kit_base_link2camera3: + pitch: 0.39 + roll: 0.01 + x: -0.122 + y: 0.57 + yaw: 2.134 + z: -0.254 +sensor_kit_base_link2camera4: + pitch: 0.39 + roll: 0.003 + x: 0.083 + y: -0.58 + yaw: -1.01 + z: -0.234 +sensor_kit_base_link2camera5: + pitch: 0.365 + roll: -0.021 + x: -0.078 + y: -0.565 + yaw: -2.074 + z: -0.254 +sensor_kit_base_link2gnss: + pitch: 0.0 + roll: 0.0 + x: -0.1 + y: 0.0 + yaw: 0.0 + z: -0.2 +sensor_kit_base_link2imu_tamagawa: + pitch: 0.0 + roll: 3.14159265359 + x: 0.0 + y: 0.0 + yaw: 3.14159265359 + z: 0.0 +sensor_kit_base_link2traffic_light_left_camera: + pitch: 0.0 + roll: 0.0 + x: 0.431 + y: -0.148 + yaw: 0.044 + z: -0.135 +sensor_kit_base_link2traffic_light_right_camera: + pitch: -0.0128 + roll: 0.0 + x: 0.52 + y: 0.052 + yaw: 0.028 + z: -0.144 +sensor_kit_base_link2velodyne_left_base_link: + pitch: 0.712 + roll: -0.02 + x: -0.015 + y: 0.5 + yaw: 1.577 + z: -0.35 +sensor_kit_base_link2velodyne_right_base_link: + pitch: 0.69 + roll: -0.0285 + x: -0.027 + y: -0.65 + yaw: -1.579 + z: -0.294 +sensor_kit_base_link2velodyne_top_base_link: + pitch: 0.0 + roll: 0.0 + x: 0.0 + y: 0.0 + yaw: 1.575 + z: 0.0 diff --git a/vehicle_launch/config/1090/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/1090/aip_xx1/sensors_calibration.yaml new file mode 100644 index 0000000000..6cbf687571 --- /dev/null +++ b/vehicle_launch/config/1090/aip_xx1/sensors_calibration.yaml @@ -0,0 +1,28 @@ +base_link2livox_front_left_base_link: + pitch: -0.007 + roll: -0.026 + x: 3.38 + y: 0.67 + yaw: 0.803 + z: 0.31 +base_link2livox_front_right_base_link: + pitch: -3.107 + roll: 3.146 + x: 3.34 + y: -0.72 + yaw: 2.264 + z: 0.335 +base_link2sensor_kit_base_link: + pitch: -0.02 + roll: 0.0 + x: 0.6895 + y: 0.0 + yaw: -0.04 + z: 2.1 +base_link2velodyne_rear_base_link: + pitch: 2.425 + roll: -3.14 + x: -0.34 + y: 0.0 + yaw: -0.013 + z: 1.58 diff --git a/vehicle_launch/config/1090/brake_map.csv b/vehicle_launch/config/1090/brake_map.csv new file mode 100644 index 0000000000..bc2a195901 --- /dev/null +++ b/vehicle_launch/config/1090/brake_map.csv @@ -0,0 +1,10 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 +0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 +0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 +0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 +0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 +0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 +0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 +0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/1090/bridge_params.yaml b/vehicle_launch/config/1090/bridge_params.yaml new file mode 100644 index 0000000000..dfc52295e3 --- /dev/null +++ b/vehicle_launch/config/1090/bridge_params.yaml @@ -0,0 +1,13 @@ +/**: + kvaser_reader: + ros__parameters: + hardware_id: 68579 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false + kvaser_writer: + ros__parameters: + hardware_id: 68579 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/1090/driver_params.yaml b/vehicle_launch/config/1090/driver_params.yaml new file mode 100644 index 0000000000..609d2c7a0d --- /dev/null +++ b/vehicle_launch/config/1090/driver_params.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + vehicle_type: "LEXUS_RX_450H" + frame_id: "pacmod" diff --git a/vehicle_launch/config/1090/pacmod_param.yaml b/vehicle_launch/config/1090/pacmod_param.yaml new file mode 100644 index 0000000000..1500c5ff7e --- /dev/null +++ b/vehicle_launch/config/1090/pacmod_param.yaml @@ -0,0 +1,24 @@ +/**: + ros__parameters: + base_frame_id: "base_link" + command_timeout_ms: 1000 + loop_rate: 30.0 + emergency_brake: 0.95 + max_throttle: 0.4 + max_brake: 0.8 + max_steering_wheel: 11.0 + min_steering_wheel: -11.0 + max_steering_wheel_rate: 3.5 + min_steering_wheel_rate: 1.0 + steering_offset: -0.001 + enable_steering_rate_control: false + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + accel_pedal_offset: 0.0 + brake_pedal_offset: 0.0 + + # steer rotation rate limiter + low_vel_thresh: 0.83 # 3kmh + steering_wheel_rate_stopped: 2.2 + steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/4939/accel_map.csv b/vehicle_launch/config/4939/accel_map.csv new file mode 100644 index 0000000000..c871dee542 --- /dev/null +++ b/vehicle_launch/config/4939/accel_map.csv @@ -0,0 +1,7 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 +0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 +0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 +0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 +0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/4939/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/4939/aip_xx1/sensor_kit_calibration.yaml new file mode 100644 index 0000000000..68805c770c --- /dev/null +++ b/vehicle_launch/config/4939/aip_xx1/sensor_kit_calibration.yaml @@ -0,0 +1,91 @@ +sensor_kit_base_link2camera0: + pitch: 0.007 + roll: -0.01 + x: 0.215 + y: 0.031 + yaw: 0.034 + z: -0.024 +sensor_kit_base_link2camera1: + pitch: -0.0025 + roll: -0.01 + x: -0.111 + y: -0.02 + yaw: -3.1 + z: -0.084 +sensor_kit_base_link2camera2: + pitch: 0.35 + roll: -0.008 + x: 0.087 + y: 0.581 + yaw: 1.08 + z: -0.274 +sensor_kit_base_link2camera3: + pitch: 0.354 + roll: 0.01 + x: -0.122 + y: 0.57 + yaw: 2.141 + z: -0.254 +sensor_kit_base_link2camera4: + pitch: 0.349 + roll: -0.002 + x: 0.083 + y: -0.58 + yaw: -1.013 + z: -0.234 +sensor_kit_base_link2camera5: + pitch: 0.339 + roll: -0.012 + x: -0.078 + y: -0.565 + yaw: -2.055 + z: -0.254 +sensor_kit_base_link2gnss: + pitch: 0.0 + roll: 0.0 + x: -0.1 + y: 0.0 + yaw: 0.0 + z: -0.2 +sensor_kit_base_link2imu_tamagawa: + pitch: 0.0 + roll: 3.14159265359 + x: 0.0 + y: 0.0 + yaw: 3.14159265359 + z: 0.0 +sensor_kit_base_link2traffic_light_left_camera: + pitch: -0.012 + roll: 0.0 + x: 0.431 + y: -0.148 + yaw: 0.044 + z: -0.135 +sensor_kit_base_link2traffic_light_right_camera: + pitch: -0.01 + roll: 0.0 + x: 0.52 + y: 0.052 + yaw: 0.022 + z: -0.144 +sensor_kit_base_link2velodyne_left_base_link: + pitch: 0.698 + roll: -0.015 + x: -0.03 + y: 0.57 + yaw: 1.578 + z: -0.33 +sensor_kit_base_link2velodyne_right_base_link: + pitch: 0.693 + roll: -0.021 + x: 0.01 + y: -0.565 + yaw: -1.56 + z: -0.303 +sensor_kit_base_link2velodyne_top_base_link: + pitch: 0.0 + roll: 0.0 + x: 0.0 + y: 0.0 + yaw: 1.575 + z: 0.0 diff --git a/vehicle_launch/config/4939/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/4939/aip_xx1/sensors_calibration.yaml new file mode 100644 index 0000000000..19c397b0c4 --- /dev/null +++ b/vehicle_launch/config/4939/aip_xx1/sensors_calibration.yaml @@ -0,0 +1,28 @@ +base_link2livox_front_left_base_link: + pitch: -0.006 + roll: -0.0245 + x: 3.35 + y: 0.715 + yaw: 0.852 + z: 0.315 +base_link2livox_front_right_base_link: + pitch: -3.117 + roll: 3.148 + x: 3.32 + y: -0.71 + yaw: 2.262 + z: 0.31 +base_link2sensor_kit_base_link: + pitch: -0.02 + roll: 0.0 + x: 0.6895 + y: 0.0 + yaw: -0.0405 + z: 2.1 +base_link2velodyne_rear_base_link: + pitch: 2.42 + roll: -3.16 + x: -0.35 + y: 0.01 + yaw: -0.028 + z: 1.6 diff --git a/vehicle_launch/config/4939/brake_map.csv b/vehicle_launch/config/4939/brake_map.csv new file mode 100644 index 0000000000..bc2a195901 --- /dev/null +++ b/vehicle_launch/config/4939/brake_map.csv @@ -0,0 +1,10 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 +0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 +0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 +0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 +0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 +0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 +0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 +0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/4939/bridge_params.yaml b/vehicle_launch/config/4939/bridge_params.yaml new file mode 100644 index 0000000000..dfc52295e3 --- /dev/null +++ b/vehicle_launch/config/4939/bridge_params.yaml @@ -0,0 +1,13 @@ +/**: + kvaser_reader: + ros__parameters: + hardware_id: 68579 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false + kvaser_writer: + ros__parameters: + hardware_id: 68579 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4939/driver_params.yaml b/vehicle_launch/config/4939/driver_params.yaml new file mode 100644 index 0000000000..609d2c7a0d --- /dev/null +++ b/vehicle_launch/config/4939/driver_params.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + vehicle_type: "LEXUS_RX_450H" + frame_id: "pacmod" diff --git a/vehicle_launch/config/4939/pacmod_param.yaml b/vehicle_launch/config/4939/pacmod_param.yaml new file mode 100644 index 0000000000..590c0542eb --- /dev/null +++ b/vehicle_launch/config/4939/pacmod_param.yaml @@ -0,0 +1,24 @@ +/**: + ros__parameters: + base_frame_id: "base_link" + command_timeout_ms: 1000 + loop_rate: 30.0 + emergency_brake: 0.95 + max_throttle: 0.4 + max_brake: 0.8 + max_steering_wheel: 11.0 + min_steering_wheel: -11.0 + max_steering_wheel_rate: 3.5 + min_steering_wheel_rate: 1.0 + steering_offset: -0.004 + enable_steering_rate_control: false + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + accel_pedal_offset: 0.0 + brake_pedal_offset: 0.0 + + # steer rotation rate limiter + low_vel_thresh: 0.83 # 3kmh + steering_wheel_rate_stopped: 2.2 + steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/4940/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/4940/aip_xx1/sensor_kit_calibration.yaml new file mode 100644 index 0000000000..3de5471173 --- /dev/null +++ b/vehicle_launch/config/4940/aip_xx1/sensor_kit_calibration.yaml @@ -0,0 +1,91 @@ +sensor_kit_base_link2camera0: + x: 0.10731 + y: 0.56343 + z: -0.27697 + roll: -0.025 + pitch: 0.315 + yaw: 1.035 +sensor_kit_base_link2camera1: + x: -0.10731 + y: -0.56343 + z: -0.27697 + roll: -0.025 + pitch: 0.32 + yaw: -2.12 +sensor_kit_base_link2camera2: + x: 0.10731 + y: -0.56343 + z: -0.27697 + roll: -0.00 + pitch: 0.335 + yaw: -1.04 +sensor_kit_base_link2camera3: + x: -0.10731 + y: 0.56343 + z: -0.27697 + roll: 0.0 + pitch: 0.325 + yaw: 2.0943951 +sensor_kit_base_link2camera4: + x: 0.07356 + y: 0.0 + z: -0.0525 + roll: 0.0 + pitch: -0.03 + yaw: -0.005 +sensor_kit_base_link2camera5: + x: -0.07356 + y: 0.0 + z: -0.0525 + roll: 0.0 + pitch: -0.01 + yaw: 3.125 +sensor_kit_base_link2traffic_light_right_camera: + x: 0.05 + y: -0.0175 + z: -0.1 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +sensor_kit_base_link2traffic_light_left_camera: + x: 0.05 + y: 0.0175 + z: -0.1 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +sensor_kit_base_link2velodyne_top_base_link: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 1.575 +sensor_kit_base_link2velodyne_left_base_link: + x: 0.0 + y: 0.56362 + z: -0.30555 + roll: -0.01 + pitch: 0.71 + yaw: 1.580 +sensor_kit_base_link2velodyne_right_base_link: + x: 0.0 + y: -0.56362 + z: -0.30555 + roll: -0.01 + pitch: 0.71 + yaw: -1.580 +sensor_kit_base_link2gnss: + x: -0.1 + y: 0.0 + z: -0.2 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +sensor_kit_base_link2imu_tamagawa: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 3.14159265359 + pitch: 0.0 + yaw: 3.14159265359 diff --git a/vehicle_launch/config/4940/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/4940/aip_xx1/sensors_calibration.yaml new file mode 100644 index 0000000000..2584c3f9bc --- /dev/null +++ b/vehicle_launch/config/4940/aip_xx1/sensors_calibration.yaml @@ -0,0 +1,28 @@ +base_link2sensor_kit_base_link: + x: 0.75 + y: 0.0 + z: 2.1 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +base_link2livox_front_right_base_link: + x: 3.290 + y: -0.65485 + z: 0.3216 + roll: 0.0 + pitch: 0.0 + yaw: -0.872664444 +base_link2livox_front_left_base_link: + x: 3.290 + y: 0.65485 + z: 0.3016 + roll: -0.021 + pitch: 0.05 + yaw: 0.872664444 +base_link2velodyne_rear_base_link: + x: -0.358 + y: 0.0 + z: 1.631 + roll: -0.02 + pitch: 0.7281317 + yaw: 3.141592 diff --git a/vehicle_launch/config/4940/bridge_params.yaml b/vehicle_launch/config/4940/bridge_params.yaml new file mode 100644 index 0000000000..70488de3ef --- /dev/null +++ b/vehicle_launch/config/4940/bridge_params.yaml @@ -0,0 +1,13 @@ +/**: + kvaser_reader: + ros__parameters: + hardware_id: 10051 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false + kvaser_writer: + ros__parameters: + hardware_id: 10051 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4940/driver_params.yaml b/vehicle_launch/config/4940/driver_params.yaml new file mode 100644 index 0000000000..609d2c7a0d --- /dev/null +++ b/vehicle_launch/config/4940/driver_params.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + vehicle_type: "LEXUS_RX_450H" + frame_id: "pacmod" diff --git a/vehicle_launch/config/4940/pacmod_param.yaml b/vehicle_launch/config/4940/pacmod_param.yaml new file mode 100644 index 0000000000..35838251e0 --- /dev/null +++ b/vehicle_launch/config/4940/pacmod_param.yaml @@ -0,0 +1,24 @@ +/**: + ros__parameters: + base_frame_id: "base_link" + command_timeout_ms: 1000 + loop_rate: 30.0 + emergency_brake: 0.7 + max_throttle: 0.4 + max_brake: 0.8 + max_steering_wheel: 11.0 + min_steering_wheel: -11.0 + max_steering_wheel_rate: 3.5 + min_steering_wheel_rate: 1.0 + steering_offset: 0.0 + enable_steering_rate_control: false + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + accel_pedal_offset: 0.0 + brake_pedal_offset: 0.0 + + # steer rotation rate limiter + low_vel_thresh: 0.83 # 3kmh + steering_wheel_rate_stopped: 2.2 + steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/4941/accel_map.csv b/vehicle_launch/config/4941/accel_map.csv new file mode 100644 index 0000000000..c871dee542 --- /dev/null +++ b/vehicle_launch/config/4941/accel_map.csv @@ -0,0 +1,7 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 +0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 +0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 +0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 +0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/4941/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/4941/aip_xx1/sensor_kit_calibration.yaml new file mode 100644 index 0000000000..94c67c4dec --- /dev/null +++ b/vehicle_launch/config/4941/aip_xx1/sensor_kit_calibration.yaml @@ -0,0 +1,91 @@ +sensor_kit_base_link2camera0: + x: 0.250 + y: 0.031 + z: -0.034 + roll: -0.010 + pitch: 0.021 + yaw: 0.020 +sensor_kit_base_link2camera1: + x: -0.080 + y: -0.021 + z: -0.124 + roll: 0.011 + pitch: -0.004 + yaw: -3.122 +sensor_kit_base_link2camera2: + x: -0.042 + y: 0.600 + z: -0.244 + roll: -0.020 + pitch: 0.344 + yaw: 1.059 +sensor_kit_base_link2camera3: + x: -0.042 + y: 0.580 + z: -0.245 + roll: -0.023 + pitch: 0.348 + yaw: 2.136 +sensor_kit_base_link2camera4: + x: 0.072 + y: -0.580 + z: -0.244 + roll: -0.005 + pitch: 0.359 + yaw: -1.024 +sensor_kit_base_link2camera5: + x: -0.058 + y: -0.580 + z: -0.265 + roll: -0.008 + pitch: 0.387 + yaw: -2.069 +sensor_kit_base_link2traffic_light_right_camera: + x: 0.431 + y: -0.048 + z: -0.164 + roll: 0.006 + pitch: 0.03 + yaw: 0.015 +sensor_kit_base_link2traffic_light_left_camera: + x: 0.460 + y: 0.020 + z: -0.144 + roll: -0.005 + pitch: -0.01 + yaw: 0.00 +sensor_kit_base_link2velodyne_top_base_link: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 1.575 +sensor_kit_base_link2velodyne_left_base_link: + x: -0.006 + y: 0.603 + z: -0.291 + roll: -0.023 + pitch: 0.702 + yaw: 1.565 +sensor_kit_base_link2velodyne_right_base_link: + x: 0.000 + y: -0.593 + z: -0.299 + roll: 0.004 + pitch: 0.719 + yaw: -1.565 +sensor_kit_base_link2gnss: + x: -0.1 + y: 0.0 + z: -0.2 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +sensor_kit_base_link2imu_tamagawa: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 3.14159265359 + pitch: 0.0 + yaw: 3.14159265359 diff --git a/vehicle_launch/config/4941/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/4941/aip_xx1/sensors_calibration.yaml new file mode 100644 index 0000000000..597961e4f5 --- /dev/null +++ b/vehicle_launch/config/4941/aip_xx1/sensors_calibration.yaml @@ -0,0 +1,28 @@ +base_link2sensor_kit_base_link: + x: 0.6895 + y: 0.0 + z: 2.10 + roll: 0.0 + pitch: -0.017 + yaw: -0.022 +base_link2livox_front_right_base_link: + x: 3.34496 + y: -0.71084 + z: 0.44819 + roll: -3.12827 + pitch: -3.11198 + yaw: 2.2631 +base_link2livox_front_left_base_link: + x: 3.30612 + y: 0.730869 + z: 0.467323 + roll: -0.0243998 + pitch: 0.00246566 + yaw: 0.834616 +base_link2velodyne_rear_base_link: + x: -0.463376 + y: -0.0191915 + z: 1.65 + roll: -0.0258193 + pitch: 0.738549 + yaw: 3.10169 \ No newline at end of file diff --git a/vehicle_launch/config/4941/brake_map.csv b/vehicle_launch/config/4941/brake_map.csv new file mode 100644 index 0000000000..bc2a195901 --- /dev/null +++ b/vehicle_launch/config/4941/brake_map.csv @@ -0,0 +1,10 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 +0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 +0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 +0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 +0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 +0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 +0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 +0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/4941/bridge_params.yaml b/vehicle_launch/config/4941/bridge_params.yaml new file mode 100644 index 0000000000..d5bf5d6ab2 --- /dev/null +++ b/vehicle_launch/config/4941/bridge_params.yaml @@ -0,0 +1,13 @@ +/**: + kvaser_reader: + ros__parameters: + hardware_id: 78810 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false + kvaser_writer: + ros__parameters: + hardware_id: 78810 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4941/driver_params.yaml b/vehicle_launch/config/4941/driver_params.yaml new file mode 100644 index 0000000000..609d2c7a0d --- /dev/null +++ b/vehicle_launch/config/4941/driver_params.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + vehicle_type: "LEXUS_RX_450H" + frame_id: "pacmod" diff --git a/vehicle_launch/config/4941/pacmod_param.yaml b/vehicle_launch/config/4941/pacmod_param.yaml new file mode 100644 index 0000000000..24ce450fde --- /dev/null +++ b/vehicle_launch/config/4941/pacmod_param.yaml @@ -0,0 +1,24 @@ +/**: + ros__parameters: + base_frame_id: "base_link" + command_timeout_ms: 1000 + loop_rate: 30.0 + emergency_brake: 0.95 + max_throttle: 0.4 + max_brake: 0.8 + max_steering_wheel: 11.0 + min_steering_wheel: -11.0 + max_steering_wheel_rate: 3.5 + min_steering_wheel_rate: 1.0 + steering_offset: 0.0 + enable_steering_rate_control: false + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + accel_pedal_offset: 0.0 + brake_pedal_offset: 0.0 + + # steer rotation rate limiter + low_vel_thresh: 0.83 # 3kmh + steering_wheel_rate_stopped: 2.2 + steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/4943/accel_map.csv b/vehicle_launch/config/4943/accel_map.csv new file mode 100644 index 0000000000..c871dee542 --- /dev/null +++ b/vehicle_launch/config/4943/accel_map.csv @@ -0,0 +1,7 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 +0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 +0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 +0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 +0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/4943/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/4943/aip_xx1/sensor_kit_calibration.yaml new file mode 100644 index 0000000000..fe1fddd916 --- /dev/null +++ b/vehicle_launch/config/4943/aip_xx1/sensor_kit_calibration.yaml @@ -0,0 +1,91 @@ +sensor_kit_base_link2camera0: + pitch: 0.002 + roll: -0.01 + x: 0.215 + y: 0.031 + yaw: 0.025 + z: -0.024 +sensor_kit_base_link2camera1: + pitch: 0.01 + roll: -0.01 + x: -0.111 + y: -0.02 + yaw: -3.11 + z: -0.084 +sensor_kit_base_link2camera2: + pitch: 0.37 + roll: -0.008 + x: 0.087 + y: 0.581 + yaw: 1.05 + z: -0.274 +sensor_kit_base_link2camera3: + pitch: 0.353 + roll: 0.01 + x: -0.122 + y: 0.57 + yaw: 2.132 + z: -0.254 +sensor_kit_base_link2camera4: + pitch: 0.36 + roll: 0.003 + x: 0.083 + y: -0.58 + yaw: -1.02 + z: -0.234 +sensor_kit_base_link2camera5: + pitch: 0.35 + roll: -0.021 + x: -0.078 + y: -0.565 + yaw: -2.09 + z: -0.254 +sensor_kit_base_link2gnss: + pitch: 0.0 + roll: 0.0 + x: -0.1 + y: 0.0 + yaw: 0.0 + z: -0.2 +sensor_kit_base_link2imu_tamagawa: + pitch: 0.0 + roll: 3.14159265359 + x: 0.0 + y: 0.0 + yaw: 3.14159265359 + z: 0.0 +sensor_kit_base_link2traffic_light_left_camera: + pitch: 0.0 + roll: 0.0 + x: 0.431 + y: -0.148 + yaw: 0.038 + z: -0.135 +sensor_kit_base_link2traffic_light_right_camera: + pitch: 0.005 + roll: 0.0 + x: 0.52 + y: 0.052 + yaw: 0.028 + z: -0.144 +sensor_kit_base_link2velodyne_left_base_link: + pitch: 0.71 + roll: -0.023 + x: -0.017 + y: 0.598 + yaw: 1.555 + z: -0.301 +sensor_kit_base_link2velodyne_right_base_link: + pitch: 0.708 + roll: -0.016 + x: -0.027 + y: -0.552 + yaw: -1.58 + z: -0.294 +sensor_kit_base_link2velodyne_top_base_link: + pitch: 0.0 + roll: 0.0 + x: 0.0 + y: 0.0 + yaw: 1.575 + z: 0.0 diff --git a/vehicle_launch/config/4943/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/4943/aip_xx1/sensors_calibration.yaml new file mode 100644 index 0000000000..939e451588 --- /dev/null +++ b/vehicle_launch/config/4943/aip_xx1/sensors_calibration.yaml @@ -0,0 +1,28 @@ +base_link2livox_front_left_base_link: + pitch: 0.0 + roll: -0.01 + x: 3.36 + y: 0.68 + yaw: 0.852876 + z: 0.32 +base_link2livox_front_right_base_link: + pitch: -3.11 + roll: 3.1287 + x: 3.36 + y: -0.68 + yaw: 2.255 + z: 0.35 +base_link2sensor_kit_base_link: + pitch: -0.02 + roll: 0.0 + x: 0.6895 + y: 0.0 + yaw: -0.021 + z: 2.1 +base_link2velodyne_rear_base_link: + pitch: 2.435 + roll: -3.143 + x: -0.4 + y: 0.02 + yaw: -0.02 + z: 1.67 diff --git a/vehicle_launch/config/4943/brake_map.csv b/vehicle_launch/config/4943/brake_map.csv new file mode 100644 index 0000000000..bc2a195901 --- /dev/null +++ b/vehicle_launch/config/4943/brake_map.csv @@ -0,0 +1,10 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 +0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 +0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 +0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 +0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 +0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 +0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 +0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/4943/bridge_params.yaml b/vehicle_launch/config/4943/bridge_params.yaml new file mode 100644 index 0000000000..64c6fdf8a9 --- /dev/null +++ b/vehicle_launch/config/4943/bridge_params.yaml @@ -0,0 +1,13 @@ +/**: + kvaser_reader: + ros__parameters: + hardware_id: 78811 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false + kvaser_writer: + ros__parameters: + hardware_id: 78811 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4943/driver_params.yaml b/vehicle_launch/config/4943/driver_params.yaml new file mode 100644 index 0000000000..609d2c7a0d --- /dev/null +++ b/vehicle_launch/config/4943/driver_params.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + vehicle_type: "LEXUS_RX_450H" + frame_id: "pacmod" diff --git a/vehicle_launch/config/4943/pacmod_param.yaml b/vehicle_launch/config/4943/pacmod_param.yaml new file mode 100644 index 0000000000..f025ea1a2d --- /dev/null +++ b/vehicle_launch/config/4943/pacmod_param.yaml @@ -0,0 +1,24 @@ +/**: + ros__parameters: + base_frame_id: "base_link" + command_timeout_ms: 1000 + loop_rate: 30.0 + emergency_brake: 0.95 + max_throttle: 0.4 + max_brake: 0.8 + max_steering_wheel: 11.0 + min_steering_wheel: -11.0 + max_steering_wheel_rate: 3.5 + min_steering_wheel_rate: 1.0 + steering_offset: 0.0 + enable_steering_rate_control: false + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + accel_pedal_offset: 0.0 + brake_pedal_offset: -0.03 + + # steer rotation rate limiter + low_vel_thresh: 0.83 # 3kmh + steering_wheel_rate_stopped: 2.2 + steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/4944/accel_map.csv b/vehicle_launch/config/4944/accel_map.csv new file mode 100644 index 0000000000..c871dee542 --- /dev/null +++ b/vehicle_launch/config/4944/accel_map.csv @@ -0,0 +1,7 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 +0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 +0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 +0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 +0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/4944/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/4944/aip_xx1/sensor_kit_calibration.yaml new file mode 100644 index 0000000000..1d8dafa2e0 --- /dev/null +++ b/vehicle_launch/config/4944/aip_xx1/sensor_kit_calibration.yaml @@ -0,0 +1,91 @@ +sensor_kit_base_link2camera0: + pitch: 0.0 + roll: 0.005 + x: 0.215 + y: 0.031 + yaw: 0.038 + z: -0.024 +sensor_kit_base_link2camera1: + pitch: -0.005 + roll: -0.01 + x: -0.111 + y: -0.02 + yaw: -3.105 + z: -0.084 +sensor_kit_base_link2camera2: + pitch: 0.352 + roll: -0.008 + x: 0.087 + y: 0.581 + yaw: 1.07 + z: -0.274 +sensor_kit_base_link2camera3: + pitch: 0.355 + roll: 0.01 + x: -0.122 + y: 0.57 + yaw: 2.12 + z: -0.254 +sensor_kit_base_link2camera4: + pitch: 0.365 + roll: 0.004 + x: 0.083 + y: -0.58 + yaw: -1.01 + z: -0.234 +sensor_kit_base_link2camera5: + pitch: 0.375 + roll: -0.021 + x: -0.078 + y: -0.565 + yaw: -2.075 + z: -0.254 +sensor_kit_base_link2gnss: + pitch: 0.0 + roll: 0.0 + x: -0.1 + y: 0.0 + yaw: 0.0 + z: -0.2 +sensor_kit_base_link2imu_tamagawa: + pitch: 0.0 + roll: 3.14159265359 + x: 0.0 + y: 0.0 + yaw: 3.14159265359 + z: 0.0 +sensor_kit_base_link2traffic_light_left_camera: + pitch: 0.0 + roll: 0.0 + x: 0.431 + y: -0.05 + yaw: 0.055 + z: -0.135 +sensor_kit_base_link2traffic_light_right_camera: + pitch: -0.01 + roll: 0.0 + x: 0.52 + y: 0.052 + yaw: 0.042 + z: -0.144 +sensor_kit_base_link2velodyne_left_base_link: + pitch: 0.705 + roll: -0.026 + x: -0.008 + y: 0.55 + yaw: 1.575 + z: -0.32 +sensor_kit_base_link2velodyne_right_base_link: + pitch: 0.728 + roll: -0.004 + x: 0.05 + y: -0.552 + yaw: -1.56 + z: -0.325 +sensor_kit_base_link2velodyne_top_base_link: + pitch: 0.0 + roll: 0.0 + x: 0.0 + y: 0.0 + yaw: 1.575 + z: 0.0 diff --git a/vehicle_launch/config/4944/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/4944/aip_xx1/sensors_calibration.yaml new file mode 100644 index 0000000000..7cca86d2c9 --- /dev/null +++ b/vehicle_launch/config/4944/aip_xx1/sensors_calibration.yaml @@ -0,0 +1,28 @@ +base_link2livox_front_left_base_link: + pitch: -0.028 + roll: -0.019 + x: 3.36 + y: 0.68 + yaw: 0.858 + z: 0.34 +base_link2livox_front_right_base_link: + pitch: -3.119 + roll: 3.16 + x: 3.32 + y: -0.71 + yaw: 2.261 + z: 0.33 +base_link2sensor_kit_base_link: + pitch: -0.02 + roll: 0.0 + x: 0.6895 + y: 0.0 + yaw: -0.041 + z: 2.1 +base_link2velodyne_rear_base_link: + pitch: 2.417 + roll: -3.169 + x: -0.35 + y: -0.01 + yaw: -0.037 + z: 1.585 diff --git a/vehicle_launch/config/4944/brake_map.csv b/vehicle_launch/config/4944/brake_map.csv new file mode 100644 index 0000000000..bc2a195901 --- /dev/null +++ b/vehicle_launch/config/4944/brake_map.csv @@ -0,0 +1,10 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 +0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 +0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 +0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 +0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 +0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 +0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 +0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/4944/bridge_params.yaml b/vehicle_launch/config/4944/bridge_params.yaml new file mode 100644 index 0000000000..bb7f9fa86f --- /dev/null +++ b/vehicle_launch/config/4944/bridge_params.yaml @@ -0,0 +1,13 @@ +/**: + kvaser_reader: + ros__parameters: + hardware_id: 78812 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false + kvaser_writer: + ros__parameters: + hardware_id: 78812 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4944/driver_params.yaml b/vehicle_launch/config/4944/driver_params.yaml new file mode 100644 index 0000000000..609d2c7a0d --- /dev/null +++ b/vehicle_launch/config/4944/driver_params.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + vehicle_type: "LEXUS_RX_450H" + frame_id: "pacmod" diff --git a/vehicle_launch/config/4944/pacmod_param.yaml b/vehicle_launch/config/4944/pacmod_param.yaml new file mode 100644 index 0000000000..244ae5ee61 --- /dev/null +++ b/vehicle_launch/config/4944/pacmod_param.yaml @@ -0,0 +1,24 @@ +/**: + ros__parameters: + base_frame_id: "base_link" + command_timeout_ms: 1000 + loop_rate: 30.0 + emergency_brake: 0.95 + max_throttle: 0.4 + max_brake: 0.8 + max_steering_wheel: 11.0 + min_steering_wheel: -11.0 + max_steering_wheel_rate: 3.5 + min_steering_wheel_rate: 1.0 + steering_offset: -0.0011 + enable_steering_rate_control: false + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + accel_pedal_offset: 0.0 + brake_pedal_offset: -0.09 + + # steer rotation rate limiter + low_vel_thresh: 0.83 # 3kmh + steering_wheel_rate_stopped: 2.2 + steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/4945/accel_map.csv b/vehicle_launch/config/4945/accel_map.csv new file mode 100644 index 0000000000..c871dee542 --- /dev/null +++ b/vehicle_launch/config/4945/accel_map.csv @@ -0,0 +1,7 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 +0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 +0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 +0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 +0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/4945/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/4945/aip_xx1/sensor_kit_calibration.yaml new file mode 100644 index 0000000000..19b3a313bd --- /dev/null +++ b/vehicle_launch/config/4945/aip_xx1/sensor_kit_calibration.yaml @@ -0,0 +1,91 @@ +sensor_kit_base_link2camera0: + pitch: 0.005 + roll: -0.01 + x: 0.215 + y: 0.031 + yaw: 0.027 + z: -0.024 +sensor_kit_base_link2camera1: + pitch: 0.01 + roll: -0.01 + x: -0.111 + y: -0.02 + yaw: -3.107 + z: -0.084 +sensor_kit_base_link2camera2: + pitch: 0.375 + roll: -0.008 + x: 0.087 + y: 0.581 + yaw: 1.05 + z: -0.274 +sensor_kit_base_link2camera3: + pitch: 0.353 + roll: 0.01 + x: -0.122 + y: 0.57 + yaw: 2.14 + z: -0.254 +sensor_kit_base_link2camera4: + pitch: 0.354 + roll: 0.003 + x: 0.083 + y: -0.58 + yaw: -1.018 + z: -0.234 +sensor_kit_base_link2camera5: + pitch: 0.347 + roll: -0.021 + x: -0.078 + y: -0.565 + yaw: -2.083 + z: -0.254 +sensor_kit_base_link2gnss: + pitch: 0.0 + roll: 0.0 + x: -0.1 + y: 0.0 + yaw: 0.0 + z: -0.2 +sensor_kit_base_link2imu_tamagawa: + pitch: 0.0 + roll: 3.14159265359 + x: 0.0 + y: 0.0 + yaw: 3.14159265359 + z: 0.0 +sensor_kit_base_link2traffic_light_left_camera: + pitch: 0.003 + roll: 0.0 + x: 0.431 + y: -0.148 + yaw: 0.038 + z: -0.135 +sensor_kit_base_link2traffic_light_right_camera: + pitch: 0.005 + roll: 0.0 + x: 0.52 + y: 0.052 + yaw: 0.028 + z: -0.144 +sensor_kit_base_link2velodyne_left_base_link: + pitch: 0.705 + roll: -0.022 + x: -0.005 + y: 0.53 + yaw: 1.561 + z: -0.34 +sensor_kit_base_link2velodyne_right_base_link: + pitch: 0.712 + roll: -0.022 + x: -0.027 + y: -0.58 + yaw: -1.587 + z: -0.305 +sensor_kit_base_link2velodyne_top_base_link: + pitch: 0.0 + roll: 0.0 + x: 0.0 + y: 0.0 + yaw: 1.575 + z: 0.0 diff --git a/vehicle_launch/config/4945/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/4945/aip_xx1/sensors_calibration.yaml new file mode 100644 index 0000000000..7fb1684d13 --- /dev/null +++ b/vehicle_launch/config/4945/aip_xx1/sensors_calibration.yaml @@ -0,0 +1,28 @@ +base_link2livox_front_left_base_link: + pitch: -0.01 + roll: -0.015 + x: 3.36 + y: 0.68 + yaw: 0.839 + z: 0.294 +base_link2livox_front_right_base_link: + pitch: -3.115 + roll: 3.149 + x: 3.31 + y: -0.74 + yaw: 2.264 + z: 0.31 +base_link2sensor_kit_base_link: + pitch: -0.02 + roll: 0.0 + x: 0.6895 + y: 0.0 + yaw: -0.0245 + z: 2.1 +base_link2velodyne_rear_base_link: + pitch: 2.427 + roll: -3.166 + x: -0.35 + y: -0.01 + yaw: -0.04 + z: 1.595 diff --git a/vehicle_launch/config/4945/brake_map.csv b/vehicle_launch/config/4945/brake_map.csv new file mode 100644 index 0000000000..bc2a195901 --- /dev/null +++ b/vehicle_launch/config/4945/brake_map.csv @@ -0,0 +1,10 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 +0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 +0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 +0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 +0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 +0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 +0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 +0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/4945/bridge_params.yaml b/vehicle_launch/config/4945/bridge_params.yaml new file mode 100644 index 0000000000..2b7cc5e4da --- /dev/null +++ b/vehicle_launch/config/4945/bridge_params.yaml @@ -0,0 +1,13 @@ +/**: + kvaser_reader: + ros__parameters: + hardware_id: 78825 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false + kvaser_writer: + ros__parameters: + hardware_id: 78825 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4945/driver_params.yaml b/vehicle_launch/config/4945/driver_params.yaml new file mode 100644 index 0000000000..609d2c7a0d --- /dev/null +++ b/vehicle_launch/config/4945/driver_params.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + vehicle_type: "LEXUS_RX_450H" + frame_id: "pacmod" diff --git a/vehicle_launch/config/4945/pacmod_param.yaml b/vehicle_launch/config/4945/pacmod_param.yaml new file mode 100644 index 0000000000..5d42e557b7 --- /dev/null +++ b/vehicle_launch/config/4945/pacmod_param.yaml @@ -0,0 +1,24 @@ +/**: + ros__parameters: + base_frame_id: "base_link" + command_timeout_ms: 1000 + loop_rate: 30.0 + emergency_brake: 0.95 + max_throttle: 0.4 + max_brake: 0.8 + max_steering_wheel: 11.0 + min_steering_wheel: -11.0 + max_steering_wheel_rate: 3.5 + min_steering_wheel_rate: 1.0 + steering_offset: -0.007 + enable_steering_rate_control: false + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + accel_pedal_offset: 0.0 + brake_pedal_offset: 0.00 + + # steer rotation rate limiter + low_vel_thresh: 0.83 # 3kmh + steering_wheel_rate_stopped: 2.2 + steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/4946/accel_map.csv b/vehicle_launch/config/4946/accel_map.csv new file mode 100644 index 0000000000..c871dee542 --- /dev/null +++ b/vehicle_launch/config/4946/accel_map.csv @@ -0,0 +1,7 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 +0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 +0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 +0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 +0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/4946/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/4946/aip_xx1/sensor_kit_calibration.yaml new file mode 100644 index 0000000000..3ed7b68990 --- /dev/null +++ b/vehicle_launch/config/4946/aip_xx1/sensor_kit_calibration.yaml @@ -0,0 +1,91 @@ +sensor_kit_base_link2camera0: + pitch: 0.03 + roll: -0.01 + x: 0.215 + y: 0.031 + yaw: 0.023 + z: -0.024 +sensor_kit_base_link2camera1: + pitch: 0.006 + roll: -0.01 + x: -0.111 + y: -0.02 + yaw: -3.118 + z: -0.084 +sensor_kit_base_link2camera2: + pitch: 0.335 + roll: -0.008 + x: 0.087 + y: 0.581 + yaw: 1.07 + z: -0.274 +sensor_kit_base_link2camera3: + pitch: 0.35 + roll: 0.01 + x: -0.122 + y: 0.57 + yaw: 2.125 + z: -0.254 +sensor_kit_base_link2camera4: + pitch: 0.371 + roll: 0.003 + x: 0.083 + y: -0.58 + yaw: -1.015 + z: -0.234 +sensor_kit_base_link2camera5: + pitch: 0.392 + roll: -0.005 + x: -0.078 + y: -0.565 + yaw: -2.063 + z: -0.254 +sensor_kit_base_link2gnss: + pitch: 0.0 + roll: 0.0 + x: -0.1 + y: 0.0 + yaw: 0.0 + z: -0.2 +sensor_kit_base_link2imu_tamagawa: + pitch: 0.0 + roll: 3.14159265359 + x: 0.0 + y: 0.0 + yaw: 3.14159265359 + z: 0.0 +sensor_kit_base_link2traffic_light_left_camera: + pitch: -0.007 + roll: 0.0 + x: 0.431 + y: -0.148 + yaw: 0.029 + z: -0.135 +sensor_kit_base_link2traffic_light_right_camera: + pitch: -0.018 + roll: 0.0 + x: 0.52 + y: 0.052 + yaw: 0.01 + z: -0.144 +sensor_kit_base_link2velodyne_left_base_link: + pitch: 0.71 + roll: -0.023 + x: -0.017 + y: 0.598 + yaw: 1.57 + z: -0.301 +sensor_kit_base_link2velodyne_right_base_link: + pitch: 0.708 + roll: 0.005 + x: -0.01 + y: -0.58 + yaw: -1.568 + z: -0.35 +sensor_kit_base_link2velodyne_top_base_link: + pitch: 0.0 + roll: 0.0 + x: 0.0 + y: 0.0 + yaw: 1.575 + z: 0.0 diff --git a/vehicle_launch/config/4946/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/4946/aip_xx1/sensors_calibration.yaml new file mode 100644 index 0000000000..03ecfdff67 --- /dev/null +++ b/vehicle_launch/config/4946/aip_xx1/sensors_calibration.yaml @@ -0,0 +1,28 @@ +base_link2livox_front_left_base_link: + pitch: -0.01 + roll: -0.02 + x: 3.38 + y: 0.58 + yaw: 0.845 + z: 0.32 +base_link2livox_front_right_base_link: + pitch: -3.117 + roll: 3.157 + x: 3.38 + y: -0.65 + yaw: 2.243 + z: 0.33 +base_link2sensor_kit_base_link: + pitch: -0.02 + roll: 0.0 + x: 0.6895 + y: 0.0 + yaw: -0.025 + z: 2.1 +base_link2velodyne_rear_base_link: + pitch: 2.418 + roll: -3.153 + x: -0.4 + y: 0.02 + yaw: 0.0 + z: 1.6 diff --git a/vehicle_launch/config/4946/brake_map.csv b/vehicle_launch/config/4946/brake_map.csv new file mode 100644 index 0000000000..bc2a195901 --- /dev/null +++ b/vehicle_launch/config/4946/brake_map.csv @@ -0,0 +1,10 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 +0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 +0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 +0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 +0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 +0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 +0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 +0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/4946/bridge_params.yaml b/vehicle_launch/config/4946/bridge_params.yaml new file mode 100644 index 0000000000..4238696b94 --- /dev/null +++ b/vehicle_launch/config/4946/bridge_params.yaml @@ -0,0 +1,13 @@ +/**: + kvaser_reader: + ros__parameters: + hardware_id: 78826 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false + kvaser_writer: + ros__parameters: + hardware_id: 78826 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4946/driver_params.yaml b/vehicle_launch/config/4946/driver_params.yaml new file mode 100644 index 0000000000..609d2c7a0d --- /dev/null +++ b/vehicle_launch/config/4946/driver_params.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + vehicle_type: "LEXUS_RX_450H" + frame_id: "pacmod" diff --git a/vehicle_launch/config/4946/pacmod_param.yaml b/vehicle_launch/config/4946/pacmod_param.yaml new file mode 100644 index 0000000000..309a1c1cfb --- /dev/null +++ b/vehicle_launch/config/4946/pacmod_param.yaml @@ -0,0 +1,24 @@ +/**: + ros__parameters: + base_frame_id: "base_link" + command_timeout_ms: 1000 + loop_rate: 30.0 + emergency_brake: 0.95 + max_throttle: 0.4 + max_brake: 0.8 + max_steering_wheel: 11.0 + min_steering_wheel: -11.0 + max_steering_wheel_rate: 3.5 + min_steering_wheel_rate: 1.0 + steering_offset: -0.004 + enable_steering_rate_control: false + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + accel_pedal_offset: 0.0 + brake_pedal_offset: 0.03 + + # steer rotation rate limiter + low_vel_thresh: 0.83 # 3kmh + steering_wheel_rate_stopped: 2.2 + steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/8676/accel_map.csv b/vehicle_launch/config/8676/accel_map.csv new file mode 100644 index 0000000000..c871dee542 --- /dev/null +++ b/vehicle_launch/config/8676/accel_map.csv @@ -0,0 +1,7 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 +0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 +0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 +0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 +0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/8676/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/8676/aip_xx1/sensor_kit_calibration.yaml new file mode 100644 index 0000000000..7d5e4d906f --- /dev/null +++ b/vehicle_launch/config/8676/aip_xx1/sensor_kit_calibration.yaml @@ -0,0 +1,91 @@ +sensor_kit_base_link2camera0: + pitch: -0.015 + roll: -0.01 + x: 0.215 + y: 0.031 + yaw: 0.037 + z: -0.024 +sensor_kit_base_link2camera1: + pitch: -0.016 + roll: -0.01 + x: -0.111 + y: -0.02 + yaw: -3.11 + z: -0.084 +sensor_kit_base_link2camera2: + pitch: 0.33 + roll: -0.008 + x: 0.087 + y: 0.581 + yaw: 1.08 + z: -0.274 +sensor_kit_base_link2camera3: + pitch: 0.334 + roll: -0.013 + x: -0.122 + y: 0.57 + yaw: 2.13 + z: -0.254 +sensor_kit_base_link2camera4: + pitch: 0.34 + roll: 0.003 + x: 0.083 + y: -0.58 + yaw: -1.005 + z: -0.234 +sensor_kit_base_link2camera5: + pitch: 0.353 + roll: -0.021 + x: -0.078 + y: -0.565 + yaw: -2.055 + z: -0.254 +sensor_kit_base_link2gnss: + pitch: 0.0 + roll: 0.0 + x: -0.1 + y: 0.0 + yaw: 0.0 + z: -0.2 +sensor_kit_base_link2imu_tamagawa: + pitch: 0.0 + roll: 3.14159265359 + x: 0.0 + y: 0.0 + yaw: 3.14159265359 + z: 0.0 +sensor_kit_base_link2traffic_light_left_camera: + pitch: 0.0 + roll: 0.025 + x: 0.431 + y: 0.03 + yaw: 0.04 + z: -0.135 +sensor_kit_base_link2traffic_light_right_camera: + pitch: -0.005 + roll: 0.015 + x: 0.52 + y: 0.02 + yaw: 0.045 + z: -0.144 +sensor_kit_base_link2velodyne_left_base_link: + pitch: 0.698 + roll: -0.015 + x: -0.017 + y: 0.56 + yaw: 1.579 + z: -0.301 +sensor_kit_base_link2velodyne_right_base_link: + pitch: 0.705 + roll: -0.014 + x: -0.01 + y: -0.595 + yaw: -1.565 + z: -0.317 +sensor_kit_base_link2velodyne_top_base_link: + pitch: 0.0 + roll: 0.0 + x: 0.0 + y: 0.0 + yaw: 1.575 + z: 0.0 diff --git a/vehicle_launch/config/8676/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/8676/aip_xx1/sensors_calibration.yaml new file mode 100644 index 0000000000..219fa6756c --- /dev/null +++ b/vehicle_launch/config/8676/aip_xx1/sensors_calibration.yaml @@ -0,0 +1,28 @@ +base_link2livox_front_left_base_link: + pitch: -0.026 + roll: 0.014 + x: 3.38 + y: 0.672172 + yaw: 0.848 + z: 0.315 +base_link2livox_front_right_base_link: + pitch: -3.113 + roll: 3.16 + x: 3.34 + y: -0.71 + yaw: 2.271 + z: 0.305 +base_link2sensor_kit_base_link: + pitch: -0.02 + roll: 0.0 + x: 0.6895 + y: 0.0 + yaw: -0.0465 + z: 2.1 +base_link2velodyne_rear_base_link: + pitch: 2.426 + roll: -3.175 + x: -0.35 + y: 0.01 + yaw: -0.042 + z: 1.6 diff --git a/vehicle_launch/config/8676/brake_map.csv b/vehicle_launch/config/8676/brake_map.csv new file mode 100644 index 0000000000..bc2a195901 --- /dev/null +++ b/vehicle_launch/config/8676/brake_map.csv @@ -0,0 +1,10 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 +0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 +0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 +0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 +0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 +0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 +0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 +0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/8676/bridge_params.yaml b/vehicle_launch/config/8676/bridge_params.yaml new file mode 100644 index 0000000000..4885dbd6d2 --- /dev/null +++ b/vehicle_launch/config/8676/bridge_params.yaml @@ -0,0 +1,13 @@ +/**: + kvaser_reader: + ros__parameters: + hardware_id: 78838 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false + kvaser_writer: + ros__parameters: + hardware_id: 78838 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/8676/driver_params.yaml b/vehicle_launch/config/8676/driver_params.yaml new file mode 100644 index 0000000000..609d2c7a0d --- /dev/null +++ b/vehicle_launch/config/8676/driver_params.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + vehicle_type: "LEXUS_RX_450H" + frame_id: "pacmod" diff --git a/vehicle_launch/config/8676/pacmod_param.yaml b/vehicle_launch/config/8676/pacmod_param.yaml new file mode 100644 index 0000000000..590c0542eb --- /dev/null +++ b/vehicle_launch/config/8676/pacmod_param.yaml @@ -0,0 +1,24 @@ +/**: + ros__parameters: + base_frame_id: "base_link" + command_timeout_ms: 1000 + loop_rate: 30.0 + emergency_brake: 0.95 + max_throttle: 0.4 + max_brake: 0.8 + max_steering_wheel: 11.0 + min_steering_wheel: -11.0 + max_steering_wheel_rate: 3.5 + min_steering_wheel_rate: 1.0 + steering_offset: -0.004 + enable_steering_rate_control: false + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + accel_pedal_offset: 0.0 + brake_pedal_offset: 0.0 + + # steer rotation rate limiter + low_vel_thresh: 0.83 # 3kmh + steering_wheel_rate_stopped: 2.2 + steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/default/accel_map.csv b/vehicle_launch/config/default/accel_map.csv new file mode 100644 index 0000000000..c871dee542 --- /dev/null +++ b/vehicle_launch/config/default/accel_map.csv @@ -0,0 +1,7 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 +0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 +0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 +0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 +0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/default/brake_map.csv b/vehicle_launch/config/default/brake_map.csv new file mode 100644 index 0000000000..bc2a195901 --- /dev/null +++ b/vehicle_launch/config/default/brake_map.csv @@ -0,0 +1,10 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 +0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 +0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 +0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 +0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 +0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 +0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 +0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 +0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/default/bridge_params.yaml b/vehicle_launch/config/default/bridge_params.yaml new file mode 100644 index 0000000000..cd4a2c385e --- /dev/null +++ b/vehicle_launch/config/default/bridge_params.yaml @@ -0,0 +1,13 @@ +/**: + kvaser_reader: + ros__parameters: + hardware_id: 3 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false + kvaser_writer: + ros__parameters: + hardware_id: 3 + circuit_id: 1 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/default/driver_params.yaml b/vehicle_launch/config/default/driver_params.yaml new file mode 100644 index 0000000000..609d2c7a0d --- /dev/null +++ b/vehicle_launch/config/default/driver_params.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + vehicle_type: "LEXUS_RX_450H" + frame_id: "pacmod" diff --git a/vehicle_launch/config/default/pacmod_param.yaml b/vehicle_launch/config/default/pacmod_param.yaml new file mode 100644 index 0000000000..24ce450fde --- /dev/null +++ b/vehicle_launch/config/default/pacmod_param.yaml @@ -0,0 +1,24 @@ +/**: + ros__parameters: + base_frame_id: "base_link" + command_timeout_ms: 1000 + loop_rate: 30.0 + emergency_brake: 0.95 + max_throttle: 0.4 + max_brake: 0.8 + max_steering_wheel: 11.0 + min_steering_wheel: -11.0 + max_steering_wheel_rate: 3.5 + min_steering_wheel_rate: 1.0 + steering_offset: 0.0 + enable_steering_rate_control: false + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + accel_pedal_offset: 0.0 + brake_pedal_offset: 0.0 + + # steer rotation rate limiter + low_vel_thresh: 0.83 # 3kmh + steering_wheel_rate_stopped: 2.2 + steering_wheel_rate_low_vel: 3.0 From 516df93215f6feb7e50150487a37016f79b99af6 Mon Sep 17 00:00:00 2001 From: wep21 Date: Wed, 27 Jan 2021 02:16:28 +0900 Subject: [PATCH 002/349] Add sensing config Signed-off-by: wep21 Signed-off-by: Autoware --- .../config/aip_xx1/1089/livox_front_left_bd_code.yaml | 3 +++ .../config/aip_xx1/1089/livox_front_right_bd_code.yaml | 3 +++ .../config/aip_xx1/1090/livox_front_left_bd_code.yaml | 3 +++ .../config/aip_xx1/1090/livox_front_right_bd_code.yaml | 3 +++ .../config/aip_xx1/4939/livox_front_left_bd_code.yaml | 3 +++ .../config/aip_xx1/4939/livox_front_right_bd_code.yaml | 3 +++ .../config/aip_xx1/4940/livox_front_left_bd_code.yaml | 3 +++ .../config/aip_xx1/4940/livox_front_right_bd_code.yaml | 3 +++ .../config/aip_xx1/4941/livox_front_left_bd_code.yaml | 3 +++ .../config/aip_xx1/4941/livox_front_right_bd_code.yaml | 3 +++ .../config/aip_xx1/4943/livox_front_left_bd_code.yaml | 3 +++ .../config/aip_xx1/4943/livox_front_right_bd_code.yaml | 3 +++ .../config/aip_xx1/4944/livox_front_left_bd_code.yaml | 3 +++ .../config/aip_xx1/4944/livox_front_right_bd_code.yaml | 3 +++ .../config/aip_xx1/4945/livox_front_left_bd_code.yaml | 3 +++ .../config/aip_xx1/4945/livox_front_right_bd_code.yaml | 3 +++ .../config/aip_xx1/4946/livox_front_left_bd_code.yaml | 3 +++ .../config/aip_xx1/4946/livox_front_right_bd_code.yaml | 3 +++ .../config/aip_xx1/8676/livox_front_left_bd_code.yaml | 3 +++ .../config/aip_xx1/8676/livox_front_right_bd_code.yaml | 3 +++ 20 files changed, 60 insertions(+) create mode 100644 sensing_launch/config/aip_xx1/1089/livox_front_left_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/1089/livox_front_right_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/1090/livox_front_left_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/1090/livox_front_right_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/4939/livox_front_left_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/4939/livox_front_right_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/4940/livox_front_left_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/4940/livox_front_right_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/4941/livox_front_left_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/4941/livox_front_right_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/4943/livox_front_left_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/4943/livox_front_right_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/4944/livox_front_left_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/4944/livox_front_right_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/4945/livox_front_left_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/4945/livox_front_right_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/4946/livox_front_left_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/4946/livox_front_right_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/8676/livox_front_left_bd_code.yaml create mode 100644 sensing_launch/config/aip_xx1/8676/livox_front_right_bd_code.yaml diff --git a/sensing_launch/config/aip_xx1/1089/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/1089/livox_front_left_bd_code.yaml new file mode 100644 index 0000000000..7ad3958228 --- /dev/null +++ b/sensing_launch/config/aip_xx1/1089/livox_front_left_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200105911' diff --git a/sensing_launch/config/aip_xx1/1089/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/1089/livox_front_right_bd_code.yaml new file mode 100644 index 0000000000..6072b1179c --- /dev/null +++ b/sensing_launch/config/aip_xx1/1089/livox_front_right_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200104481' diff --git a/sensing_launch/config/aip_xx1/1090/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/1090/livox_front_left_bd_code.yaml new file mode 100644 index 0000000000..9c44c1dece --- /dev/null +++ b/sensing_launch/config/aip_xx1/1090/livox_front_left_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200106011' diff --git a/sensing_launch/config/aip_xx1/1090/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/1090/livox_front_right_bd_code.yaml new file mode 100644 index 0000000000..1c1e404e11 --- /dev/null +++ b/sensing_launch/config/aip_xx1/1090/livox_front_right_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200103001' diff --git a/sensing_launch/config/aip_xx1/4939/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/4939/livox_front_left_bd_code.yaml new file mode 100644 index 0000000000..a2bd7e1ca6 --- /dev/null +++ b/sensing_launch/config/aip_xx1/4939/livox_front_left_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200104331' diff --git a/sensing_launch/config/aip_xx1/4939/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/4939/livox_front_right_bd_code.yaml new file mode 100644 index 0000000000..011e805db1 --- /dev/null +++ b/sensing_launch/config/aip_xx1/4939/livox_front_right_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200104071' diff --git a/sensing_launch/config/aip_xx1/4940/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/4940/livox_front_left_bd_code.yaml new file mode 100644 index 0000000000..083f0cc218 --- /dev/null +++ b/sensing_launch/config/aip_xx1/4940/livox_front_left_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '100000000000000' diff --git a/sensing_launch/config/aip_xx1/4940/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/4940/livox_front_right_bd_code.yaml new file mode 100644 index 0000000000..083f0cc218 --- /dev/null +++ b/sensing_launch/config/aip_xx1/4940/livox_front_right_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '100000000000000' diff --git a/sensing_launch/config/aip_xx1/4941/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/4941/livox_front_left_bd_code.yaml new file mode 100644 index 0000000000..e658abbcaf --- /dev/null +++ b/sensing_launch/config/aip_xx1/4941/livox_front_left_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200105411' diff --git a/sensing_launch/config/aip_xx1/4941/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/4941/livox_front_right_bd_code.yaml new file mode 100644 index 0000000000..98315b55cd --- /dev/null +++ b/sensing_launch/config/aip_xx1/4941/livox_front_right_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200104131' diff --git a/sensing_launch/config/aip_xx1/4943/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/4943/livox_front_left_bd_code.yaml new file mode 100644 index 0000000000..ae86330ef3 --- /dev/null +++ b/sensing_launch/config/aip_xx1/4943/livox_front_left_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200105251' diff --git a/sensing_launch/config/aip_xx1/4943/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/4943/livox_front_right_bd_code.yaml new file mode 100644 index 0000000000..0f4da85b83 --- /dev/null +++ b/sensing_launch/config/aip_xx1/4943/livox_front_right_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200104961' diff --git a/sensing_launch/config/aip_xx1/4944/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/4944/livox_front_left_bd_code.yaml new file mode 100644 index 0000000000..d42c6185f9 --- /dev/null +++ b/sensing_launch/config/aip_xx1/4944/livox_front_left_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200102941' diff --git a/sensing_launch/config/aip_xx1/4944/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/4944/livox_front_right_bd_code.yaml new file mode 100644 index 0000000000..6ad4765719 --- /dev/null +++ b/sensing_launch/config/aip_xx1/4944/livox_front_right_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200105651' diff --git a/sensing_launch/config/aip_xx1/4945/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/4945/livox_front_left_bd_code.yaml new file mode 100644 index 0000000000..7e2ff21804 --- /dev/null +++ b/sensing_launch/config/aip_xx1/4945/livox_front_left_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200102321' diff --git a/sensing_launch/config/aip_xx1/4945/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/4945/livox_front_right_bd_code.yaml new file mode 100644 index 0000000000..86239725a1 --- /dev/null +++ b/sensing_launch/config/aip_xx1/4945/livox_front_right_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200100721' diff --git a/sensing_launch/config/aip_xx1/4946/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/4946/livox_front_left_bd_code.yaml new file mode 100644 index 0000000000..923c14d1b3 --- /dev/null +++ b/sensing_launch/config/aip_xx1/4946/livox_front_left_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200104351' diff --git a/sensing_launch/config/aip_xx1/4946/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/4946/livox_front_right_bd_code.yaml new file mode 100644 index 0000000000..c1b6830e85 --- /dev/null +++ b/sensing_launch/config/aip_xx1/4946/livox_front_right_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200104681' diff --git a/sensing_launch/config/aip_xx1/8676/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/8676/livox_front_left_bd_code.yaml new file mode 100644 index 0000000000..846e26b93c --- /dev/null +++ b/sensing_launch/config/aip_xx1/8676/livox_front_left_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200102921' diff --git a/sensing_launch/config/aip_xx1/8676/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/8676/livox_front_right_bd_code.yaml new file mode 100644 index 0000000000..d142ada27e --- /dev/null +++ b/sensing_launch/config/aip_xx1/8676/livox_front_right_bd_code.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + cmdline_input_bd_code: '1HDDH1200104201' From cb2c15b5b998ccd83bc652cda45cfdb7fecc30e8 Mon Sep 17 00:00:00 2001 From: wep21 Date: Thu, 28 Jan 2021 04:59:50 +0900 Subject: [PATCH 003/349] Seperate vehicle parameter Signed-off-by: wep21 --- vehicle_launch/config/1089/bridge_params.yaml | 13 ------------- vehicle_launch/config/1089/reader_params.yaml | 6 ++++++ vehicle_launch/config/1089/writer_params.yaml | 6 ++++++ vehicle_launch/config/1090/bridge_params.yaml | 13 ------------- vehicle_launch/config/1090/reader_params.yaml | 6 ++++++ vehicle_launch/config/1090/writer_params.yaml | 6 ++++++ vehicle_launch/config/4939/bridge_params.yaml | 13 ------------- vehicle_launch/config/4939/reader_params.yaml | 6 ++++++ vehicle_launch/config/4939/writer_params.yaml | 6 ++++++ vehicle_launch/config/4940/bridge_params.yaml | 13 ------------- vehicle_launch/config/4940/reader_params.yaml | 6 ++++++ vehicle_launch/config/4940/writer_params.yaml | 6 ++++++ vehicle_launch/config/4941/bridge_params.yaml | 13 ------------- vehicle_launch/config/4941/reader_params.yaml | 6 ++++++ vehicle_launch/config/4941/writer_params.yaml | 6 ++++++ vehicle_launch/config/4943/bridge_params.yaml | 13 ------------- vehicle_launch/config/4943/reader_params.yaml | 6 ++++++ vehicle_launch/config/4943/writer_params.yaml | 6 ++++++ vehicle_launch/config/4944/bridge_params.yaml | 13 ------------- vehicle_launch/config/4944/reader_params.yaml | 6 ++++++ vehicle_launch/config/4944/writer_params.yaml | 6 ++++++ vehicle_launch/config/4945/bridge_params.yaml | 13 ------------- vehicle_launch/config/4945/reader_params.yaml | 6 ++++++ vehicle_launch/config/4945/writer_params.yaml | 6 ++++++ vehicle_launch/config/4946/bridge_params.yaml | 13 ------------- vehicle_launch/config/4946/reader_params.yaml | 6 ++++++ vehicle_launch/config/4946/writer_params.yaml | 6 ++++++ vehicle_launch/config/8676/bridge_params.yaml | 13 ------------- vehicle_launch/config/8676/reader_params.yaml | 6 ++++++ vehicle_launch/config/8676/writer_params.yaml | 6 ++++++ vehicle_launch/config/default/bridge_params.yaml | 13 ------------- vehicle_launch/config/default/reader_params.yaml | 7 +++++++ vehicle_launch/config/default/writer_params.yaml | 6 ++++++ 33 files changed, 133 insertions(+), 143 deletions(-) delete mode 100644 vehicle_launch/config/1089/bridge_params.yaml create mode 100644 vehicle_launch/config/1089/reader_params.yaml create mode 100644 vehicle_launch/config/1089/writer_params.yaml delete mode 100644 vehicle_launch/config/1090/bridge_params.yaml create mode 100644 vehicle_launch/config/1090/reader_params.yaml create mode 100644 vehicle_launch/config/1090/writer_params.yaml delete mode 100644 vehicle_launch/config/4939/bridge_params.yaml create mode 100644 vehicle_launch/config/4939/reader_params.yaml create mode 100644 vehicle_launch/config/4939/writer_params.yaml delete mode 100644 vehicle_launch/config/4940/bridge_params.yaml create mode 100644 vehicle_launch/config/4940/reader_params.yaml create mode 100644 vehicle_launch/config/4940/writer_params.yaml delete mode 100644 vehicle_launch/config/4941/bridge_params.yaml create mode 100644 vehicle_launch/config/4941/reader_params.yaml create mode 100644 vehicle_launch/config/4941/writer_params.yaml delete mode 100644 vehicle_launch/config/4943/bridge_params.yaml create mode 100644 vehicle_launch/config/4943/reader_params.yaml create mode 100644 vehicle_launch/config/4943/writer_params.yaml delete mode 100644 vehicle_launch/config/4944/bridge_params.yaml create mode 100644 vehicle_launch/config/4944/reader_params.yaml create mode 100644 vehicle_launch/config/4944/writer_params.yaml delete mode 100644 vehicle_launch/config/4945/bridge_params.yaml create mode 100644 vehicle_launch/config/4945/reader_params.yaml create mode 100644 vehicle_launch/config/4945/writer_params.yaml delete mode 100644 vehicle_launch/config/4946/bridge_params.yaml create mode 100644 vehicle_launch/config/4946/reader_params.yaml create mode 100644 vehicle_launch/config/4946/writer_params.yaml delete mode 100644 vehicle_launch/config/8676/bridge_params.yaml create mode 100644 vehicle_launch/config/8676/reader_params.yaml create mode 100644 vehicle_launch/config/8676/writer_params.yaml delete mode 100644 vehicle_launch/config/default/bridge_params.yaml create mode 100644 vehicle_launch/config/default/reader_params.yaml create mode 100644 vehicle_launch/config/default/writer_params.yaml diff --git a/vehicle_launch/config/1089/bridge_params.yaml b/vehicle_launch/config/1089/bridge_params.yaml deleted file mode 100644 index 2f7952909e..0000000000 --- a/vehicle_launch/config/1089/bridge_params.yaml +++ /dev/null @@ -1,13 +0,0 @@ -/**: - kvaser_reader: - ros__parameters: - hardware_id: 66605 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false - kvaser_writer: - ros__parameters: - hardware_id: 66605 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/1089/reader_params.yaml b/vehicle_launch/config/1089/reader_params.yaml new file mode 100644 index 0000000000..6cecd7a7c8 --- /dev/null +++ b/vehicle_launch/config/1089/reader_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 66605 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/1089/writer_params.yaml b/vehicle_launch/config/1089/writer_params.yaml new file mode 100644 index 0000000000..6cecd7a7c8 --- /dev/null +++ b/vehicle_launch/config/1089/writer_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 66605 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/1090/bridge_params.yaml b/vehicle_launch/config/1090/bridge_params.yaml deleted file mode 100644 index dfc52295e3..0000000000 --- a/vehicle_launch/config/1090/bridge_params.yaml +++ /dev/null @@ -1,13 +0,0 @@ -/**: - kvaser_reader: - ros__parameters: - hardware_id: 68579 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false - kvaser_writer: - ros__parameters: - hardware_id: 68579 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/1090/reader_params.yaml b/vehicle_launch/config/1090/reader_params.yaml new file mode 100644 index 0000000000..fe719e68e4 --- /dev/null +++ b/vehicle_launch/config/1090/reader_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 68579 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/1090/writer_params.yaml b/vehicle_launch/config/1090/writer_params.yaml new file mode 100644 index 0000000000..fe719e68e4 --- /dev/null +++ b/vehicle_launch/config/1090/writer_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 68579 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4939/bridge_params.yaml b/vehicle_launch/config/4939/bridge_params.yaml deleted file mode 100644 index dfc52295e3..0000000000 --- a/vehicle_launch/config/4939/bridge_params.yaml +++ /dev/null @@ -1,13 +0,0 @@ -/**: - kvaser_reader: - ros__parameters: - hardware_id: 68579 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false - kvaser_writer: - ros__parameters: - hardware_id: 68579 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4939/reader_params.yaml b/vehicle_launch/config/4939/reader_params.yaml new file mode 100644 index 0000000000..fe719e68e4 --- /dev/null +++ b/vehicle_launch/config/4939/reader_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 68579 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4939/writer_params.yaml b/vehicle_launch/config/4939/writer_params.yaml new file mode 100644 index 0000000000..fe719e68e4 --- /dev/null +++ b/vehicle_launch/config/4939/writer_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 68579 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4940/bridge_params.yaml b/vehicle_launch/config/4940/bridge_params.yaml deleted file mode 100644 index 70488de3ef..0000000000 --- a/vehicle_launch/config/4940/bridge_params.yaml +++ /dev/null @@ -1,13 +0,0 @@ -/**: - kvaser_reader: - ros__parameters: - hardware_id: 10051 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false - kvaser_writer: - ros__parameters: - hardware_id: 10051 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4940/reader_params.yaml b/vehicle_launch/config/4940/reader_params.yaml new file mode 100644 index 0000000000..2853241f61 --- /dev/null +++ b/vehicle_launch/config/4940/reader_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 10051 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4940/writer_params.yaml b/vehicle_launch/config/4940/writer_params.yaml new file mode 100644 index 0000000000..2853241f61 --- /dev/null +++ b/vehicle_launch/config/4940/writer_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 10051 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4941/bridge_params.yaml b/vehicle_launch/config/4941/bridge_params.yaml deleted file mode 100644 index d5bf5d6ab2..0000000000 --- a/vehicle_launch/config/4941/bridge_params.yaml +++ /dev/null @@ -1,13 +0,0 @@ -/**: - kvaser_reader: - ros__parameters: - hardware_id: 78810 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false - kvaser_writer: - ros__parameters: - hardware_id: 78810 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4941/reader_params.yaml b/vehicle_launch/config/4941/reader_params.yaml new file mode 100644 index 0000000000..30d927112d --- /dev/null +++ b/vehicle_launch/config/4941/reader_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 78810 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4941/writer_params.yaml b/vehicle_launch/config/4941/writer_params.yaml new file mode 100644 index 0000000000..30d927112d --- /dev/null +++ b/vehicle_launch/config/4941/writer_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 78810 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4943/bridge_params.yaml b/vehicle_launch/config/4943/bridge_params.yaml deleted file mode 100644 index 64c6fdf8a9..0000000000 --- a/vehicle_launch/config/4943/bridge_params.yaml +++ /dev/null @@ -1,13 +0,0 @@ -/**: - kvaser_reader: - ros__parameters: - hardware_id: 78811 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false - kvaser_writer: - ros__parameters: - hardware_id: 78811 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4943/reader_params.yaml b/vehicle_launch/config/4943/reader_params.yaml new file mode 100644 index 0000000000..46fbbc391b --- /dev/null +++ b/vehicle_launch/config/4943/reader_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 78811 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4943/writer_params.yaml b/vehicle_launch/config/4943/writer_params.yaml new file mode 100644 index 0000000000..46fbbc391b --- /dev/null +++ b/vehicle_launch/config/4943/writer_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 78811 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4944/bridge_params.yaml b/vehicle_launch/config/4944/bridge_params.yaml deleted file mode 100644 index bb7f9fa86f..0000000000 --- a/vehicle_launch/config/4944/bridge_params.yaml +++ /dev/null @@ -1,13 +0,0 @@ -/**: - kvaser_reader: - ros__parameters: - hardware_id: 78812 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false - kvaser_writer: - ros__parameters: - hardware_id: 78812 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4944/reader_params.yaml b/vehicle_launch/config/4944/reader_params.yaml new file mode 100644 index 0000000000..93a92b3d6c --- /dev/null +++ b/vehicle_launch/config/4944/reader_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 78812 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4944/writer_params.yaml b/vehicle_launch/config/4944/writer_params.yaml new file mode 100644 index 0000000000..93a92b3d6c --- /dev/null +++ b/vehicle_launch/config/4944/writer_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 78812 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4945/bridge_params.yaml b/vehicle_launch/config/4945/bridge_params.yaml deleted file mode 100644 index 2b7cc5e4da..0000000000 --- a/vehicle_launch/config/4945/bridge_params.yaml +++ /dev/null @@ -1,13 +0,0 @@ -/**: - kvaser_reader: - ros__parameters: - hardware_id: 78825 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false - kvaser_writer: - ros__parameters: - hardware_id: 78825 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4945/reader_params.yaml b/vehicle_launch/config/4945/reader_params.yaml new file mode 100644 index 0000000000..21f8eb72da --- /dev/null +++ b/vehicle_launch/config/4945/reader_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 78825 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4945/writer_params.yaml b/vehicle_launch/config/4945/writer_params.yaml new file mode 100644 index 0000000000..21f8eb72da --- /dev/null +++ b/vehicle_launch/config/4945/writer_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 78825 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4946/bridge_params.yaml b/vehicle_launch/config/4946/bridge_params.yaml deleted file mode 100644 index 4238696b94..0000000000 --- a/vehicle_launch/config/4946/bridge_params.yaml +++ /dev/null @@ -1,13 +0,0 @@ -/**: - kvaser_reader: - ros__parameters: - hardware_id: 78826 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false - kvaser_writer: - ros__parameters: - hardware_id: 78826 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4946/reader_params.yaml b/vehicle_launch/config/4946/reader_params.yaml new file mode 100644 index 0000000000..5c4fd8ce7c --- /dev/null +++ b/vehicle_launch/config/4946/reader_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 78826 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/4946/writer_params.yaml b/vehicle_launch/config/4946/writer_params.yaml new file mode 100644 index 0000000000..5c4fd8ce7c --- /dev/null +++ b/vehicle_launch/config/4946/writer_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 78826 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/8676/bridge_params.yaml b/vehicle_launch/config/8676/bridge_params.yaml deleted file mode 100644 index 4885dbd6d2..0000000000 --- a/vehicle_launch/config/8676/bridge_params.yaml +++ /dev/null @@ -1,13 +0,0 @@ -/**: - kvaser_reader: - ros__parameters: - hardware_id: 78838 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false - kvaser_writer: - ros__parameters: - hardware_id: 78838 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/8676/reader_params.yaml b/vehicle_launch/config/8676/reader_params.yaml new file mode 100644 index 0000000000..d393260e92 --- /dev/null +++ b/vehicle_launch/config/8676/reader_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 78838 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/8676/writer_params.yaml b/vehicle_launch/config/8676/writer_params.yaml new file mode 100644 index 0000000000..d393260e92 --- /dev/null +++ b/vehicle_launch/config/8676/writer_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 78838 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false diff --git a/vehicle_launch/config/default/bridge_params.yaml b/vehicle_launch/config/default/bridge_params.yaml deleted file mode 100644 index cd4a2c385e..0000000000 --- a/vehicle_launch/config/default/bridge_params.yaml +++ /dev/null @@ -1,13 +0,0 @@ -/**: - kvaser_reader: - ros__parameters: - hardware_id: 3 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false - kvaser_writer: - ros__parameters: - hardware_id: 3 - circuit_id: 1 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/default/reader_params.yaml b/vehicle_launch/config/default/reader_params.yaml new file mode 100644 index 0000000000..19401791c8 --- /dev/null +++ b/vehicle_launch/config/default/reader_params.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + hardware_id: 3 + circuit_id: 0 + bit_rate: 500000 + enable_echo: false + diff --git a/vehicle_launch/config/default/writer_params.yaml b/vehicle_launch/config/default/writer_params.yaml new file mode 100644 index 0000000000..bfb395514d --- /dev/null +++ b/vehicle_launch/config/default/writer_params.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + hardware_id: 3 + circuit_id: 1 + bit_rate: 500000 + enable_echo: false From 8a53f029cd05110256b3c2bb8f5014cc968a0391 Mon Sep 17 00:00:00 2001 From: Autoware Date: Thu, 4 Mar 2021 14:44:18 +0900 Subject: [PATCH 004/349] Rename yaml file Signed-off-by: Autoware --- ...ront_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} | 0 ...nt_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} | 0 ...ront_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} | 0 ...nt_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} | 0 ...ront_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} | 0 ...nt_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} | 0 ...ront_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} | 0 ...nt_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} | 0 ...ront_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} | 0 ...nt_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} | 0 ...ront_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} | 0 ...nt_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} | 0 ...ront_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} | 0 ...nt_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} | 0 ...ront_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} | 0 ...nt_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} | 0 ...ront_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} | 0 ...nt_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} | 0 ...ront_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} | 0 ...nt_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} | 0 .../config/1089/{driver_params.yaml => driver.param.yaml} | 0 .../config/1089/{pacmod_param.yaml => pacmod.param.yaml} | 0 .../config/1089/{reader_params.yaml => reader.param.yaml} | 0 .../config/1089/{writer_params.yaml => writer.param.yaml} | 0 .../config/1090/{driver_params.yaml => driver.param.yaml} | 0 .../config/1090/{pacmod_param.yaml => pacmod.param.yaml} | 0 .../config/1090/{reader_params.yaml => reader.param.yaml} | 0 .../config/1090/{writer_params.yaml => writer.param.yaml} | 0 .../config/4939/{driver_params.yaml => driver.param.yaml} | 0 .../config/4939/{pacmod_param.yaml => pacmod.param.yaml} | 0 .../config/4939/{reader_params.yaml => reader.param.yaml} | 0 .../config/4939/{writer_params.yaml => writer.param.yaml} | 0 .../config/4940/{driver_params.yaml => driver.param.yaml} | 0 .../config/4940/{pacmod_param.yaml => pacmod.param.yaml} | 0 .../config/4940/{reader_params.yaml => reader.param.yaml} | 0 .../config/4940/{writer_params.yaml => writer.param.yaml} | 0 .../config/4941/{driver_params.yaml => driver.param.yaml} | 0 .../config/4941/{pacmod_param.yaml => pacmod.param.yaml} | 0 .../config/4941/{reader_params.yaml => reader.param.yaml} | 0 .../config/4941/{writer_params.yaml => writer.param.yaml} | 0 .../config/4943/{driver_params.yaml => driver.param.yaml} | 0 .../config/4943/{pacmod_param.yaml => pacmod.param.yaml} | 0 .../config/4943/{reader_params.yaml => reader.param.yaml} | 0 .../config/4943/{writer_params.yaml => writer.param.yaml} | 0 .../config/4944/{driver_params.yaml => driver.param.yaml} | 0 .../config/4944/{pacmod_param.yaml => pacmod.param.yaml} | 0 .../config/4944/{reader_params.yaml => reader.param.yaml} | 0 .../config/4944/{writer_params.yaml => writer.param.yaml} | 0 .../config/4945/{driver_params.yaml => driver.param.yaml} | 0 .../config/4945/{pacmod_param.yaml => pacmod.param.yaml} | 0 .../config/4945/{reader_params.yaml => reader.param.yaml} | 0 .../config/4945/{writer_params.yaml => writer.param.yaml} | 0 .../config/4946/{driver_params.yaml => driver.param.yaml} | 0 .../config/4946/{pacmod_param.yaml => pacmod.param.yaml} | 0 .../config/4946/{reader_params.yaml => reader.param.yaml} | 0 .../config/4946/{writer_params.yaml => writer.param.yaml} | 0 .../config/8676/{driver_params.yaml => driver.param.yaml} | 0 .../config/8676/{pacmod_param.yaml => pacmod.param.yaml} | 0 .../config/8676/{reader_params.yaml => reader.param.yaml} | 0 .../config/8676/{writer_params.yaml => writer.param.yaml} | 0 .../config/default/{driver_params.yaml => driver.param.yaml} | 0 .../config/default/{pacmod_param.yaml => pacmod.param.yaml} | 0 .../config/default/{reader_params.yaml => reader.param.yaml} | 0 .../config/default/{writer_params.yaml => writer.param.yaml} | 0 64 files changed, 0 insertions(+), 0 deletions(-) rename sensing_launch/config/aip_xx1/1089/{livox_front_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/1089/{livox_front_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/1090/{livox_front_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/1090/{livox_front_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/4939/{livox_front_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/4939/{livox_front_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/4940/{livox_front_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/4940/{livox_front_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/4941/{livox_front_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/4941/{livox_front_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/4943/{livox_front_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/4943/{livox_front_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/4944/{livox_front_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/4944/{livox_front_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/4945/{livox_front_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/4945/{livox_front_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/4946/{livox_front_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/4946/{livox_front_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/8676/{livox_front_left_bd_code.yaml => livox_front_left_bd_code.param.yaml} (100%) rename sensing_launch/config/aip_xx1/8676/{livox_front_right_bd_code.yaml => livox_front_right_bd_code.param.yaml} (100%) rename vehicle_launch/config/1089/{driver_params.yaml => driver.param.yaml} (100%) rename vehicle_launch/config/1089/{pacmod_param.yaml => pacmod.param.yaml} (100%) rename vehicle_launch/config/1089/{reader_params.yaml => reader.param.yaml} (100%) rename vehicle_launch/config/1089/{writer_params.yaml => writer.param.yaml} (100%) rename vehicle_launch/config/1090/{driver_params.yaml => driver.param.yaml} (100%) rename vehicle_launch/config/1090/{pacmod_param.yaml => pacmod.param.yaml} (100%) rename vehicle_launch/config/1090/{reader_params.yaml => reader.param.yaml} (100%) rename vehicle_launch/config/1090/{writer_params.yaml => writer.param.yaml} (100%) rename vehicle_launch/config/4939/{driver_params.yaml => driver.param.yaml} (100%) rename vehicle_launch/config/4939/{pacmod_param.yaml => pacmod.param.yaml} (100%) rename vehicle_launch/config/4939/{reader_params.yaml => reader.param.yaml} (100%) rename vehicle_launch/config/4939/{writer_params.yaml => writer.param.yaml} (100%) rename vehicle_launch/config/4940/{driver_params.yaml => driver.param.yaml} (100%) rename vehicle_launch/config/4940/{pacmod_param.yaml => pacmod.param.yaml} (100%) rename vehicle_launch/config/4940/{reader_params.yaml => reader.param.yaml} (100%) rename vehicle_launch/config/4940/{writer_params.yaml => writer.param.yaml} (100%) rename vehicle_launch/config/4941/{driver_params.yaml => driver.param.yaml} (100%) rename vehicle_launch/config/4941/{pacmod_param.yaml => pacmod.param.yaml} (100%) rename vehicle_launch/config/4941/{reader_params.yaml => reader.param.yaml} (100%) rename vehicle_launch/config/4941/{writer_params.yaml => writer.param.yaml} (100%) rename vehicle_launch/config/4943/{driver_params.yaml => driver.param.yaml} (100%) rename vehicle_launch/config/4943/{pacmod_param.yaml => pacmod.param.yaml} (100%) rename vehicle_launch/config/4943/{reader_params.yaml => reader.param.yaml} (100%) rename vehicle_launch/config/4943/{writer_params.yaml => writer.param.yaml} (100%) rename vehicle_launch/config/4944/{driver_params.yaml => driver.param.yaml} (100%) rename vehicle_launch/config/4944/{pacmod_param.yaml => pacmod.param.yaml} (100%) rename vehicle_launch/config/4944/{reader_params.yaml => reader.param.yaml} (100%) rename vehicle_launch/config/4944/{writer_params.yaml => writer.param.yaml} (100%) rename vehicle_launch/config/4945/{driver_params.yaml => driver.param.yaml} (100%) rename vehicle_launch/config/4945/{pacmod_param.yaml => pacmod.param.yaml} (100%) rename vehicle_launch/config/4945/{reader_params.yaml => reader.param.yaml} (100%) rename vehicle_launch/config/4945/{writer_params.yaml => writer.param.yaml} (100%) rename vehicle_launch/config/4946/{driver_params.yaml => driver.param.yaml} (100%) rename vehicle_launch/config/4946/{pacmod_param.yaml => pacmod.param.yaml} (100%) rename vehicle_launch/config/4946/{reader_params.yaml => reader.param.yaml} (100%) rename vehicle_launch/config/4946/{writer_params.yaml => writer.param.yaml} (100%) rename vehicle_launch/config/8676/{driver_params.yaml => driver.param.yaml} (100%) rename vehicle_launch/config/8676/{pacmod_param.yaml => pacmod.param.yaml} (100%) rename vehicle_launch/config/8676/{reader_params.yaml => reader.param.yaml} (100%) rename vehicle_launch/config/8676/{writer_params.yaml => writer.param.yaml} (100%) rename vehicle_launch/config/default/{driver_params.yaml => driver.param.yaml} (100%) rename vehicle_launch/config/default/{pacmod_param.yaml => pacmod.param.yaml} (100%) rename vehicle_launch/config/default/{reader_params.yaml => reader.param.yaml} (100%) rename vehicle_launch/config/default/{writer_params.yaml => writer.param.yaml} (100%) diff --git a/sensing_launch/config/aip_xx1/1089/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/1089/livox_front_left_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/1089/livox_front_left_bd_code.yaml rename to sensing_launch/config/aip_xx1/1089/livox_front_left_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/1089/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/1089/livox_front_right_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/1089/livox_front_right_bd_code.yaml rename to sensing_launch/config/aip_xx1/1089/livox_front_right_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/1090/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/1090/livox_front_left_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/1090/livox_front_left_bd_code.yaml rename to sensing_launch/config/aip_xx1/1090/livox_front_left_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/1090/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/1090/livox_front_right_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/1090/livox_front_right_bd_code.yaml rename to sensing_launch/config/aip_xx1/1090/livox_front_right_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/4939/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/4939/livox_front_left_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/4939/livox_front_left_bd_code.yaml rename to sensing_launch/config/aip_xx1/4939/livox_front_left_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/4939/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/4939/livox_front_right_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/4939/livox_front_right_bd_code.yaml rename to sensing_launch/config/aip_xx1/4939/livox_front_right_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/4940/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/4940/livox_front_left_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/4940/livox_front_left_bd_code.yaml rename to sensing_launch/config/aip_xx1/4940/livox_front_left_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/4940/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/4940/livox_front_right_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/4940/livox_front_right_bd_code.yaml rename to sensing_launch/config/aip_xx1/4940/livox_front_right_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/4941/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/4941/livox_front_left_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/4941/livox_front_left_bd_code.yaml rename to sensing_launch/config/aip_xx1/4941/livox_front_left_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/4941/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/4941/livox_front_right_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/4941/livox_front_right_bd_code.yaml rename to sensing_launch/config/aip_xx1/4941/livox_front_right_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/4943/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/4943/livox_front_left_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/4943/livox_front_left_bd_code.yaml rename to sensing_launch/config/aip_xx1/4943/livox_front_left_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/4943/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/4943/livox_front_right_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/4943/livox_front_right_bd_code.yaml rename to sensing_launch/config/aip_xx1/4943/livox_front_right_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/4944/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/4944/livox_front_left_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/4944/livox_front_left_bd_code.yaml rename to sensing_launch/config/aip_xx1/4944/livox_front_left_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/4944/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/4944/livox_front_right_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/4944/livox_front_right_bd_code.yaml rename to sensing_launch/config/aip_xx1/4944/livox_front_right_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/4945/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/4945/livox_front_left_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/4945/livox_front_left_bd_code.yaml rename to sensing_launch/config/aip_xx1/4945/livox_front_left_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/4945/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/4945/livox_front_right_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/4945/livox_front_right_bd_code.yaml rename to sensing_launch/config/aip_xx1/4945/livox_front_right_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/4946/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/4946/livox_front_left_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/4946/livox_front_left_bd_code.yaml rename to sensing_launch/config/aip_xx1/4946/livox_front_left_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/4946/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/4946/livox_front_right_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/4946/livox_front_right_bd_code.yaml rename to sensing_launch/config/aip_xx1/4946/livox_front_right_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/8676/livox_front_left_bd_code.yaml b/sensing_launch/config/aip_xx1/8676/livox_front_left_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/8676/livox_front_left_bd_code.yaml rename to sensing_launch/config/aip_xx1/8676/livox_front_left_bd_code.param.yaml diff --git a/sensing_launch/config/aip_xx1/8676/livox_front_right_bd_code.yaml b/sensing_launch/config/aip_xx1/8676/livox_front_right_bd_code.param.yaml similarity index 100% rename from sensing_launch/config/aip_xx1/8676/livox_front_right_bd_code.yaml rename to sensing_launch/config/aip_xx1/8676/livox_front_right_bd_code.param.yaml diff --git a/vehicle_launch/config/1089/driver_params.yaml b/vehicle_launch/config/1089/driver.param.yaml similarity index 100% rename from vehicle_launch/config/1089/driver_params.yaml rename to vehicle_launch/config/1089/driver.param.yaml diff --git a/vehicle_launch/config/1089/pacmod_param.yaml b/vehicle_launch/config/1089/pacmod.param.yaml similarity index 100% rename from vehicle_launch/config/1089/pacmod_param.yaml rename to vehicle_launch/config/1089/pacmod.param.yaml diff --git a/vehicle_launch/config/1089/reader_params.yaml b/vehicle_launch/config/1089/reader.param.yaml similarity index 100% rename from vehicle_launch/config/1089/reader_params.yaml rename to vehicle_launch/config/1089/reader.param.yaml diff --git a/vehicle_launch/config/1089/writer_params.yaml b/vehicle_launch/config/1089/writer.param.yaml similarity index 100% rename from vehicle_launch/config/1089/writer_params.yaml rename to vehicle_launch/config/1089/writer.param.yaml diff --git a/vehicle_launch/config/1090/driver_params.yaml b/vehicle_launch/config/1090/driver.param.yaml similarity index 100% rename from vehicle_launch/config/1090/driver_params.yaml rename to vehicle_launch/config/1090/driver.param.yaml diff --git a/vehicle_launch/config/1090/pacmod_param.yaml b/vehicle_launch/config/1090/pacmod.param.yaml similarity index 100% rename from vehicle_launch/config/1090/pacmod_param.yaml rename to vehicle_launch/config/1090/pacmod.param.yaml diff --git a/vehicle_launch/config/1090/reader_params.yaml b/vehicle_launch/config/1090/reader.param.yaml similarity index 100% rename from vehicle_launch/config/1090/reader_params.yaml rename to vehicle_launch/config/1090/reader.param.yaml diff --git a/vehicle_launch/config/1090/writer_params.yaml b/vehicle_launch/config/1090/writer.param.yaml similarity index 100% rename from vehicle_launch/config/1090/writer_params.yaml rename to vehicle_launch/config/1090/writer.param.yaml diff --git a/vehicle_launch/config/4939/driver_params.yaml b/vehicle_launch/config/4939/driver.param.yaml similarity index 100% rename from vehicle_launch/config/4939/driver_params.yaml rename to vehicle_launch/config/4939/driver.param.yaml diff --git a/vehicle_launch/config/4939/pacmod_param.yaml b/vehicle_launch/config/4939/pacmod.param.yaml similarity index 100% rename from vehicle_launch/config/4939/pacmod_param.yaml rename to vehicle_launch/config/4939/pacmod.param.yaml diff --git a/vehicle_launch/config/4939/reader_params.yaml b/vehicle_launch/config/4939/reader.param.yaml similarity index 100% rename from vehicle_launch/config/4939/reader_params.yaml rename to vehicle_launch/config/4939/reader.param.yaml diff --git a/vehicle_launch/config/4939/writer_params.yaml b/vehicle_launch/config/4939/writer.param.yaml similarity index 100% rename from vehicle_launch/config/4939/writer_params.yaml rename to vehicle_launch/config/4939/writer.param.yaml diff --git a/vehicle_launch/config/4940/driver_params.yaml b/vehicle_launch/config/4940/driver.param.yaml similarity index 100% rename from vehicle_launch/config/4940/driver_params.yaml rename to vehicle_launch/config/4940/driver.param.yaml diff --git a/vehicle_launch/config/4940/pacmod_param.yaml b/vehicle_launch/config/4940/pacmod.param.yaml similarity index 100% rename from vehicle_launch/config/4940/pacmod_param.yaml rename to vehicle_launch/config/4940/pacmod.param.yaml diff --git a/vehicle_launch/config/4940/reader_params.yaml b/vehicle_launch/config/4940/reader.param.yaml similarity index 100% rename from vehicle_launch/config/4940/reader_params.yaml rename to vehicle_launch/config/4940/reader.param.yaml diff --git a/vehicle_launch/config/4940/writer_params.yaml b/vehicle_launch/config/4940/writer.param.yaml similarity index 100% rename from vehicle_launch/config/4940/writer_params.yaml rename to vehicle_launch/config/4940/writer.param.yaml diff --git a/vehicle_launch/config/4941/driver_params.yaml b/vehicle_launch/config/4941/driver.param.yaml similarity index 100% rename from vehicle_launch/config/4941/driver_params.yaml rename to vehicle_launch/config/4941/driver.param.yaml diff --git a/vehicle_launch/config/4941/pacmod_param.yaml b/vehicle_launch/config/4941/pacmod.param.yaml similarity index 100% rename from vehicle_launch/config/4941/pacmod_param.yaml rename to vehicle_launch/config/4941/pacmod.param.yaml diff --git a/vehicle_launch/config/4941/reader_params.yaml b/vehicle_launch/config/4941/reader.param.yaml similarity index 100% rename from vehicle_launch/config/4941/reader_params.yaml rename to vehicle_launch/config/4941/reader.param.yaml diff --git a/vehicle_launch/config/4941/writer_params.yaml b/vehicle_launch/config/4941/writer.param.yaml similarity index 100% rename from vehicle_launch/config/4941/writer_params.yaml rename to vehicle_launch/config/4941/writer.param.yaml diff --git a/vehicle_launch/config/4943/driver_params.yaml b/vehicle_launch/config/4943/driver.param.yaml similarity index 100% rename from vehicle_launch/config/4943/driver_params.yaml rename to vehicle_launch/config/4943/driver.param.yaml diff --git a/vehicle_launch/config/4943/pacmod_param.yaml b/vehicle_launch/config/4943/pacmod.param.yaml similarity index 100% rename from vehicle_launch/config/4943/pacmod_param.yaml rename to vehicle_launch/config/4943/pacmod.param.yaml diff --git a/vehicle_launch/config/4943/reader_params.yaml b/vehicle_launch/config/4943/reader.param.yaml similarity index 100% rename from vehicle_launch/config/4943/reader_params.yaml rename to vehicle_launch/config/4943/reader.param.yaml diff --git a/vehicle_launch/config/4943/writer_params.yaml b/vehicle_launch/config/4943/writer.param.yaml similarity index 100% rename from vehicle_launch/config/4943/writer_params.yaml rename to vehicle_launch/config/4943/writer.param.yaml diff --git a/vehicle_launch/config/4944/driver_params.yaml b/vehicle_launch/config/4944/driver.param.yaml similarity index 100% rename from vehicle_launch/config/4944/driver_params.yaml rename to vehicle_launch/config/4944/driver.param.yaml diff --git a/vehicle_launch/config/4944/pacmod_param.yaml b/vehicle_launch/config/4944/pacmod.param.yaml similarity index 100% rename from vehicle_launch/config/4944/pacmod_param.yaml rename to vehicle_launch/config/4944/pacmod.param.yaml diff --git a/vehicle_launch/config/4944/reader_params.yaml b/vehicle_launch/config/4944/reader.param.yaml similarity index 100% rename from vehicle_launch/config/4944/reader_params.yaml rename to vehicle_launch/config/4944/reader.param.yaml diff --git a/vehicle_launch/config/4944/writer_params.yaml b/vehicle_launch/config/4944/writer.param.yaml similarity index 100% rename from vehicle_launch/config/4944/writer_params.yaml rename to vehicle_launch/config/4944/writer.param.yaml diff --git a/vehicle_launch/config/4945/driver_params.yaml b/vehicle_launch/config/4945/driver.param.yaml similarity index 100% rename from vehicle_launch/config/4945/driver_params.yaml rename to vehicle_launch/config/4945/driver.param.yaml diff --git a/vehicle_launch/config/4945/pacmod_param.yaml b/vehicle_launch/config/4945/pacmod.param.yaml similarity index 100% rename from vehicle_launch/config/4945/pacmod_param.yaml rename to vehicle_launch/config/4945/pacmod.param.yaml diff --git a/vehicle_launch/config/4945/reader_params.yaml b/vehicle_launch/config/4945/reader.param.yaml similarity index 100% rename from vehicle_launch/config/4945/reader_params.yaml rename to vehicle_launch/config/4945/reader.param.yaml diff --git a/vehicle_launch/config/4945/writer_params.yaml b/vehicle_launch/config/4945/writer.param.yaml similarity index 100% rename from vehicle_launch/config/4945/writer_params.yaml rename to vehicle_launch/config/4945/writer.param.yaml diff --git a/vehicle_launch/config/4946/driver_params.yaml b/vehicle_launch/config/4946/driver.param.yaml similarity index 100% rename from vehicle_launch/config/4946/driver_params.yaml rename to vehicle_launch/config/4946/driver.param.yaml diff --git a/vehicle_launch/config/4946/pacmod_param.yaml b/vehicle_launch/config/4946/pacmod.param.yaml similarity index 100% rename from vehicle_launch/config/4946/pacmod_param.yaml rename to vehicle_launch/config/4946/pacmod.param.yaml diff --git a/vehicle_launch/config/4946/reader_params.yaml b/vehicle_launch/config/4946/reader.param.yaml similarity index 100% rename from vehicle_launch/config/4946/reader_params.yaml rename to vehicle_launch/config/4946/reader.param.yaml diff --git a/vehicle_launch/config/4946/writer_params.yaml b/vehicle_launch/config/4946/writer.param.yaml similarity index 100% rename from vehicle_launch/config/4946/writer_params.yaml rename to vehicle_launch/config/4946/writer.param.yaml diff --git a/vehicle_launch/config/8676/driver_params.yaml b/vehicle_launch/config/8676/driver.param.yaml similarity index 100% rename from vehicle_launch/config/8676/driver_params.yaml rename to vehicle_launch/config/8676/driver.param.yaml diff --git a/vehicle_launch/config/8676/pacmod_param.yaml b/vehicle_launch/config/8676/pacmod.param.yaml similarity index 100% rename from vehicle_launch/config/8676/pacmod_param.yaml rename to vehicle_launch/config/8676/pacmod.param.yaml diff --git a/vehicle_launch/config/8676/reader_params.yaml b/vehicle_launch/config/8676/reader.param.yaml similarity index 100% rename from vehicle_launch/config/8676/reader_params.yaml rename to vehicle_launch/config/8676/reader.param.yaml diff --git a/vehicle_launch/config/8676/writer_params.yaml b/vehicle_launch/config/8676/writer.param.yaml similarity index 100% rename from vehicle_launch/config/8676/writer_params.yaml rename to vehicle_launch/config/8676/writer.param.yaml diff --git a/vehicle_launch/config/default/driver_params.yaml b/vehicle_launch/config/default/driver.param.yaml similarity index 100% rename from vehicle_launch/config/default/driver_params.yaml rename to vehicle_launch/config/default/driver.param.yaml diff --git a/vehicle_launch/config/default/pacmod_param.yaml b/vehicle_launch/config/default/pacmod.param.yaml similarity index 100% rename from vehicle_launch/config/default/pacmod_param.yaml rename to vehicle_launch/config/default/pacmod.param.yaml diff --git a/vehicle_launch/config/default/reader_params.yaml b/vehicle_launch/config/default/reader.param.yaml similarity index 100% rename from vehicle_launch/config/default/reader_params.yaml rename to vehicle_launch/config/default/reader.param.yaml diff --git a/vehicle_launch/config/default/writer_params.yaml b/vehicle_launch/config/default/writer.param.yaml similarity index 100% rename from vehicle_launch/config/default/writer_params.yaml rename to vehicle_launch/config/default/writer.param.yaml From f106819fe7335c5734a11bb276707d8c848549a9 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Wed, 24 Mar 2021 13:16:40 +0900 Subject: [PATCH 005/349] change default param --- .../mpc_follower/mpc_follower.param.yaml | 24 +++++++-------- .../velocity_controller.param.yaml | 30 +++++++++---------- .../config/adaptive_cruise_control.param.yaml | 22 +++++++------- .../config/obstacle_stop_planner.param.yaml | 6 ++-- .../motion_velocity_optimizer.param.yaml | 18 +++++------ .../obstacle_avoidance_planner.param.yaml | 2 +- 6 files changed, 51 insertions(+), 51 deletions(-) diff --git a/control_launch/config/mpc_follower/mpc_follower.param.yaml b/control_launch/config/mpc_follower/mpc_follower.param.yaml index 8c4218c845..71b5fff961 100644 --- a/control_launch/config/mpc_follower/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/mpc_follower.param.yaml @@ -9,7 +9,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing + enable_path_smoothing: true # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) @@ -18,38 +18,38 @@ qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.00 # threshold of curvature to use "low vurvature" parameter (0: do not use low curvature parameter) + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low vurvature" parameter (0: do not use low curvature parameter) mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero # -- 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] - steer_lim_deg: 40.0 # steering angle limit [deg] - steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] - acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] # stop state stop_state_entry_ego_speed: 0.2 diff --git a/control_launch/config/velocity_controller/velocity_controller.param.yaml b/control_launch/config/velocity_controller/velocity_controller.param.yaml index 6688822503..9dd0326d92 100644 --- a/control_launch/config/velocity_controller/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/velocity_controller.param.yaml @@ -6,13 +6,13 @@ # stop state stop_state_velocity: 0.0 - stop_state_acc: -3.4 + stop_state_acc: -2.0 stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.1 stop_state_keep_stopping_dist: 0.5 # delay compensation - delay_compensation_time: 0.17 + delay_compensation_time: 0.4 # emergency stop by this controller emergency_stop_acc: -5.0 @@ -21,14 +21,14 @@ # smooth stop smooth_stop: stop_dist: 0.5 - exit_ego_speed: 1.0 - entry_ego_speed: 0.8 - exit_target_speed: 1.0 - entry_target_speed: 0.2 - weak_brake_time: 1.0 + exit_ego_speed: 2.0 + entry_ego_speed: 1.5 + exit_target_speed: 1.5 + entry_target_speed: 1.0 + weak_brake_time: 0.5 weak_brake_acc: -1.0 - increasing_brake_time: 1.0 - increasing_brake_gradient: -0.1 + increasing_brake_time: 2.0 + increasing_brake_gradient: -0.5 stop_brake_time: 1.0 stop_brake_acc: -3.4 @@ -37,7 +37,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 2.0 + max_jerk: 3.5 min_jerk: -5.0 # slope compensation @@ -49,13 +49,13 @@ # velocity feedback pid_controller: - kp: 1.0 - ki: 0.1 + kp: 2.0 + ki: 0.02 kd: 0.0 max_out: 1.0 - min_out: -1.0 - max_p_effort: 1.0 - min_p_effort: -1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 max_d_effort: 0.0 diff --git a/planning_launch/config/adaptive_cruise_control.param.yaml b/planning_launch/config/adaptive_cruise_control.param.yaml index 8734776b34..7c8a51ebef 100644 --- a/planning_launch/config/adaptive_cruise_control.param.yaml +++ b/planning_launch/config/adaptive_cruise_control.param.yaml @@ -7,31 +7,31 @@ consider_obj_velocity: true # consider forward vehicle velocity to ACC or not # general parameter for ACC - obstacle_stop_velocity_thresh: 1.0 # threshold of forward obstacle velocity to insert stop line (to stop acc) [m/s] - emergency_stop_acceleration: -5.0 # supposed minimum acceleration (deceleration) in emergency stop [m/ss] + obstacle_stop_velocity_thresh: 2.0 # threshold of forward obstacle velocity to insert stop line (to stop acc) [m/s] + emergency_stop_acceleration: -4.5 # supposed minimum acceleration (deceleration) in emergency stop [m/ss] emergency_stop_idling_time: 0.5 # supposed idling time to start emergency stop [s] min_dist_stop: 4.0 # minimum distance of emergency stop [m] - max_standard_acceleration: 0.5 # supposed maximum acceleration in active cruise control [m/ss] - min_standard_acceleration: -1.0 # supposed minimum acceleration (deceleration) in active cruise control + max_standard_acceleration: 1.0 # supposed maximum acceleration in active cruise control [m/ss] + min_standard_acceleration: -0.7 # supposed minimum acceleration (deceleration) in active cruise control standard_idling_time: 0.5 # supposed idling time to react object in active cruise control [s] min_dist_standard: 4.0 # minimum distance in active cruise control [m] obstacle_min_standard_acceleration: -1.5 # supposed minimum acceleration of forward obstacle [m/ss] - margin_rate_to_change_vel: 0.3 # margin to insert upper velocity [-] + margin_rate_to_change_vel: 0.9 # margin to insert upper velocity [-] # pid parameter for ACC - p_coefficient_positive: 0.1 # coefficient P in PID control (used when target dist -current_dist >=0) [-] + p_coefficient_positive: 0.25 # coefficient P in PID control (used when target dist -current_dist >=0) [-] p_coefficient_negative: 0.3 # coefficient P in PID control (used when target dist -current_dist <0) [-] - d_coefficient_positive: 0.0 # coefficient D in PID control (used when delta_dist >=0) [-] + d_coefficient_positive: 0.15 # coefficient D in PID control (used when delta_dist >=0) [-] d_coefficient_negative: 0.2 # coefficient D in PID control (used when delta_dist <0) [-] # parameter for object velocity estimation - object_polygon_length_margin: 2.0 # The distance to extend the polygon length the object in pointcloud-object matching [m] - object_polygon_width_margin: 0.5 # The distance to extend the polygon width the object in pointcloud-object matching [m] + object_polygon_length_margin: 3.0 # The distance to extend the polygon length the object in pointcloud-object matching [m] + object_polygon_width_margin: 0.8 # The distance to extend the polygon width the object in pointcloud-object matching [m] valid_estimated_vel_diff_time: 1.0 # Maximum time difference treated as continuous points in speed estimation using a point cloud [s] valid_vel_que_time: 0.5 # Time width of information used for speed estimation in speed estimation using a point cloud [s] valid_estimated_vel_max: 20.0 # Maximum value of valid speed estimation results in speed estimation using a point cloud [m/s] valid_estimated_vel_min: -20.0 # Minimum value of valid speed estimation results in speed estimation using a point cloud [m/s] - thresh_vel_to_stop: 1.5 # Embed a stop line if the maximum speed calculated by ACC is lower than this speed [m/s] - lowpass_gain_of_upper_velocity: 0.75 # Lowpass-gain of upper velocity + thresh_vel_to_stop: 0.0 # Embed a stop line if the maximum speed calculated by ACC is lower than this speed [m/s] + lowpass_gain_of_upper_velocity: 0.90 # Lowpass-gain of upper velocity use_rough_velocity_estimation: false # Use rough estimated velocity if the velocity estimation is failed (#### If this parameter is true, the vehicle may collide with the front car. Be careful. ####) rough_velocity_rate: 0.9 # In the rough velocity estimation, the velocity of front car is estimated as self current velocity * this value diff --git a/planning_launch/config/obstacle_stop_planner.param.yaml b/planning_launch/config/obstacle_stop_planner.param.yaml index 91beb1e1ca..cc7d5bac38 100644 --- a/planning_launch/config/obstacle_stop_planner.param.yaml +++ b/planning_launch/config/obstacle_stop_planner.param.yaml @@ -1,14 +1,14 @@ /**: ros__parameters: stop_planner: - stop_margin: 5.0 # stop margin distance from obstacle on the path [m] - min_behavior_stop_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m] + stop_margin: 6.0 # stop margin distance from obstacle on the path [m] + min_behavior_stop_margin: 3.0 # stop margin distance when any other stop point is inserted in stop margin [m] step_length: 1.0 # step length for pointcloud search range [m] extend_distance: 0.0 # extend trajectory to consider after goal obstacle in the extend_distance expand_stop_range: 0.0 # margin of vehicle footprint [m] slow_down_planner: - slow_down_margin: 5.0 # margin distance from slow down point [m] + slow_down_margin: 6.0 # margin distance from slow down point [m] expand_slow_down_range: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m] max_slow_down_vel: 1.38 # max slow down velocity [m/s] min_slow_down_vel: 0.28 # min slow down velocity [m/s] diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.param.yaml index 5acef77dfb..d559291b7d 100644 --- a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.param.yaml +++ b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.param.yaml @@ -2,19 +2,19 @@ ros__parameters: max_velocity: 20.0 # max velocity limit [m/s] max_accel: 1.0 # max acceleration limit [m/ss] - min_decel: -1.0 # min deceleration limit [m/ss] + min_decel: -0.5 # min deceleration limit [m/ss] # curve parameters - max_lateral_accel: 0.5 # max lateral acceleration limit [m/ss] - min_curve_velocity: 2.74 # min velocity at lateral acceleration limit [m/s] + max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] + min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 # engage & replan parameters replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] - engage_velocity: 0.25 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.1 # engage acceleration [m/ss] (use this acceleration when engagement) - engage_exit_ratio: 0.5 # exit engage sequence to normal velocity plannning when the velocity exceeds engage_exit_ratio x engage_velocity. + engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) + engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_exit_ratio: 0.1 # exit engage sequence to normal velocity plannning when the velocity exceeds engage_exit_ratio x engage_velocity. stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] # stop velocity @@ -27,7 +27,7 @@ max_trajectory_length: 200.0 # max trajectory length for resampling [m] min_trajectory_length: 30.0 # min trajectory length for resampling [m] - resample_time: 10.0 # resample total time [s] + resample_time: 15.0 # resample total time [s] resample_dt: 0.1 # resample time interval [s] min_trajectory_interval_distance: 0.1 # resample points-interval length [m] @@ -35,8 +35,8 @@ # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 - pseudo_jerk_weight: 200.0 # weight for "smoothness" cost + pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost over_v_weight: 100000.0 # weight for "overspeed limit" cost over_a_weight: 5000.0 # weight for "overaccel limit" cost - algorithm_type: "Linf" # Option : L2, Linf + algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 27158e72ba..c57573bef2 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -44,7 +44,7 @@ is_publishing_clearance_map: true # publish clearance map as nav_msgs::OccupancyGrid is_publishing_area_with_objects: true # publish occupancy map as nav_msgs::OccupancyGrid - enable_avoidance: true # enable avoidance function + enable_avoidance: false # enable avoidance function is_using_vehicle_config: true # use vehicle config num_sampling_points: 100 # number of optimizing points num_joint_buffer_points: 3 # number of joint buffer points From 4362e2dd8d630363ee7924218926222973e7201a Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Mon, 24 May 2021 15:38:02 +0900 Subject: [PATCH 006/349] Build only internal packages in CI (#227) Signed-off-by: Kenji Miyake --- .github/workflows/build_and_test.yml | 11 +++++++++++ .github/workflows/build_and_test_pr.yml | 1 + 2 files changed, 12 insertions(+) diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml index f118657f74..369290930d 100644 --- a/.github/workflows/build_and_test.yml +++ b/.github/workflows/build_and_test.yml @@ -31,6 +31,15 @@ jobs: apt-get -y update apt-get -y install kvaser-canlib-dev kvaser-drivers-dkms + - name: Search modified package + id: list_packages + run: | + echo ::set-output name=package_list::$(colcon list --names-only) + + - name: Show target packages + run: | + echo "Target packages: ${{ steps.list_packages.outputs.package_list }}" + - name: Install yq run: | apt-get -y update @@ -62,10 +71,12 @@ jobs: run: | . /opt/ros/foxy/setup.sh colcon build --event-handlers console_cohesion+ \ + --packages-up-to ${{ steps.list_packages.outputs.package_list }} \ --cmake-args -DCMAKE_BUILD_TYPE=Release - name: Run tests run: | . /opt/ros/foxy/setup.sh colcon test --event-handlers console_cohesion+ \ + --packages-select ${{ steps.list_packages.outputs.package_list }} \ --return-code-on-test-failure diff --git a/.github/workflows/build_and_test_pr.yml b/.github/workflows/build_and_test_pr.yml index 2564bf7579..cede36fb75 100644 --- a/.github/workflows/build_and_test_pr.yml +++ b/.github/workflows/build_and_test_pr.yml @@ -22,6 +22,7 @@ jobs: - name: Checkout repository uses: actions/checkout@v2 with: + # Fetch with depth=0 to calculate modified packages fetch-depth: 0 - name: Install pip From 6339d1acdc3827aa0495d5561c868f15eb25bbb7 Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Mon, 24 May 2021 22:33:51 +0900 Subject: [PATCH 007/349] Fix typos in launch files (#231) * Fix typos in launch files Signed-off-by: Kenji Miyake * Fix lint Signed-off-by: wep21 Co-authored-by: wep21 --- localization_launch/launch/util/util.launch.py | 10 ++++------ .../behavior_planning/behavior_planning.launch.py | 2 +- 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/localization_launch/launch/util/util.launch.py b/localization_launch/launch/util/util.launch.py index 732102e20a..7555d0c714 100644 --- a/localization_launch/launch/util/util.launch.py +++ b/localization_launch/launch/util/util.launch.py @@ -13,12 +13,10 @@ # limitations under the License. import launch -from launch.actions import DeclareLaunchArgument, OpaqueFunction -from launch.conditions import IfCondition, UnlessCondition, LaunchConfigurationNotEquals +from launch.conditions import LaunchConfigurationNotEquals from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes +from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode -from launch.substitutions import EnvironmentVariable def generate_launch_description(): @@ -29,7 +27,7 @@ def generate_launch_description(): remappings=[ ('input', LaunchConfiguration('input_sensor_points_topic')), ('output', - 'mesurement_range/pointcloud'), + 'measurement_range/pointcloud'), ], parameters=[{ 'input_frame': LaunchConfiguration('base_frame'), @@ -52,7 +50,7 @@ def generate_launch_description(): name='voxel_grid_downsample_filter', remappings=[ ('input', - 'mesurement_range/pointcloud'), + 'measurement_range/pointcloud'), ('output', LaunchConfiguration('output_voxel_grid_downsample_sensor_points_topic')), ], diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 23a9866f70..4118f79f5a 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -56,7 +56,7 @@ def generate_launch_description(): ('~/output/lane_change_path', 'path_with_lane_id'), ('~/output/lane_change_ready', '/planning/scenario_planning/lane_driving/lane_change_ready'), - ('~/output/lane_change_avialable', + ('~/output/lane_change_available', '/planning/scenario_planning/lane_driving/lane_change_available'), ('~/output/stop_reasons', '/planning/scenario_planning/status/stop_reasons'), ('~/debug/lane_change_candidate_path', From 5427bd9c6003a162af151a73083bc0dc9d1f991a Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Tue, 25 May 2021 01:24:11 +0900 Subject: [PATCH 008/349] Format launch files (#228) * Format launch files Signed-off-by: Kenji Miyake * Format launch.py Signed-off-by: Kenji Miyake * Fix lint Signed-off-by: Kenji Miyake --- control_launch/launch/control.launch.py | 30 +++++++++++-------- integration_launch/launch/release.launch.xml | 2 +- .../launch/util/util.launch.xml | 2 +- map_launch/launch/map.launch.py | 11 ++++--- .../traffic_light_node_container.launch.py | 4 +-- .../mission_planning.launch.py | 3 +- .../behavior_planning.launch.py | 22 +++++++------- .../motion_planning/motion_planning.launch.py | 14 +++++---- .../scenario_planning/parking.launch.py | 15 ++++++---- .../pointcloud_preprocessor.launch.py | 23 ++++++++------ .../aip_s1/pointcloud_preprocessor.launch.py | 24 ++++++++------- .../aip_x1/pointcloud_preprocessor.launch.py | 12 +++++--- .../aip_x2/pointcloud_preprocessor.launch.py | 25 +++++++++------- .../aip_xx1/pointcloud_preprocessor.launch.py | 23 ++++++++------ .../aip_xx2/pointcloud_preprocessor.launch.py | 27 ++++++++++------- sensing_launch/launch/livox_horizon.launch.py | 14 +++++---- .../launch/velodyne_node_container.launch.py | 15 ++++++---- 17 files changed, 158 insertions(+), 108 deletions(-) diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 8df28d4e8b..36dace32a1 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -13,15 +13,19 @@ # limitations under the License. import launch -from launch.actions import DeclareLaunchArgument, GroupAction,\ - OpaqueFunction, SetLaunchConfiguration -from launch.conditions import IfCondition, LaunchConfigurationEquals, UnlessCondition +from launch.actions import DeclareLaunchArgument +from launch.actions import GroupAction +from launch.actions import OpaqueFunction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import LaunchConfigurationEquals +from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration - -from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, PushRosNamespace +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes +from launch_ros.actions import PushRosNamespace from launch_ros.descriptions import ComposableNode from launch_ros.substitutions import FindPackageShare - import yaml @@ -388,10 +392,12 @@ def add_launch_arg(name: str, default_value=None): condition=IfCondition(LaunchConfiguration('use_multithread')) ) return launch.LaunchDescription( - launch_arguments + - [set_container_executable, - set_container_mt_executable] + - [ - OpaqueFunction(function=launch_setup) - ] + launch_arguments + + [ + set_container_executable, + set_container_mt_executable, + ] + + [ + OpaqueFunction(function=launch_setup) + ] ) diff --git a/integration_launch/launch/release.launch.xml b/integration_launch/launch/release.launch.xml index 299651f515..d436a4806e 100644 --- a/integration_launch/launch/release.launch.xml +++ b/integration_launch/launch/release.launch.xml @@ -1,6 +1,6 @@ - + diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml index f9dda33dec..f1727a7c1a 100644 --- a/localization_launch/launch/util/util.launch.xml +++ b/localization_launch/launch/util/util.launch.xml @@ -21,6 +21,6 @@ - + diff --git a/map_launch/launch/map.launch.py b/map_launch/launch/map.launch.py index 1d0712b32c..c72c85b251 100644 --- a/map_launch/launch/map.launch.py +++ b/map_launch/launch/map.launch.py @@ -13,11 +13,14 @@ # limitations under the License. import launch -from launch.actions import DeclareLaunchArgument, GroupAction, SetLaunchConfiguration -from launch.conditions import IfCondition, UnlessCondition +from launch.actions import DeclareLaunchArgument +from launch.actions import GroupAction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration - -from launch_ros.actions import ComposableNodeContainer, PushRosNamespace +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import PushRosNamespace from launch_ros.descriptions import ComposableNode diff --git a/perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py b/perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py index 054b122d7f..8b08ad4068 100644 --- a/perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py +++ b/perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py @@ -15,12 +15,12 @@ import os from ament_index_python.packages import get_package_share_directory - import launch from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode diff --git a/planning_launch/launch/mission_planning/mission_planning.launch.py b/planning_launch/launch/mission_planning/mission_planning.launch.py index cef5f74c69..2e5cf63e27 100644 --- a/planning_launch/launch/mission_planning/mission_planning.launch.py +++ b/planning_launch/launch/mission_planning/mission_planning.launch.py @@ -11,6 +11,7 @@ # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. + import launch from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration @@ -63,6 +64,6 @@ def generate_launch_description(): ], ) return launch.LaunchDescription([ - DeclareLaunchArgument("use_intra_process", default_value='false'), + DeclareLaunchArgument('use_intra_process', default_value='false'), container ]) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 4118f79f5a..70f8e977d5 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -12,16 +12,18 @@ # See the License for the specific language governing permissions and # limitations under the License. +import os + from ament_index_python.packages import get_package_share_directory import launch -from launch.actions import DeclareLaunchArgument, SetLaunchConfiguration, ExecuteProcess -from launch.conditions import IfCondition, UnlessCondition +from launch.actions import DeclareLaunchArgument +from launch.actions import ExecuteProcess +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration - from launch_ros.actions import ComposableNodeContainer from launch_ros.descriptions import ComposableNode - -import os import yaml @@ -65,11 +67,11 @@ def generate_launch_description(): parameters=[ lane_change_planner_param, { - "enable_abort_lane_change": False, - "enable_collision_check_at_prepare_phase": False, - "use_predicted_path_outside_lanelet": False, - "use_all_predicted_path": False, - "enable_blocked_by_obstacle": False, + 'enable_abort_lane_change': False, + 'enable_collision_check_at_prepare_phase': False, + 'use_predicted_path_outside_lanelet': False, + 'use_all_predicted_path': False, + 'enable_blocked_by_obstacle': False, } ], extra_arguments=[ diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index b5caf17fe2..5abfdbfc62 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -12,16 +12,18 @@ # See the License for the specific language governing permissions and # limitations under the License. +import os + from ament_index_python.packages import get_package_share_directory import launch -from launch.actions import DeclareLaunchArgument, SetLaunchConfiguration -from launch.conditions import IfCondition, UnlessCondition +from launch.actions import DeclareLaunchArgument +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration - -from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode - -import os import yaml diff --git a/planning_launch/launch/scenario_planning/parking.launch.py b/planning_launch/launch/scenario_planning/parking.launch.py index 4a83f7a0bb..d831a3bcd4 100644 --- a/planning_launch/launch/scenario_planning/parking.launch.py +++ b/planning_launch/launch/scenario_planning/parking.launch.py @@ -11,11 +11,16 @@ # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. + import launch -from launch.actions import DeclareLaunchArgument, GroupAction, SetLaunchConfiguration -from launch.conditions import IfCondition, UnlessCondition +from launch.actions import DeclareLaunchArgument +from launch.actions import GroupAction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer, PushRosNamespace +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import PushRosNamespace from launch_ros.descriptions import ComposableNode @@ -123,8 +128,8 @@ def generate_launch_description(): ) return launch.LaunchDescription([ - DeclareLaunchArgument("use_intra_process", default_value='false'), - DeclareLaunchArgument("use_multithread", default_value='false'), + DeclareLaunchArgument('use_intra_process', default_value='false'), + DeclareLaunchArgument('use_multithread', default_value='false'), set_container_executable, set_container_mt_executable, GroupAction([ diff --git a/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py index bf1dcba906..a9e3b03e55 100644 --- a/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py +++ b/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py @@ -13,16 +13,19 @@ # See the License for the specific language governing permissions and # limitations under the License. -import os -import yaml import launch -from launch.actions import DeclareLaunchArgument, OpaqueFunction, SetLaunchConfiguration -from launch.conditions import IfCondition, UnlessCondition +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode -from launch.substitutions import EnvironmentVariable +import yaml + def get_vehicle_info(context): path = LaunchConfiguration('vehicle_param_file').perform(context) @@ -38,6 +41,7 @@ def get_vehicle_info(context): p['max_height_offset'] = p['vehicle_height'] return p + def get_vehicle_mirror_info(context): path = LaunchConfiguration('vehicle_mirror_param_file').perform(context) with open(path, 'r') as f: @@ -120,9 +124,9 @@ def launch_setup(context, *args, **kwargs): ('output', 'no_ground/pointcloud') ], parameters=[{ - "general_max_slope": 10.0, - "local_max_slope": 10.0, - "min_height_threshold": 0.2, + 'general_max_slope': 10.0, + 'local_max_slope': 10.0, + 'min_height_threshold': 0.2, }], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') @@ -157,6 +161,7 @@ def launch_setup(context, *args, **kwargs): return [container, concat_loader, passthrough_loader] + def generate_launch_description(): launch_arguments = [] diff --git a/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py index 9e1c1cd45a..438fee810b 100644 --- a/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py +++ b/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py @@ -12,16 +12,18 @@ # See the License for the specific language governing permissions and # limitations under the License. -import os -import yaml - import launch -from launch.actions import DeclareLaunchArgument, OpaqueFunction, SetLaunchConfiguration -from launch.conditions import IfCondition, UnlessCondition +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode -from launch.substitutions import EnvironmentVariable +import yaml + def get_vehicle_info(context): path = LaunchConfiguration('vehicle_param_file').perform(context) @@ -37,6 +39,7 @@ def get_vehicle_info(context): p['max_height_offset'] = p['vehicle_height'] return p + def get_vehicle_mirror_info(context): path = LaunchConfiguration('vehicle_mirror_param_file').perform(context) with open(path, 'r') as f: @@ -119,9 +122,9 @@ def launch_setup(context, *args, **kwargs): ('output', 'no_ground/pointcloud') ], parameters=[{ - "general_max_slope": 10.0, - "local_max_slope": 10.0, - "min_height_threshold": 0.2, + 'general_max_slope': 10.0, + 'local_max_slope': 10.0, + 'min_height_threshold': 0.2, }], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') @@ -156,6 +159,7 @@ def launch_setup(context, *args, **kwargs): return [container, concat_loader, passthrough_loader] + def generate_launch_description(): launch_arguments = [] diff --git a/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py index 4c8232cbc5..e577f912ae 100644 --- a/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py +++ b/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py @@ -14,10 +14,14 @@ # limitations under the License. import launch -from launch.actions import DeclareLaunchArgument, OpaqueFunction, SetLaunchConfiguration -from launch.conditions import IfCondition, UnlessCondition -from launch.substitutions import EnvironmentVariable, LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode import yaml diff --git a/sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py index 8e0e597abd..2da76720bf 100644 --- a/sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py +++ b/sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py @@ -13,16 +13,18 @@ # See the License for the specific language governing permissions and # limitations under the License. -import os -import yaml import launch -from launch.actions import DeclareLaunchArgument, OpaqueFunction, SetLaunchConfiguration -from launch.conditions import IfCondition, UnlessCondition +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer from launch_ros.descriptions import ComposableNode -from launch.substitutions import EnvironmentVariable +import yaml + def get_vehicle_info(context): path = LaunchConfiguration('vehicle_param_file').perform(context) @@ -38,6 +40,7 @@ def get_vehicle_info(context): p['max_height_offset'] = p['rear_overhang'] return p + def get_vehicle_mirror_info(context): path = LaunchConfiguration('vehicle_mirror_param_file').perform(context) with open(path, 'r') as f: @@ -45,7 +48,6 @@ def get_vehicle_mirror_info(context): return p - def launch_setup(context, *args, **kwargs): pkg = 'pointcloud_preprocessor' @@ -61,8 +63,8 @@ def launch_setup(context, *args, **kwargs): remappings=[('/output', 'concatenated/pointcloud')], parameters=[{ 'input_topics': ['/sensing/lidar/top/outlier_filtered/pointcloud', - '/sensing/lidar/left/outlier_filtered/pointcloud', - '/sensing/lidar/right/outlier_filtered/pointcloud'], + '/sensing/lidar/left/outlier_filtered/pointcloud', + '/sensing/lidar/right/outlier_filtered/pointcloud'], 'output_frame': 'base_link', }], extra_arguments=[{ @@ -123,9 +125,9 @@ def launch_setup(context, *args, **kwargs): ('/output', 'no_ground/pointcloud') ], parameters=[{ - "general_max_slope": 10.0, - "local_max_slope": 10.0, - "min_height_threshold": 0.2, + 'general_max_slope': 10.0, + 'local_max_slope': 10.0, + 'min_height_threshold': 0.2, }], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') @@ -148,6 +150,7 @@ def launch_setup(context, *args, **kwargs): return [container] + def generate_launch_description(): launch_arguments = [] diff --git a/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py index bf1dcba906..a9e3b03e55 100644 --- a/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py +++ b/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py @@ -13,16 +13,19 @@ # See the License for the specific language governing permissions and # limitations under the License. -import os -import yaml import launch -from launch.actions import DeclareLaunchArgument, OpaqueFunction, SetLaunchConfiguration -from launch.conditions import IfCondition, UnlessCondition +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode -from launch.substitutions import EnvironmentVariable +import yaml + def get_vehicle_info(context): path = LaunchConfiguration('vehicle_param_file').perform(context) @@ -38,6 +41,7 @@ def get_vehicle_info(context): p['max_height_offset'] = p['vehicle_height'] return p + def get_vehicle_mirror_info(context): path = LaunchConfiguration('vehicle_mirror_param_file').perform(context) with open(path, 'r') as f: @@ -120,9 +124,9 @@ def launch_setup(context, *args, **kwargs): ('output', 'no_ground/pointcloud') ], parameters=[{ - "general_max_slope": 10.0, - "local_max_slope": 10.0, - "min_height_threshold": 0.2, + 'general_max_slope': 10.0, + 'local_max_slope': 10.0, + 'min_height_threshold': 0.2, }], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') @@ -157,6 +161,7 @@ def launch_setup(context, *args, **kwargs): return [container, concat_loader, passthrough_loader] + def generate_launch_description(): launch_arguments = [] diff --git a/sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py index 95af0e098b..0485ff3378 100644 --- a/sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py +++ b/sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py @@ -13,16 +13,19 @@ # See the License for the specific language governing permissions and # limitations under the License. -import os -import yaml import launch -from launch.actions import DeclareLaunchArgument, OpaqueFunction, SetLaunchConfiguration -from launch.conditions import IfCondition, UnlessCondition +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode -from launch.substitutions import EnvironmentVariable +import yaml + def get_vehicle_info(context): path = LaunchConfiguration('vehicle_param_file').perform(context) @@ -38,6 +41,7 @@ def get_vehicle_info(context): p['max_height_offset'] = p['vehicle_height'] return p + def get_vehicle_mirror_info(context): path = LaunchConfiguration('vehicle_mirror_param_file').perform(context) with open(path, 'r') as f: @@ -59,8 +63,8 @@ def launch_setup(context, *args, **kwargs): remappings=[('output', 'concatenated/pointcloud')], parameters=[{ 'input_topics': ['/sensing/lidar/top/outlier_filtered/pointcloud', - '/sensing/lidar/left/outlier_filtered/pointcloud', - '/sensing/lidar/right/outlier_filtered/pointcloud'], + '/sensing/lidar/left/outlier_filtered/pointcloud', + '/sensing/lidar/right/outlier_filtered/pointcloud'], 'output_frame': 'base_link', }], extra_arguments=[{ @@ -120,9 +124,9 @@ def launch_setup(context, *args, **kwargs): ('output', 'no_ground/pointcloud') ], parameters=[{ - "general_max_slope": 10.0, - "local_max_slope": 10.0, - "min_height_threshold": 0.2, + 'general_max_slope': 10.0, + 'local_max_slope': 10.0, + 'min_height_threshold': 0.2, }], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') @@ -157,6 +161,7 @@ def launch_setup(context, *args, **kwargs): return [container, concat_loader, passthrough_loader] + def generate_launch_description(): launch_arguments = [] diff --git a/sensing_launch/launch/livox_horizon.launch.py b/sensing_launch/launch/livox_horizon.launch.py index 93907c22d4..af5a5560ee 100644 --- a/sensing_launch/launch/livox_horizon.launch.py +++ b/sensing_launch/launch/livox_horizon.launch.py @@ -13,15 +13,17 @@ # See the License for the specific language governing permissions and # limitations under the License. -import launch -import yaml import os + from ament_index_python.packages import get_package_share_directory -from launch.actions import DeclareLaunchArgument, OpaqueFunction +import launch +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode -from launch.substitutions import EnvironmentVariable +import yaml def get_vehicle_info(context): @@ -157,7 +159,7 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg('output_type', '0') add_launch_arg('lvx_file_path', 'livox_test.lvx') add_launch_arg('user_config_path', os.path.join(get_package_share_directory( - "livox_ros2_driver"), "config/livox_lidar_config.json")) + 'livox_ros2_driver'), 'config/livox_lidar_config.json')) add_launch_arg('bd_code_param_path') add_launch_arg('launch_driver') add_launch_arg('base_frame', 'base_link') diff --git a/sensing_launch/launch/velodyne_node_container.launch.py b/sensing_launch/launch/velodyne_node_container.launch.py index 972a5716a4..7f4a3ec7b2 100644 --- a/sensing_launch/launch/velodyne_node_container.launch.py +++ b/sensing_launch/launch/velodyne_node_container.launch.py @@ -13,12 +13,15 @@ # limitations under the License. import launch -from launch.actions import DeclareLaunchArgument, OpaqueFunction, SetLaunchConfiguration -from launch.conditions import IfCondition, UnlessCondition -from launch.substitutions import EnvironmentVariable, LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode - import yaml @@ -64,7 +67,7 @@ def create_parameter_dict(*args): 'num_points_thresholds', 'invalid_intensity', 'frame_id', 'scan_phase'), - }], + }], remappings=[('velodyne_points', 'pointcloud_raw'), ('velodyne_points_ex', 'pointcloud_raw_ex')], extra_arguments=[{ From bed2563863ac057cf08d0d4dadbecffe63fa58d0 Mon Sep 17 00:00:00 2001 From: wep21 Date: Tue, 8 Jun 2021 05:36:55 +0900 Subject: [PATCH 009/349] Sync control param with v0.9.1.1 (#103) * Add mpc follower config of each vehicle Signed-off-by: wep21 * Add velocity controller config of each vehicle Signed-off-by: wep21 * Load each vehicle configuration Signed-off-by: wep21 * Update mpc config Signed-off-by: wep21 * Update velocity controller config Signed-off-by: wep21 * Fix stop brake acc Signed-off-by: wep21 --- .../{ => 1}/mpc_follower.param.yaml | 4 +- .../mpc_follower/10/mpc_follower.param.yaml | 57 +++++++++++++++++ .../mpc_follower/2/mpc_follower.param.yaml | 57 +++++++++++++++++ .../mpc_follower/3/mpc_follower.param.yaml | 57 +++++++++++++++++ .../mpc_follower/4/mpc_follower.param.yaml | 57 +++++++++++++++++ .../mpc_follower/5/mpc_follower.param.yaml | 57 +++++++++++++++++ .../mpc_follower/6/mpc_follower.param.yaml | 57 +++++++++++++++++ .../mpc_follower/7/mpc_follower.param.yaml | 57 +++++++++++++++++ .../mpc_follower/9/mpc_follower.param.yaml | 57 +++++++++++++++++ .../default/mpc_follower.param.yaml | 57 +++++++++++++++++ .../1/velocity_controller.param.yaml | 64 +++++++++++++++++++ .../{ => 10}/velocity_controller.param.yaml | 2 +- .../2/velocity_controller.param.yaml | 64 +++++++++++++++++++ .../3/velocity_controller.param.yaml | 64 +++++++++++++++++++ .../4/velocity_controller.param.yaml | 64 +++++++++++++++++++ .../5/velocity_controller.param.yaml | 64 +++++++++++++++++++ .../6/velocity_controller.param.yaml | 64 +++++++++++++++++++ .../7/velocity_controller.param.yaml | 64 +++++++++++++++++++ .../9/velocity_controller.param.yaml | 64 +++++++++++++++++++ .../default/velocity_controller.param.yaml | 64 +++++++++++++++++++ control_launch/launch/control.launch.py | 9 ++- control_launch/launch/control.launch.xml | 4 +- 22 files changed, 1101 insertions(+), 7 deletions(-) rename control_launch/config/mpc_follower/{ => 1}/mpc_follower.param.yaml (97%) create mode 100644 control_launch/config/mpc_follower/10/mpc_follower.param.yaml create mode 100644 control_launch/config/mpc_follower/2/mpc_follower.param.yaml create mode 100644 control_launch/config/mpc_follower/3/mpc_follower.param.yaml create mode 100644 control_launch/config/mpc_follower/4/mpc_follower.param.yaml create mode 100644 control_launch/config/mpc_follower/5/mpc_follower.param.yaml create mode 100644 control_launch/config/mpc_follower/6/mpc_follower.param.yaml create mode 100644 control_launch/config/mpc_follower/7/mpc_follower.param.yaml create mode 100644 control_launch/config/mpc_follower/9/mpc_follower.param.yaml create mode 100644 control_launch/config/mpc_follower/default/mpc_follower.param.yaml create mode 100644 control_launch/config/velocity_controller/1/velocity_controller.param.yaml rename control_launch/config/velocity_controller/{ => 10}/velocity_controller.param.yaml (98%) create mode 100644 control_launch/config/velocity_controller/2/velocity_controller.param.yaml create mode 100644 control_launch/config/velocity_controller/3/velocity_controller.param.yaml create mode 100644 control_launch/config/velocity_controller/4/velocity_controller.param.yaml create mode 100644 control_launch/config/velocity_controller/5/velocity_controller.param.yaml create mode 100644 control_launch/config/velocity_controller/6/velocity_controller.param.yaml create mode 100644 control_launch/config/velocity_controller/7/velocity_controller.param.yaml create mode 100644 control_launch/config/velocity_controller/9/velocity_controller.param.yaml create mode 100644 control_launch/config/velocity_controller/default/velocity_controller.param.yaml diff --git a/control_launch/config/mpc_follower/mpc_follower.param.yaml b/control_launch/config/mpc_follower/1/mpc_follower.param.yaml similarity index 97% rename from control_launch/config/mpc_follower/mpc_follower.param.yaml rename to control_launch/config/mpc_follower/1/mpc_follower.param.yaml index 9d564ae145..7beb9a800b 100644 --- a/control_launch/config/mpc_follower/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/1/mpc_follower.param.yaml @@ -20,7 +20,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -28,7 +28,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point diff --git a/control_launch/config/mpc_follower/10/mpc_follower.param.yaml b/control_launch/config/mpc_follower/10/mpc_follower.param.yaml new file mode 100644 index 0000000000..7beb9a800b --- /dev/null +++ b/control_launch/config/mpc_follower/10/mpc_follower.param.yaml @@ -0,0 +1,57 @@ +/**: + ros__parameters: + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qpoases_max_iter: 500 # max iteration number for quadratic programming + qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.5 + stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/2/mpc_follower.param.yaml b/control_launch/config/mpc_follower/2/mpc_follower.param.yaml new file mode 100644 index 0000000000..7beb9a800b --- /dev/null +++ b/control_launch/config/mpc_follower/2/mpc_follower.param.yaml @@ -0,0 +1,57 @@ +/**: + ros__parameters: + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qpoases_max_iter: 500 # max iteration number for quadratic programming + qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.5 + stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/3/mpc_follower.param.yaml b/control_launch/config/mpc_follower/3/mpc_follower.param.yaml new file mode 100644 index 0000000000..7beb9a800b --- /dev/null +++ b/control_launch/config/mpc_follower/3/mpc_follower.param.yaml @@ -0,0 +1,57 @@ +/**: + ros__parameters: + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qpoases_max_iter: 500 # max iteration number for quadratic programming + qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.5 + stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/4/mpc_follower.param.yaml b/control_launch/config/mpc_follower/4/mpc_follower.param.yaml new file mode 100644 index 0000000000..503e86bfd2 --- /dev/null +++ b/control_launch/config/mpc_follower/4/mpc_follower.param.yaml @@ -0,0 +1,57 @@ +/**: + ros__parameters: + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qpoases_max_iter: 500 # max iteration number for quadratic programming + qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.50 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.5 + stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/5/mpc_follower.param.yaml b/control_launch/config/mpc_follower/5/mpc_follower.param.yaml new file mode 100644 index 0000000000..7beb9a800b --- /dev/null +++ b/control_launch/config/mpc_follower/5/mpc_follower.param.yaml @@ -0,0 +1,57 @@ +/**: + ros__parameters: + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qpoases_max_iter: 500 # max iteration number for quadratic programming + qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.5 + stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/6/mpc_follower.param.yaml b/control_launch/config/mpc_follower/6/mpc_follower.param.yaml new file mode 100644 index 0000000000..7beb9a800b --- /dev/null +++ b/control_launch/config/mpc_follower/6/mpc_follower.param.yaml @@ -0,0 +1,57 @@ +/**: + ros__parameters: + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qpoases_max_iter: 500 # max iteration number for quadratic programming + qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.5 + stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/7/mpc_follower.param.yaml b/control_launch/config/mpc_follower/7/mpc_follower.param.yaml new file mode 100644 index 0000000000..7f6777688a --- /dev/null +++ b/control_launch/config/mpc_follower/7/mpc_follower.param.yaml @@ -0,0 +1,57 @@ +/**: + ros__parameters: + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qpoases_max_iter: 500 # max iteration number for quadratic programming + qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.5 + stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/9/mpc_follower.param.yaml b/control_launch/config/mpc_follower/9/mpc_follower.param.yaml new file mode 100644 index 0000000000..7beb9a800b --- /dev/null +++ b/control_launch/config/mpc_follower/9/mpc_follower.param.yaml @@ -0,0 +1,57 @@ +/**: + ros__parameters: + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qpoases_max_iter: 500 # max iteration number for quadratic programming + qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.5 + stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/default/mpc_follower.param.yaml b/control_launch/config/mpc_follower/default/mpc_follower.param.yaml new file mode 100644 index 0000000000..7beb9a800b --- /dev/null +++ b/control_launch/config/mpc_follower/default/mpc_follower.param.yaml @@ -0,0 +1,57 @@ +/**: + ros__parameters: + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qpoases_max_iter: 500 # max iteration number for quadratic programming + qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.5 + stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/velocity_controller/1/velocity_controller.param.yaml b/control_launch/config/velocity_controller/1/velocity_controller.param.yaml new file mode 100644 index 0000000000..a30cf1d106 --- /dev/null +++ b/control_launch/config/velocity_controller/1/velocity_controller.param.yaml @@ -0,0 +1,64 @@ +/**: + ros__parameters: + # closest waypoint threshold + closest_waypoint_distance_threshold: 3.0 + closest_waypoint_angle_threshold: 0.7854 + + # stop state + stop_state_velocity: 0.0 + stop_state_acc: -2.0 + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.1 + stop_state_keep_stopping_dist: 0.5 + + # delay compensation + delay_compensation_time: 0.4 + + # emergency stop by this controller + emergency_stop_acc: -5.0 + emergency_stop_jerk: -3.0 + + # smooth stop + smooth_stop: + stop_dist: 0.5 + exit_ego_speed: 2.0 + entry_ego_speed: 1.5 + exit_target_speed: 1.5 + entry_target_speed: 1.0 + weak_brake_time: 0.5 + weak_brake_acc: -1.0 + increasing_brake_time: 2.0 + increasing_brake_gradient: -0.5 + stop_brake_time: 1.0 + stop_brake_acc: -2.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # slope compensation + enable_slope_compensation: true + use_trajectory_for_pitch_calculation: false + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 + lpf_pitch_gain: 0.95 + + # velocity feedback + pid_controller: + kp: 2.0 + ki: 0.01 + kd: 0.1 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.3 + min_d_effort: -0.3 + current_velocity_threshold_pid_integration: 0.5 + lpf_velocity_error_gain: 0.9 diff --git a/control_launch/config/velocity_controller/velocity_controller.param.yaml b/control_launch/config/velocity_controller/10/velocity_controller.param.yaml similarity index 98% rename from control_launch/config/velocity_controller/velocity_controller.param.yaml rename to control_launch/config/velocity_controller/10/velocity_controller.param.yaml index 9dd0326d92..df1032bef8 100644 --- a/control_launch/config/velocity_controller/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/10/velocity_controller.param.yaml @@ -30,7 +30,7 @@ increasing_brake_time: 2.0 increasing_brake_gradient: -0.5 stop_brake_time: 1.0 - stop_brake_acc: -3.4 + stop_brake_acc: -2.0 # acceleration limit max_acc: 3.0 diff --git a/control_launch/config/velocity_controller/2/velocity_controller.param.yaml b/control_launch/config/velocity_controller/2/velocity_controller.param.yaml new file mode 100644 index 0000000000..df1032bef8 --- /dev/null +++ b/control_launch/config/velocity_controller/2/velocity_controller.param.yaml @@ -0,0 +1,64 @@ +/**: + ros__parameters: + # closest waypoint threshold + closest_waypoint_distance_threshold: 3.0 + closest_waypoint_angle_threshold: 0.7854 + + # stop state + stop_state_velocity: 0.0 + stop_state_acc: -2.0 + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.1 + stop_state_keep_stopping_dist: 0.5 + + # delay compensation + delay_compensation_time: 0.4 + + # emergency stop by this controller + emergency_stop_acc: -5.0 + emergency_stop_jerk: -3.0 + + # smooth stop + smooth_stop: + stop_dist: 0.5 + exit_ego_speed: 2.0 + entry_ego_speed: 1.5 + exit_target_speed: 1.5 + entry_target_speed: 1.0 + weak_brake_time: 0.5 + weak_brake_acc: -1.0 + increasing_brake_time: 2.0 + increasing_brake_gradient: -0.5 + stop_brake_time: 1.0 + stop_brake_acc: -2.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # slope compensation + enable_slope_compensation: true + use_trajectory_for_pitch_calculation: false + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 + lpf_pitch_gain: 0.95 + + # velocity feedback + pid_controller: + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + current_velocity_threshold_pid_integration: 0.5 + lpf_velocity_error_gain: 0.9 diff --git a/control_launch/config/velocity_controller/3/velocity_controller.param.yaml b/control_launch/config/velocity_controller/3/velocity_controller.param.yaml new file mode 100644 index 0000000000..6c1d5945dc --- /dev/null +++ b/control_launch/config/velocity_controller/3/velocity_controller.param.yaml @@ -0,0 +1,64 @@ +/**: + ros__parameters: + # closest waypoint threshold + closest_waypoint_distance_threshold: 3.0 + closest_waypoint_angle_threshold: 0.7854 + + # stop state + stop_state_velocity: 0.0 + stop_state_acc: -2.0 + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.1 + stop_state_keep_stopping_dist: 0.5 + + # delay compensation + delay_compensation_time: 0.4 + + # emergency stop by this controller + emergency_stop_acc: -5.0 + emergency_stop_jerk: -3.0 + + # smooth stop + smooth_stop: + stop_dist: 0.5 + exit_ego_speed: 2.0 + entry_ego_speed: 1.5 + exit_target_speed: 1.5 + entry_target_speed: 1.0 + weak_brake_time: 0.5 + weak_brake_acc: -1.0 + increasing_brake_time: 2.0 + increasing_brake_gradient: -0.5 + stop_brake_time: 1.0 + stop_brake_acc: -2.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # slope compensation + enable_slope_compensation: true + use_trajectory_for_pitch_calculation: false + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 + lpf_pitch_gain: 0.95 + + # velocity feedback + pid_controller: + kp: 4.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + current_velocity_threshold_pid_integration: 0.5 + lpf_velocity_error_gain: 0.9 diff --git a/control_launch/config/velocity_controller/4/velocity_controller.param.yaml b/control_launch/config/velocity_controller/4/velocity_controller.param.yaml new file mode 100644 index 0000000000..fa5454a18a --- /dev/null +++ b/control_launch/config/velocity_controller/4/velocity_controller.param.yaml @@ -0,0 +1,64 @@ +/**: + ros__parameters: + # closest waypoint threshold + closest_waypoint_distance_threshold: 3.0 + closest_waypoint_angle_threshold: 0.7854 + + # stop state + stop_state_velocity: 0.0 + stop_state_acc: -2.0 + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.1 + stop_state_keep_stopping_dist: 0.5 + + # delay compensation + delay_compensation_time: 0.4 + + # emergency stop by this controller + emergency_stop_acc: -5.0 + emergency_stop_jerk: -3.0 + + # smooth stop + smooth_stop: + stop_dist: 0.5 + exit_ego_speed: 2.0 + entry_ego_speed: 1.5 + exit_target_speed: 1.5 + entry_target_speed: 1.0 + weak_brake_time: 0.5 + weak_brake_acc: -0.5 + increasing_brake_time: 2.5 + increasing_brake_gradient: -0.5 + stop_brake_time: 1.0 + stop_brake_acc: -2.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # slope compensation + enable_slope_compensation: true + use_trajectory_for_pitch_calculation: false + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 + lpf_pitch_gain: 0.95 + + # velocity feedback + pid_controller: + kp: 2.0 + ki: 0.02 + kd: 0.1 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.3 + min_d_effort: -0.3 + current_velocity_threshold_pid_integration: 0.5 + lpf_velocity_error_gain: 0.9 diff --git a/control_launch/config/velocity_controller/5/velocity_controller.param.yaml b/control_launch/config/velocity_controller/5/velocity_controller.param.yaml new file mode 100644 index 0000000000..df1032bef8 --- /dev/null +++ b/control_launch/config/velocity_controller/5/velocity_controller.param.yaml @@ -0,0 +1,64 @@ +/**: + ros__parameters: + # closest waypoint threshold + closest_waypoint_distance_threshold: 3.0 + closest_waypoint_angle_threshold: 0.7854 + + # stop state + stop_state_velocity: 0.0 + stop_state_acc: -2.0 + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.1 + stop_state_keep_stopping_dist: 0.5 + + # delay compensation + delay_compensation_time: 0.4 + + # emergency stop by this controller + emergency_stop_acc: -5.0 + emergency_stop_jerk: -3.0 + + # smooth stop + smooth_stop: + stop_dist: 0.5 + exit_ego_speed: 2.0 + entry_ego_speed: 1.5 + exit_target_speed: 1.5 + entry_target_speed: 1.0 + weak_brake_time: 0.5 + weak_brake_acc: -1.0 + increasing_brake_time: 2.0 + increasing_brake_gradient: -0.5 + stop_brake_time: 1.0 + stop_brake_acc: -2.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # slope compensation + enable_slope_compensation: true + use_trajectory_for_pitch_calculation: false + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 + lpf_pitch_gain: 0.95 + + # velocity feedback + pid_controller: + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + current_velocity_threshold_pid_integration: 0.5 + lpf_velocity_error_gain: 0.9 diff --git a/control_launch/config/velocity_controller/6/velocity_controller.param.yaml b/control_launch/config/velocity_controller/6/velocity_controller.param.yaml new file mode 100644 index 0000000000..a30cf1d106 --- /dev/null +++ b/control_launch/config/velocity_controller/6/velocity_controller.param.yaml @@ -0,0 +1,64 @@ +/**: + ros__parameters: + # closest waypoint threshold + closest_waypoint_distance_threshold: 3.0 + closest_waypoint_angle_threshold: 0.7854 + + # stop state + stop_state_velocity: 0.0 + stop_state_acc: -2.0 + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.1 + stop_state_keep_stopping_dist: 0.5 + + # delay compensation + delay_compensation_time: 0.4 + + # emergency stop by this controller + emergency_stop_acc: -5.0 + emergency_stop_jerk: -3.0 + + # smooth stop + smooth_stop: + stop_dist: 0.5 + exit_ego_speed: 2.0 + entry_ego_speed: 1.5 + exit_target_speed: 1.5 + entry_target_speed: 1.0 + weak_brake_time: 0.5 + weak_brake_acc: -1.0 + increasing_brake_time: 2.0 + increasing_brake_gradient: -0.5 + stop_brake_time: 1.0 + stop_brake_acc: -2.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # slope compensation + enable_slope_compensation: true + use_trajectory_for_pitch_calculation: false + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 + lpf_pitch_gain: 0.95 + + # velocity feedback + pid_controller: + kp: 2.0 + ki: 0.01 + kd: 0.1 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.3 + min_d_effort: -0.3 + current_velocity_threshold_pid_integration: 0.5 + lpf_velocity_error_gain: 0.9 diff --git a/control_launch/config/velocity_controller/7/velocity_controller.param.yaml b/control_launch/config/velocity_controller/7/velocity_controller.param.yaml new file mode 100644 index 0000000000..df1032bef8 --- /dev/null +++ b/control_launch/config/velocity_controller/7/velocity_controller.param.yaml @@ -0,0 +1,64 @@ +/**: + ros__parameters: + # closest waypoint threshold + closest_waypoint_distance_threshold: 3.0 + closest_waypoint_angle_threshold: 0.7854 + + # stop state + stop_state_velocity: 0.0 + stop_state_acc: -2.0 + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.1 + stop_state_keep_stopping_dist: 0.5 + + # delay compensation + delay_compensation_time: 0.4 + + # emergency stop by this controller + emergency_stop_acc: -5.0 + emergency_stop_jerk: -3.0 + + # smooth stop + smooth_stop: + stop_dist: 0.5 + exit_ego_speed: 2.0 + entry_ego_speed: 1.5 + exit_target_speed: 1.5 + entry_target_speed: 1.0 + weak_brake_time: 0.5 + weak_brake_acc: -1.0 + increasing_brake_time: 2.0 + increasing_brake_gradient: -0.5 + stop_brake_time: 1.0 + stop_brake_acc: -2.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # slope compensation + enable_slope_compensation: true + use_trajectory_for_pitch_calculation: false + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 + lpf_pitch_gain: 0.95 + + # velocity feedback + pid_controller: + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + current_velocity_threshold_pid_integration: 0.5 + lpf_velocity_error_gain: 0.9 diff --git a/control_launch/config/velocity_controller/9/velocity_controller.param.yaml b/control_launch/config/velocity_controller/9/velocity_controller.param.yaml new file mode 100644 index 0000000000..4893dae3f4 --- /dev/null +++ b/control_launch/config/velocity_controller/9/velocity_controller.param.yaml @@ -0,0 +1,64 @@ +/**: + ros__parameters: + # closest waypoint threshold + closest_waypoint_distance_threshold: 3.0 + closest_waypoint_angle_threshold: 0.7854 + + # stop state + stop_state_velocity: 0.0 + stop_state_acc: -2.0 + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.1 + stop_state_keep_stopping_dist: 0.5 + + # delay compensation + delay_compensation_time: 0.4 + + # emergency stop by this controller + emergency_stop_acc: -5.0 + emergency_stop_jerk: -3.0 + + # smooth stop + smooth_stop: + stop_dist: 0.5 + exit_ego_speed: 2.0 + entry_ego_speed: 1.5 + exit_target_speed: 1.5 + entry_target_speed: 1.0 + weak_brake_time: 0.5 + weak_brake_acc: -1.0 + increasing_brake_time: 2.0 + increasing_brake_gradient: -0.5 + stop_brake_time: 1.0 + stop_brake_acc: -2.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # slope compensation + enable_slope_compensation: true + use_trajectory_for_pitch_calculation: false + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 + lpf_pitch_gain: 0.95 + + # velocity feedback + pid_controller: + kp: 2.5 + ki: 0.1 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + current_velocity_threshold_pid_integration: 0.5 + lpf_velocity_error_gain: 0.9 diff --git a/control_launch/config/velocity_controller/default/velocity_controller.param.yaml b/control_launch/config/velocity_controller/default/velocity_controller.param.yaml new file mode 100644 index 0000000000..df1032bef8 --- /dev/null +++ b/control_launch/config/velocity_controller/default/velocity_controller.param.yaml @@ -0,0 +1,64 @@ +/**: + ros__parameters: + # closest waypoint threshold + closest_waypoint_distance_threshold: 3.0 + closest_waypoint_angle_threshold: 0.7854 + + # stop state + stop_state_velocity: 0.0 + stop_state_acc: -2.0 + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.1 + stop_state_keep_stopping_dist: 0.5 + + # delay compensation + delay_compensation_time: 0.4 + + # emergency stop by this controller + emergency_stop_acc: -5.0 + emergency_stop_jerk: -3.0 + + # smooth stop + smooth_stop: + stop_dist: 0.5 + exit_ego_speed: 2.0 + entry_ego_speed: 1.5 + exit_target_speed: 1.5 + entry_target_speed: 1.0 + weak_brake_time: 0.5 + weak_brake_acc: -1.0 + increasing_brake_time: 2.0 + increasing_brake_gradient: -0.5 + stop_brake_time: 1.0 + stop_brake_acc: -2.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # slope compensation + enable_slope_compensation: true + use_trajectory_for_pitch_calculation: false + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 + lpf_pitch_gain: 0.95 + + # velocity feedback + pid_controller: + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + current_velocity_threshold_pid_integration: 0.5 + lpf_velocity_error_gain: 0.9 diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 7afe3ce2bc..f3070e5acb 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -20,6 +20,7 @@ from launch.conditions import IfCondition from launch.conditions import LaunchConfigurationEquals from launch.conditions import UnlessCondition +from launch.substitutions import EnvironmentVariable from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import LoadComposableNodes @@ -322,7 +323,9 @@ def add_launch_arg(name: str, default_value=None): 'mpc_follower_param_path', [ FindPackageShare('control_launch'), - '/config/mpc_follower/mpc_follower.param.yaml' + '/config/mpc_follower/', + EnvironmentVariable(name='VEHICLE_ID', default_value='default'), + '/mpc_follower.param.yaml' ] ) add_launch_arg( @@ -336,7 +339,9 @@ def add_launch_arg(name: str, default_value=None): 'velocity_controller_param_path', [ FindPackageShare('control_launch'), - '/config/velocity_controller/velocity_controller.param.yaml' + '/config/velocity_controller/', + EnvironmentVariable(name='VEHICLE_ID', default_value='default'), + '/velocity_controller.param.yaml' ] ) add_launch_arg( diff --git a/control_launch/launch/control.launch.xml b/control_launch/launch/control.launch.xml index 940fc887a4..4abad499c4 100644 --- a/control_launch/launch/control.launch.xml +++ b/control_launch/launch/control.launch.xml @@ -4,9 +4,9 @@ - + - + From 4bc50b0d2183ff47534042fd0e551546430a5928 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Tue, 8 Jun 2021 15:37:31 +0900 Subject: [PATCH 010/349] Sync planning param with v0.9.1.1 (#104) * Add motion velocity optimizer config of each vehicle Signed-off-by: wep21 * Load each vehicle configuration Signed-off-by: wep21 --- .../motion_velocity_optimizer.param.yaml | 0 .../10/motion_velocity_optimizer.param.yaml | 42 +++++++++++++++++++ .../2/motion_velocity_optimizer.param.yaml | 42 +++++++++++++++++++ .../3/motion_velocity_optimizer.param.yaml | 42 +++++++++++++++++++ .../4/motion_velocity_optimizer.param.yaml | 42 +++++++++++++++++++ .../5/motion_velocity_optimizer.param.yaml | 42 +++++++++++++++++++ .../6/motion_velocity_optimizer.param.yaml | 42 +++++++++++++++++++ .../7/motion_velocity_optimizer.param.yaml | 42 +++++++++++++++++++ .../9/motion_velocity_optimizer.param.yaml | 42 +++++++++++++++++++ .../motion_velocity_optimizer.param.yaml | 42 +++++++++++++++++++ .../scenario_planning.launch.xml | 2 +- 11 files changed, 379 insertions(+), 1 deletion(-) rename planning_launch/config/scenario_planning/common/motion_velocity_optimizer/{ => 1}/motion_velocity_optimizer.param.yaml (100%) create mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/10/motion_velocity_optimizer.param.yaml create mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/2/motion_velocity_optimizer.param.yaml create mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/3/motion_velocity_optimizer.param.yaml create mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/4/motion_velocity_optimizer.param.yaml create mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/5/motion_velocity_optimizer.param.yaml create mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/6/motion_velocity_optimizer.param.yaml create mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/7/motion_velocity_optimizer.param.yaml create mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/9/motion_velocity_optimizer.param.yaml create mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/default/motion_velocity_optimizer.param.yaml diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/1/motion_velocity_optimizer.param.yaml similarity index 100% rename from planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.param.yaml rename to planning_launch/config/scenario_planning/common/motion_velocity_optimizer/1/motion_velocity_optimizer.param.yaml diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/10/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/10/motion_velocity_optimizer.param.yaml new file mode 100644 index 0000000000..6582989eca --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/10/motion_velocity_optimizer.param.yaml @@ -0,0 +1,42 @@ +/**: + ros__parameters: + max_velocity: 20.0 # max velocity limit [m/s] + max_accel: 1.0 # max acceleration limit [m/ss] + min_decel: -0.5 # min deceleration limit [m/ss] + + # curve parameters + max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] + min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 + + # engage & replan parameters + replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] + engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) + engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. + stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] + + # stop velocity + stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] + stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. + + extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] + extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] + delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] + + max_trajectory_length: 200.0 # max trajectory length for resampling [m] + min_trajectory_length: 30.0 # min trajectory length for resampling [m] + resample_time: 15.0 # resample total time [s] + resample_dt: 0.1 # resample time interval [s] + min_trajectory_interval_distance: 0.1 # resample points-interval length [m] + + # default weights + # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 + # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 + + pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost + over_v_weight: 100000.0 # weight for "overspeed limit" cost + over_a_weight: 5000.0 # weight for "overaccel limit" cost + + algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/2/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/2/motion_velocity_optimizer.param.yaml new file mode 100644 index 0000000000..6582989eca --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/2/motion_velocity_optimizer.param.yaml @@ -0,0 +1,42 @@ +/**: + ros__parameters: + max_velocity: 20.0 # max velocity limit [m/s] + max_accel: 1.0 # max acceleration limit [m/ss] + min_decel: -0.5 # min deceleration limit [m/ss] + + # curve parameters + max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] + min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 + + # engage & replan parameters + replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] + engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) + engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. + stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] + + # stop velocity + stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] + stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. + + extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] + extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] + delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] + + max_trajectory_length: 200.0 # max trajectory length for resampling [m] + min_trajectory_length: 30.0 # min trajectory length for resampling [m] + resample_time: 15.0 # resample total time [s] + resample_dt: 0.1 # resample time interval [s] + min_trajectory_interval_distance: 0.1 # resample points-interval length [m] + + # default weights + # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 + # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 + + pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost + over_v_weight: 100000.0 # weight for "overspeed limit" cost + over_a_weight: 5000.0 # weight for "overaccel limit" cost + + algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/3/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/3/motion_velocity_optimizer.param.yaml new file mode 100644 index 0000000000..6582989eca --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/3/motion_velocity_optimizer.param.yaml @@ -0,0 +1,42 @@ +/**: + ros__parameters: + max_velocity: 20.0 # max velocity limit [m/s] + max_accel: 1.0 # max acceleration limit [m/ss] + min_decel: -0.5 # min deceleration limit [m/ss] + + # curve parameters + max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] + min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 + + # engage & replan parameters + replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] + engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) + engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. + stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] + + # stop velocity + stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] + stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. + + extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] + extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] + delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] + + max_trajectory_length: 200.0 # max trajectory length for resampling [m] + min_trajectory_length: 30.0 # min trajectory length for resampling [m] + resample_time: 15.0 # resample total time [s] + resample_dt: 0.1 # resample time interval [s] + min_trajectory_interval_distance: 0.1 # resample points-interval length [m] + + # default weights + # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 + # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 + + pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost + over_v_weight: 100000.0 # weight for "overspeed limit" cost + over_a_weight: 5000.0 # weight for "overaccel limit" cost + + algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/4/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/4/motion_velocity_optimizer.param.yaml new file mode 100644 index 0000000000..6582989eca --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/4/motion_velocity_optimizer.param.yaml @@ -0,0 +1,42 @@ +/**: + ros__parameters: + max_velocity: 20.0 # max velocity limit [m/s] + max_accel: 1.0 # max acceleration limit [m/ss] + min_decel: -0.5 # min deceleration limit [m/ss] + + # curve parameters + max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] + min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 + + # engage & replan parameters + replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] + engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) + engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. + stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] + + # stop velocity + stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] + stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. + + extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] + extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] + delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] + + max_trajectory_length: 200.0 # max trajectory length for resampling [m] + min_trajectory_length: 30.0 # min trajectory length for resampling [m] + resample_time: 15.0 # resample total time [s] + resample_dt: 0.1 # resample time interval [s] + min_trajectory_interval_distance: 0.1 # resample points-interval length [m] + + # default weights + # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 + # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 + + pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost + over_v_weight: 100000.0 # weight for "overspeed limit" cost + over_a_weight: 5000.0 # weight for "overaccel limit" cost + + algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/5/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/5/motion_velocity_optimizer.param.yaml new file mode 100644 index 0000000000..6582989eca --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/5/motion_velocity_optimizer.param.yaml @@ -0,0 +1,42 @@ +/**: + ros__parameters: + max_velocity: 20.0 # max velocity limit [m/s] + max_accel: 1.0 # max acceleration limit [m/ss] + min_decel: -0.5 # min deceleration limit [m/ss] + + # curve parameters + max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] + min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 + + # engage & replan parameters + replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] + engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) + engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. + stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] + + # stop velocity + stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] + stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. + + extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] + extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] + delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] + + max_trajectory_length: 200.0 # max trajectory length for resampling [m] + min_trajectory_length: 30.0 # min trajectory length for resampling [m] + resample_time: 15.0 # resample total time [s] + resample_dt: 0.1 # resample time interval [s] + min_trajectory_interval_distance: 0.1 # resample points-interval length [m] + + # default weights + # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 + # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 + + pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost + over_v_weight: 100000.0 # weight for "overspeed limit" cost + over_a_weight: 5000.0 # weight for "overaccel limit" cost + + algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/6/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/6/motion_velocity_optimizer.param.yaml new file mode 100644 index 0000000000..6582989eca --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/6/motion_velocity_optimizer.param.yaml @@ -0,0 +1,42 @@ +/**: + ros__parameters: + max_velocity: 20.0 # max velocity limit [m/s] + max_accel: 1.0 # max acceleration limit [m/ss] + min_decel: -0.5 # min deceleration limit [m/ss] + + # curve parameters + max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] + min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 + + # engage & replan parameters + replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] + engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) + engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. + stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] + + # stop velocity + stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] + stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. + + extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] + extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] + delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] + + max_trajectory_length: 200.0 # max trajectory length for resampling [m] + min_trajectory_length: 30.0 # min trajectory length for resampling [m] + resample_time: 15.0 # resample total time [s] + resample_dt: 0.1 # resample time interval [s] + min_trajectory_interval_distance: 0.1 # resample points-interval length [m] + + # default weights + # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 + # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 + + pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost + over_v_weight: 100000.0 # weight for "overspeed limit" cost + over_a_weight: 5000.0 # weight for "overaccel limit" cost + + algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/7/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/7/motion_velocity_optimizer.param.yaml new file mode 100644 index 0000000000..6582989eca --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/7/motion_velocity_optimizer.param.yaml @@ -0,0 +1,42 @@ +/**: + ros__parameters: + max_velocity: 20.0 # max velocity limit [m/s] + max_accel: 1.0 # max acceleration limit [m/ss] + min_decel: -0.5 # min deceleration limit [m/ss] + + # curve parameters + max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] + min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 + + # engage & replan parameters + replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] + engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) + engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. + stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] + + # stop velocity + stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] + stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. + + extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] + extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] + delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] + + max_trajectory_length: 200.0 # max trajectory length for resampling [m] + min_trajectory_length: 30.0 # min trajectory length for resampling [m] + resample_time: 15.0 # resample total time [s] + resample_dt: 0.1 # resample time interval [s] + min_trajectory_interval_distance: 0.1 # resample points-interval length [m] + + # default weights + # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 + # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 + + pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost + over_v_weight: 100000.0 # weight for "overspeed limit" cost + over_a_weight: 5000.0 # weight for "overaccel limit" cost + + algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/9/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/9/motion_velocity_optimizer.param.yaml new file mode 100644 index 0000000000..6582989eca --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/9/motion_velocity_optimizer.param.yaml @@ -0,0 +1,42 @@ +/**: + ros__parameters: + max_velocity: 20.0 # max velocity limit [m/s] + max_accel: 1.0 # max acceleration limit [m/ss] + min_decel: -0.5 # min deceleration limit [m/ss] + + # curve parameters + max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] + min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 + + # engage & replan parameters + replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] + engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) + engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. + stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] + + # stop velocity + stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] + stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. + + extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] + extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] + delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] + + max_trajectory_length: 200.0 # max trajectory length for resampling [m] + min_trajectory_length: 30.0 # min trajectory length for resampling [m] + resample_time: 15.0 # resample total time [s] + resample_dt: 0.1 # resample time interval [s] + min_trajectory_interval_distance: 0.1 # resample points-interval length [m] + + # default weights + # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 + # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 + + pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost + over_v_weight: 100000.0 # weight for "overspeed limit" cost + over_a_weight: 5000.0 # weight for "overaccel limit" cost + + algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/default/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/default/motion_velocity_optimizer.param.yaml new file mode 100644 index 0000000000..6582989eca --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/default/motion_velocity_optimizer.param.yaml @@ -0,0 +1,42 @@ +/**: + ros__parameters: + max_velocity: 20.0 # max velocity limit [m/s] + max_accel: 1.0 # max acceleration limit [m/ss] + min_decel: -0.5 # min deceleration limit [m/ss] + + # curve parameters + max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] + min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 + + # engage & replan parameters + replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] + engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) + engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. + stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] + + # stop velocity + stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] + stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. + + extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] + extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] + delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] + + max_trajectory_length: 200.0 # max trajectory length for resampling [m] + min_trajectory_length: 30.0 # min trajectory length for resampling [m] + resample_time: 15.0 # resample total time [s] + resample_dt: 0.1 # resample time interval [s] + min_trajectory_interval_distance: 0.1 # resample points-interval length [m] + + # default weights + # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 + # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 + + pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost + over_v_weight: 100000.0 # weight for "overspeed limit" cost + over_a_weight: 5000.0 # weight for "overaccel limit" cost + + algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml index 0d80c87faf..c50ad304dd 100644 --- a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml @@ -17,7 +17,7 @@ - + From 5d3883d0d1e6118888b2118e65498030a34702c7 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Thu, 10 Jun 2021 00:13:07 +0900 Subject: [PATCH 011/349] Add use foa option (#106) * Add use foa option Signed-off-by: wep21 * Fix typo Signed-off-by: wep21 * Cosmetic change Signed-off-by: wep21 --- autoware_launch/launch/autoware.launch.xml | 2 ++ .../launch/logging_simulator.launch.xml | 2 ++ .../launch/planning_simulator.launch.xml | 2 ++ .../obstacle_avoidance_planner.param.yaml | 4 ++-- planning_launch/launch/planning.launch.xml | 4 ++++ .../behavior_planning.launch.py | 14 ++++++++------ .../behavior_planning.launch.xml | 16 +++++++++------- .../motion_planning/motion_planning.launch.py | 1 + .../motion_planning/motion_planning.launch.xml | 1 + 9 files changed, 31 insertions(+), 15 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index b36abfc84c..e0e939fde7 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -8,6 +8,7 @@ + @@ -53,6 +54,7 @@ + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index ca1784889d..c48fd5b221 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -19,6 +19,7 @@ + @@ -83,6 +84,7 @@ + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 3e13089057..6be63c8001 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -15,6 +15,7 @@ + @@ -58,6 +59,7 @@ + diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 809eb19c63..18e99272db 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -14,7 +14,7 @@ # clearance for unique points clearance_for_straight_line: 0.05 # minimum optimizing range around straight points clearance_for_joint: 0.1 # minimum optimizing range around joint points - clearance_for_only_smoothing: 0.1 # minimum optimizing range when applygin only smoothing + clearance_for_only_smoothing: 0.1 # minimum optimizing range when applying only smoothing range_for_extend_joint: 0.1 # minimum optimizing range around joint points for extending clearance_from_object_for_straight: 10.0 # minimum clearance from object when judging straight line @@ -44,7 +44,7 @@ is_publishing_clearance_map: true # publish clearance map as nav_msgs::OccupancyGrid is_publishing_area_with_objects: true # publish occupancy map as nav_msgs::OccupancyGrid - enable_avoidance: false # enable avoidance function + # enable_avoidance: false # enable avoidance function is_using_vehicle_config: true # use vehicle config num_sampling_points: 100 # number of optimizing points num_joint_buffer_points: 3 # number of joint buffer points diff --git a/planning_launch/launch/planning.launch.xml b/planning_launch/launch/planning.launch.xml index 003af6fca8..76151717bd 100644 --- a/planning_launch/launch/planning.launch.xml +++ b/planning_launch/launch/planning.launch.xml @@ -1,6 +1,10 @@ + + + + diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index f35986b09f..084b427d78 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -67,11 +67,11 @@ def generate_launch_description(): parameters=[ lane_change_planner_param, { - 'enable_abort_lane_change': False, - 'enable_collision_check_at_prepare_phase': False, - 'use_predicted_path_outside_lanelet': False, - 'use_all_predicted_path': False, - 'enable_blocked_by_obstacle': False, + 'enable_abort_lane_change': LaunchConfiguration('disuse_foa'), + 'enable_collision_check_at_prepare_phase': LaunchConfiguration('disuse_foa'), + 'use_predicted_path_outside_lanelet': LaunchConfiguration('disuse_foa'), + 'use_all_predicted_path': LaunchConfiguration('disuse_foa'), + 'enable_blocked_by_obstacle': LaunchConfiguration('disuse_foa'), } ], extra_arguments=[ @@ -240,5 +240,7 @@ def generate_launch_description(): cmd=['ros2', 'topic', 'pub', '/planning/scenario_planning/lane_driving/lane_change_approval', 'autoware_planning_msgs/msg/LaneChangeCommand', '{command: true}', - '-r', '10']), + '-r', '10'], + condition=IfCondition(LaunchConfiguration('disuse_foa')) + ), ]) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index 708fe5158d..7ef336ac54 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -15,15 +15,17 @@ - - - - - + + + + + - + + + diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index 5abfdbfc62..6313ef0cae 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -52,6 +52,7 @@ def generate_launch_description(): ], parameters=[ obstacle_avoidance_planner_param, + {'enable_avoidance': LaunchConfiguration('disuse_foa')}, {'is_showing_debug_info': False}, {'is_stopping_if_outside_drivable_area': True}, ], diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index 05892f5a25..7bf68aa96d 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -4,6 +4,7 @@ + From b700b346cf1b8f1b1da22d3faac0b430588cff54 Mon Sep 17 00:00:00 2001 From: wep21 Date: Thu, 17 Jun 2021 14:21:04 +0900 Subject: [PATCH 012/349] Move parameters into individual params Signed-off-by: wep21 --- .../1089/livox_front_left_bd_code.param.yaml | 3 - .../1089/livox_front_right_bd_code.param.yaml | 3 - .../1090/livox_front_left_bd_code.param.yaml | 3 - .../1090/livox_front_right_bd_code.param.yaml | 3 - .../4939/livox_front_left_bd_code.param.yaml | 3 - .../4939/livox_front_right_bd_code.param.yaml | 3 - .../4940/livox_front_left_bd_code.param.yaml | 3 - .../4940/livox_front_right_bd_code.param.yaml | 3 - .../4941/livox_front_left_bd_code.param.yaml | 3 - .../4941/livox_front_right_bd_code.param.yaml | 3 - .../4943/livox_front_left_bd_code.param.yaml | 3 - .../4943/livox_front_right_bd_code.param.yaml | 3 - .../4944/livox_front_left_bd_code.param.yaml | 3 - .../4944/livox_front_right_bd_code.param.yaml | 3 - .../4945/livox_front_left_bd_code.param.yaml | 3 - .../4945/livox_front_right_bd_code.param.yaml | 3 - .../4946/livox_front_left_bd_code.param.yaml | 3 - .../4946/livox_front_right_bd_code.param.yaml | 3 - .../8676/livox_front_left_bd_code.param.yaml | 3 - .../8676/livox_front_right_bd_code.param.yaml | 3 - vehicle_launch/config/1089/accel_map.csv | 7 -- .../1089/aip_xx1/sensor_kit_calibration.yaml | 91 ------------------- .../1089/aip_xx1/sensors_calibration.yaml | 28 ------ vehicle_launch/config/1089/brake_map.csv | 10 -- vehicle_launch/config/1089/driver.param.yaml | 4 - vehicle_launch/config/1089/pacmod.param.yaml | 24 ----- vehicle_launch/config/1089/reader.param.yaml | 6 -- vehicle_launch/config/1089/writer.param.yaml | 6 -- vehicle_launch/config/1090/accel_map.csv | 7 -- .../1090/aip_xx1/sensor_kit_calibration.yaml | 91 ------------------- .../1090/aip_xx1/sensors_calibration.yaml | 28 ------ vehicle_launch/config/1090/brake_map.csv | 10 -- vehicle_launch/config/1090/driver.param.yaml | 4 - vehicle_launch/config/1090/pacmod.param.yaml | 24 ----- vehicle_launch/config/1090/reader.param.yaml | 6 -- vehicle_launch/config/1090/writer.param.yaml | 6 -- vehicle_launch/config/4939/accel_map.csv | 7 -- .../4939/aip_xx1/sensor_kit_calibration.yaml | 91 ------------------- .../4939/aip_xx1/sensors_calibration.yaml | 28 ------ vehicle_launch/config/4939/brake_map.csv | 10 -- vehicle_launch/config/4939/driver.param.yaml | 4 - vehicle_launch/config/4939/pacmod.param.yaml | 24 ----- vehicle_launch/config/4939/reader.param.yaml | 6 -- vehicle_launch/config/4939/writer.param.yaml | 6 -- .../4940/aip_xx1/sensor_kit_calibration.yaml | 91 ------------------- .../4940/aip_xx1/sensors_calibration.yaml | 28 ------ vehicle_launch/config/4940/driver.param.yaml | 4 - vehicle_launch/config/4940/pacmod.param.yaml | 24 ----- vehicle_launch/config/4940/reader.param.yaml | 6 -- vehicle_launch/config/4940/writer.param.yaml | 6 -- vehicle_launch/config/4941/accel_map.csv | 7 -- .../4941/aip_xx1/sensor_kit_calibration.yaml | 91 ------------------- .../4941/aip_xx1/sensors_calibration.yaml | 28 ------ vehicle_launch/config/4941/brake_map.csv | 10 -- vehicle_launch/config/4941/driver.param.yaml | 4 - vehicle_launch/config/4941/pacmod.param.yaml | 24 ----- vehicle_launch/config/4941/reader.param.yaml | 6 -- vehicle_launch/config/4941/writer.param.yaml | 6 -- vehicle_launch/config/4943/accel_map.csv | 7 -- .../4943/aip_xx1/sensor_kit_calibration.yaml | 91 ------------------- .../4943/aip_xx1/sensors_calibration.yaml | 28 ------ vehicle_launch/config/4943/brake_map.csv | 10 -- vehicle_launch/config/4943/driver.param.yaml | 4 - vehicle_launch/config/4943/pacmod.param.yaml | 24 ----- vehicle_launch/config/4943/reader.param.yaml | 6 -- vehicle_launch/config/4943/writer.param.yaml | 6 -- vehicle_launch/config/4944/accel_map.csv | 7 -- .../4944/aip_xx1/sensor_kit_calibration.yaml | 91 ------------------- .../4944/aip_xx1/sensors_calibration.yaml | 28 ------ vehicle_launch/config/4944/brake_map.csv | 10 -- vehicle_launch/config/4944/driver.param.yaml | 4 - vehicle_launch/config/4944/pacmod.param.yaml | 24 ----- vehicle_launch/config/4944/reader.param.yaml | 6 -- vehicle_launch/config/4944/writer.param.yaml | 6 -- vehicle_launch/config/4945/accel_map.csv | 7 -- .../4945/aip_xx1/sensor_kit_calibration.yaml | 91 ------------------- .../4945/aip_xx1/sensors_calibration.yaml | 28 ------ vehicle_launch/config/4945/brake_map.csv | 10 -- vehicle_launch/config/4945/driver.param.yaml | 4 - vehicle_launch/config/4945/pacmod.param.yaml | 24 ----- vehicle_launch/config/4945/reader.param.yaml | 6 -- vehicle_launch/config/4945/writer.param.yaml | 6 -- vehicle_launch/config/4946/accel_map.csv | 7 -- .../4946/aip_xx1/sensor_kit_calibration.yaml | 91 ------------------- .../4946/aip_xx1/sensors_calibration.yaml | 28 ------ vehicle_launch/config/4946/brake_map.csv | 10 -- vehicle_launch/config/4946/driver.param.yaml | 4 - vehicle_launch/config/4946/pacmod.param.yaml | 24 ----- vehicle_launch/config/4946/reader.param.yaml | 6 -- vehicle_launch/config/4946/writer.param.yaml | 6 -- vehicle_launch/config/8676/accel_map.csv | 7 -- .../8676/aip_xx1/sensor_kit_calibration.yaml | 91 ------------------- .../8676/aip_xx1/sensors_calibration.yaml | 28 ------ vehicle_launch/config/8676/brake_map.csv | 10 -- vehicle_launch/config/8676/driver.param.yaml | 4 - vehicle_launch/config/8676/pacmod.param.yaml | 24 ----- vehicle_launch/config/8676/reader.param.yaml | 6 -- vehicle_launch/config/8676/writer.param.yaml | 6 -- vehicle_launch/config/default/accel_map.csv | 7 -- vehicle_launch/config/default/brake_map.csv | 10 -- .../config/default/driver.param.yaml | 4 - .../config/default/pacmod.param.yaml | 24 ----- .../config/default/reader.param.yaml | 7 -- .../config/default/writer.param.yaml | 6 -- 104 files changed, 1861 deletions(-) delete mode 100644 sensing_launch/config/aip_xx1/1089/livox_front_left_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/1089/livox_front_right_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/1090/livox_front_left_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/1090/livox_front_right_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/4939/livox_front_left_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/4939/livox_front_right_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/4940/livox_front_left_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/4940/livox_front_right_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/4941/livox_front_left_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/4941/livox_front_right_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/4943/livox_front_left_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/4943/livox_front_right_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/4944/livox_front_left_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/4944/livox_front_right_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/4945/livox_front_left_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/4945/livox_front_right_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/4946/livox_front_left_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/4946/livox_front_right_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/8676/livox_front_left_bd_code.param.yaml delete mode 100644 sensing_launch/config/aip_xx1/8676/livox_front_right_bd_code.param.yaml delete mode 100644 vehicle_launch/config/1089/accel_map.csv delete mode 100644 vehicle_launch/config/1089/aip_xx1/sensor_kit_calibration.yaml delete mode 100644 vehicle_launch/config/1089/aip_xx1/sensors_calibration.yaml delete mode 100644 vehicle_launch/config/1089/brake_map.csv delete mode 100644 vehicle_launch/config/1089/driver.param.yaml delete mode 100644 vehicle_launch/config/1089/pacmod.param.yaml delete mode 100644 vehicle_launch/config/1089/reader.param.yaml delete mode 100644 vehicle_launch/config/1089/writer.param.yaml delete mode 100644 vehicle_launch/config/1090/accel_map.csv delete mode 100644 vehicle_launch/config/1090/aip_xx1/sensor_kit_calibration.yaml delete mode 100644 vehicle_launch/config/1090/aip_xx1/sensors_calibration.yaml delete mode 100644 vehicle_launch/config/1090/brake_map.csv delete mode 100644 vehicle_launch/config/1090/driver.param.yaml delete mode 100644 vehicle_launch/config/1090/pacmod.param.yaml delete mode 100644 vehicle_launch/config/1090/reader.param.yaml delete mode 100644 vehicle_launch/config/1090/writer.param.yaml delete mode 100644 vehicle_launch/config/4939/accel_map.csv delete mode 100644 vehicle_launch/config/4939/aip_xx1/sensor_kit_calibration.yaml delete mode 100644 vehicle_launch/config/4939/aip_xx1/sensors_calibration.yaml delete mode 100644 vehicle_launch/config/4939/brake_map.csv delete mode 100644 vehicle_launch/config/4939/driver.param.yaml delete mode 100644 vehicle_launch/config/4939/pacmod.param.yaml delete mode 100644 vehicle_launch/config/4939/reader.param.yaml delete mode 100644 vehicle_launch/config/4939/writer.param.yaml delete mode 100644 vehicle_launch/config/4940/aip_xx1/sensor_kit_calibration.yaml delete mode 100644 vehicle_launch/config/4940/aip_xx1/sensors_calibration.yaml delete mode 100644 vehicle_launch/config/4940/driver.param.yaml delete mode 100644 vehicle_launch/config/4940/pacmod.param.yaml delete mode 100644 vehicle_launch/config/4940/reader.param.yaml delete mode 100644 vehicle_launch/config/4940/writer.param.yaml delete mode 100644 vehicle_launch/config/4941/accel_map.csv delete mode 100644 vehicle_launch/config/4941/aip_xx1/sensor_kit_calibration.yaml delete mode 100644 vehicle_launch/config/4941/aip_xx1/sensors_calibration.yaml delete mode 100644 vehicle_launch/config/4941/brake_map.csv delete mode 100644 vehicle_launch/config/4941/driver.param.yaml delete mode 100644 vehicle_launch/config/4941/pacmod.param.yaml delete mode 100644 vehicle_launch/config/4941/reader.param.yaml delete mode 100644 vehicle_launch/config/4941/writer.param.yaml delete mode 100644 vehicle_launch/config/4943/accel_map.csv delete mode 100644 vehicle_launch/config/4943/aip_xx1/sensor_kit_calibration.yaml delete mode 100644 vehicle_launch/config/4943/aip_xx1/sensors_calibration.yaml delete mode 100644 vehicle_launch/config/4943/brake_map.csv delete mode 100644 vehicle_launch/config/4943/driver.param.yaml delete mode 100644 vehicle_launch/config/4943/pacmod.param.yaml delete mode 100644 vehicle_launch/config/4943/reader.param.yaml delete mode 100644 vehicle_launch/config/4943/writer.param.yaml delete mode 100644 vehicle_launch/config/4944/accel_map.csv delete mode 100644 vehicle_launch/config/4944/aip_xx1/sensor_kit_calibration.yaml delete mode 100644 vehicle_launch/config/4944/aip_xx1/sensors_calibration.yaml delete mode 100644 vehicle_launch/config/4944/brake_map.csv delete mode 100644 vehicle_launch/config/4944/driver.param.yaml delete mode 100644 vehicle_launch/config/4944/pacmod.param.yaml delete mode 100644 vehicle_launch/config/4944/reader.param.yaml delete mode 100644 vehicle_launch/config/4944/writer.param.yaml delete mode 100644 vehicle_launch/config/4945/accel_map.csv delete mode 100644 vehicle_launch/config/4945/aip_xx1/sensor_kit_calibration.yaml delete mode 100644 vehicle_launch/config/4945/aip_xx1/sensors_calibration.yaml delete mode 100644 vehicle_launch/config/4945/brake_map.csv delete mode 100644 vehicle_launch/config/4945/driver.param.yaml delete mode 100644 vehicle_launch/config/4945/pacmod.param.yaml delete mode 100644 vehicle_launch/config/4945/reader.param.yaml delete mode 100644 vehicle_launch/config/4945/writer.param.yaml delete mode 100644 vehicle_launch/config/4946/accel_map.csv delete mode 100644 vehicle_launch/config/4946/aip_xx1/sensor_kit_calibration.yaml delete mode 100644 vehicle_launch/config/4946/aip_xx1/sensors_calibration.yaml delete mode 100644 vehicle_launch/config/4946/brake_map.csv delete mode 100644 vehicle_launch/config/4946/driver.param.yaml delete mode 100644 vehicle_launch/config/4946/pacmod.param.yaml delete mode 100644 vehicle_launch/config/4946/reader.param.yaml delete mode 100644 vehicle_launch/config/4946/writer.param.yaml delete mode 100644 vehicle_launch/config/8676/accel_map.csv delete mode 100644 vehicle_launch/config/8676/aip_xx1/sensor_kit_calibration.yaml delete mode 100644 vehicle_launch/config/8676/aip_xx1/sensors_calibration.yaml delete mode 100644 vehicle_launch/config/8676/brake_map.csv delete mode 100644 vehicle_launch/config/8676/driver.param.yaml delete mode 100644 vehicle_launch/config/8676/pacmod.param.yaml delete mode 100644 vehicle_launch/config/8676/reader.param.yaml delete mode 100644 vehicle_launch/config/8676/writer.param.yaml delete mode 100644 vehicle_launch/config/default/accel_map.csv delete mode 100644 vehicle_launch/config/default/brake_map.csv delete mode 100644 vehicle_launch/config/default/driver.param.yaml delete mode 100644 vehicle_launch/config/default/pacmod.param.yaml delete mode 100644 vehicle_launch/config/default/reader.param.yaml delete mode 100644 vehicle_launch/config/default/writer.param.yaml diff --git a/sensing_launch/config/aip_xx1/1089/livox_front_left_bd_code.param.yaml b/sensing_launch/config/aip_xx1/1089/livox_front_left_bd_code.param.yaml deleted file mode 100644 index 7ad3958228..0000000000 --- a/sensing_launch/config/aip_xx1/1089/livox_front_left_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200105911' diff --git a/sensing_launch/config/aip_xx1/1089/livox_front_right_bd_code.param.yaml b/sensing_launch/config/aip_xx1/1089/livox_front_right_bd_code.param.yaml deleted file mode 100644 index 6072b1179c..0000000000 --- a/sensing_launch/config/aip_xx1/1089/livox_front_right_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200104481' diff --git a/sensing_launch/config/aip_xx1/1090/livox_front_left_bd_code.param.yaml b/sensing_launch/config/aip_xx1/1090/livox_front_left_bd_code.param.yaml deleted file mode 100644 index 9c44c1dece..0000000000 --- a/sensing_launch/config/aip_xx1/1090/livox_front_left_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200106011' diff --git a/sensing_launch/config/aip_xx1/1090/livox_front_right_bd_code.param.yaml b/sensing_launch/config/aip_xx1/1090/livox_front_right_bd_code.param.yaml deleted file mode 100644 index 1c1e404e11..0000000000 --- a/sensing_launch/config/aip_xx1/1090/livox_front_right_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200103001' diff --git a/sensing_launch/config/aip_xx1/4939/livox_front_left_bd_code.param.yaml b/sensing_launch/config/aip_xx1/4939/livox_front_left_bd_code.param.yaml deleted file mode 100644 index a2bd7e1ca6..0000000000 --- a/sensing_launch/config/aip_xx1/4939/livox_front_left_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200104331' diff --git a/sensing_launch/config/aip_xx1/4939/livox_front_right_bd_code.param.yaml b/sensing_launch/config/aip_xx1/4939/livox_front_right_bd_code.param.yaml deleted file mode 100644 index 011e805db1..0000000000 --- a/sensing_launch/config/aip_xx1/4939/livox_front_right_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200104071' diff --git a/sensing_launch/config/aip_xx1/4940/livox_front_left_bd_code.param.yaml b/sensing_launch/config/aip_xx1/4940/livox_front_left_bd_code.param.yaml deleted file mode 100644 index 083f0cc218..0000000000 --- a/sensing_launch/config/aip_xx1/4940/livox_front_left_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '100000000000000' diff --git a/sensing_launch/config/aip_xx1/4940/livox_front_right_bd_code.param.yaml b/sensing_launch/config/aip_xx1/4940/livox_front_right_bd_code.param.yaml deleted file mode 100644 index 083f0cc218..0000000000 --- a/sensing_launch/config/aip_xx1/4940/livox_front_right_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '100000000000000' diff --git a/sensing_launch/config/aip_xx1/4941/livox_front_left_bd_code.param.yaml b/sensing_launch/config/aip_xx1/4941/livox_front_left_bd_code.param.yaml deleted file mode 100644 index e658abbcaf..0000000000 --- a/sensing_launch/config/aip_xx1/4941/livox_front_left_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200105411' diff --git a/sensing_launch/config/aip_xx1/4941/livox_front_right_bd_code.param.yaml b/sensing_launch/config/aip_xx1/4941/livox_front_right_bd_code.param.yaml deleted file mode 100644 index 98315b55cd..0000000000 --- a/sensing_launch/config/aip_xx1/4941/livox_front_right_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200104131' diff --git a/sensing_launch/config/aip_xx1/4943/livox_front_left_bd_code.param.yaml b/sensing_launch/config/aip_xx1/4943/livox_front_left_bd_code.param.yaml deleted file mode 100644 index ae86330ef3..0000000000 --- a/sensing_launch/config/aip_xx1/4943/livox_front_left_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200105251' diff --git a/sensing_launch/config/aip_xx1/4943/livox_front_right_bd_code.param.yaml b/sensing_launch/config/aip_xx1/4943/livox_front_right_bd_code.param.yaml deleted file mode 100644 index 0f4da85b83..0000000000 --- a/sensing_launch/config/aip_xx1/4943/livox_front_right_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200104961' diff --git a/sensing_launch/config/aip_xx1/4944/livox_front_left_bd_code.param.yaml b/sensing_launch/config/aip_xx1/4944/livox_front_left_bd_code.param.yaml deleted file mode 100644 index d42c6185f9..0000000000 --- a/sensing_launch/config/aip_xx1/4944/livox_front_left_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200102941' diff --git a/sensing_launch/config/aip_xx1/4944/livox_front_right_bd_code.param.yaml b/sensing_launch/config/aip_xx1/4944/livox_front_right_bd_code.param.yaml deleted file mode 100644 index 6ad4765719..0000000000 --- a/sensing_launch/config/aip_xx1/4944/livox_front_right_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200105651' diff --git a/sensing_launch/config/aip_xx1/4945/livox_front_left_bd_code.param.yaml b/sensing_launch/config/aip_xx1/4945/livox_front_left_bd_code.param.yaml deleted file mode 100644 index 7e2ff21804..0000000000 --- a/sensing_launch/config/aip_xx1/4945/livox_front_left_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200102321' diff --git a/sensing_launch/config/aip_xx1/4945/livox_front_right_bd_code.param.yaml b/sensing_launch/config/aip_xx1/4945/livox_front_right_bd_code.param.yaml deleted file mode 100644 index 86239725a1..0000000000 --- a/sensing_launch/config/aip_xx1/4945/livox_front_right_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200100721' diff --git a/sensing_launch/config/aip_xx1/4946/livox_front_left_bd_code.param.yaml b/sensing_launch/config/aip_xx1/4946/livox_front_left_bd_code.param.yaml deleted file mode 100644 index 923c14d1b3..0000000000 --- a/sensing_launch/config/aip_xx1/4946/livox_front_left_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200104351' diff --git a/sensing_launch/config/aip_xx1/4946/livox_front_right_bd_code.param.yaml b/sensing_launch/config/aip_xx1/4946/livox_front_right_bd_code.param.yaml deleted file mode 100644 index c1b6830e85..0000000000 --- a/sensing_launch/config/aip_xx1/4946/livox_front_right_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200104681' diff --git a/sensing_launch/config/aip_xx1/8676/livox_front_left_bd_code.param.yaml b/sensing_launch/config/aip_xx1/8676/livox_front_left_bd_code.param.yaml deleted file mode 100644 index 846e26b93c..0000000000 --- a/sensing_launch/config/aip_xx1/8676/livox_front_left_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200102921' diff --git a/sensing_launch/config/aip_xx1/8676/livox_front_right_bd_code.param.yaml b/sensing_launch/config/aip_xx1/8676/livox_front_right_bd_code.param.yaml deleted file mode 100644 index d142ada27e..0000000000 --- a/sensing_launch/config/aip_xx1/8676/livox_front_right_bd_code.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - cmdline_input_bd_code: '1HDDH1200104201' diff --git a/vehicle_launch/config/1089/accel_map.csv b/vehicle_launch/config/1089/accel_map.csv deleted file mode 100644 index c871dee542..0000000000 --- a/vehicle_launch/config/1089/accel_map.csv +++ /dev/null @@ -1,7 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 -0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 -0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 -0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 -0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/1089/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/1089/aip_xx1/sensor_kit_calibration.yaml deleted file mode 100644 index 17e98cab8e..0000000000 --- a/vehicle_launch/config/1089/aip_xx1/sensor_kit_calibration.yaml +++ /dev/null @@ -1,91 +0,0 @@ -sensor_kit_base_link2camera0: - x: 0.215 - y: 0.031 - z: -0.024 - roll: -0.010 - pitch: 0.002 - yaw: 0.041 -sensor_kit_base_link2camera1: - x: -0.111 - y: -0.020 - z: -0.084 - roll: -0.010 - pitch: -0.016 - yaw: -3.106 -sensor_kit_base_link2camera2: - x: 0.087 - y: 0.581 - z: -0.274 - roll: -0.008 - pitch: 0.354 - yaw: 1.101 -sensor_kit_base_link2camera3: - x: -0.122 - y: 0.570 - z: -0.254 - roll: 0.010 - pitch: 0.353 - yaw: 2.152 -sensor_kit_base_link2camera4: - x: 0.083 - y: -0.580 - z: -0.234 - roll: 0.003 - pitch: 0.359 - yaw: -0.981 -sensor_kit_base_link2camera5: - x: -0.078 - y: -0.565 - z: -0.254 - roll: -0.021 - pitch: 0.369 - yaw: -2.036 -sensor_kit_base_link2traffic_light_right_camera: - x: 0.520 - y: 0.052 - z: -0.144 - roll: 0.00 - pitch: 0.027 - yaw: 0.045 -sensor_kit_base_link2traffic_light_left_camera: - x: 0.431 - y: -0.148 - z: -0.135 - roll: 0.00 - pitch: 0.038 - yaw: 0.043 -sensor_kit_base_link2velodyne_top_base_link: - x: 0.0 - y: 0.0 - z: 0.0 - roll: 0.0 - pitch: 0.0 - yaw: 1.575 -sensor_kit_base_link2velodyne_left_base_link: - x: -0.017 - y: 0.598 - z: -0.301 - roll: -0.023 - pitch: 0.71 - yaw: 1.591 -sensor_kit_base_link2velodyne_right_base_link: - x: -0.027 - y: -0.552 - z: -0.294 - roll: -0.016 - pitch: 0.708 - yaw: -1.543 -sensor_kit_base_link2gnss: - x: -0.1 - y: 0.0 - z: -0.2 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 -sensor_kit_base_link2imu_tamagawa: - x: 0.0 - y: 0.0 - z: 0.0 - roll: 3.14159265359 - pitch: 0.0 - yaw: 3.14159265359 \ No newline at end of file diff --git a/vehicle_launch/config/1089/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/1089/aip_xx1/sensors_calibration.yaml deleted file mode 100644 index 3e7c5d50b6..0000000000 --- a/vehicle_launch/config/1089/aip_xx1/sensors_calibration.yaml +++ /dev/null @@ -1,28 +0,0 @@ -base_link2sensor_kit_base_link: - x: 0.6895 - y: 0.0 - z: 2.10 - roll: 0.0 - pitch: -0.02 - yaw: -0.059 -base_link2livox_front_right_base_link: - x: 3.38 - y: -0.65 - z: 0.424839 - roll: 3.1287 - pitch: -3.13127 - yaw: 2.25 -base_link2livox_front_left_base_link: - x: 3.38 - y: 0.672172 - z: 0.409508 - roll: 0.01 - pitch: -0.00851071 - yaw: 0.852876 -base_link2velodyne_rear_base_link: - x: -0.40 - y: 0.02 - z: 1.67 - roll: -3.143 - pitch: 2.435 - yaw: 0.00 \ No newline at end of file diff --git a/vehicle_launch/config/1089/brake_map.csv b/vehicle_launch/config/1089/brake_map.csv deleted file mode 100644 index bc2a195901..0000000000 --- a/vehicle_launch/config/1089/brake_map.csv +++ /dev/null @@ -1,10 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 -0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 -0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 -0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 -0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 -0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 -0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 -0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/1089/driver.param.yaml b/vehicle_launch/config/1089/driver.param.yaml deleted file mode 100644 index 609d2c7a0d..0000000000 --- a/vehicle_launch/config/1089/driver.param.yaml +++ /dev/null @@ -1,4 +0,0 @@ -/**: - ros__parameters: - vehicle_type: "LEXUS_RX_450H" - frame_id: "pacmod" diff --git a/vehicle_launch/config/1089/pacmod.param.yaml b/vehicle_launch/config/1089/pacmod.param.yaml deleted file mode 100644 index 590c0542eb..0000000000 --- a/vehicle_launch/config/1089/pacmod.param.yaml +++ /dev/null @@ -1,24 +0,0 @@ -/**: - ros__parameters: - base_frame_id: "base_link" - command_timeout_ms: 1000 - loop_rate: 30.0 - emergency_brake: 0.95 - max_throttle: 0.4 - max_brake: 0.8 - max_steering_wheel: 11.0 - min_steering_wheel: -11.0 - max_steering_wheel_rate: 3.5 - min_steering_wheel_rate: 1.0 - steering_offset: -0.004 - enable_steering_rate_control: false - vgr_coef_a: 15.713 - vgr_coef_b: 0.053 - vgr_coef_c: 0.042 - accel_pedal_offset: 0.0 - brake_pedal_offset: 0.0 - - # steer rotation rate limiter - low_vel_thresh: 0.83 # 3kmh - steering_wheel_rate_stopped: 2.2 - steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/1089/reader.param.yaml b/vehicle_launch/config/1089/reader.param.yaml deleted file mode 100644 index 6cecd7a7c8..0000000000 --- a/vehicle_launch/config/1089/reader.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 66605 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/1089/writer.param.yaml b/vehicle_launch/config/1089/writer.param.yaml deleted file mode 100644 index 6cecd7a7c8..0000000000 --- a/vehicle_launch/config/1089/writer.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 66605 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/1090/accel_map.csv b/vehicle_launch/config/1090/accel_map.csv deleted file mode 100644 index c871dee542..0000000000 --- a/vehicle_launch/config/1090/accel_map.csv +++ /dev/null @@ -1,7 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 -0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 -0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 -0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 -0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/1090/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/1090/aip_xx1/sensor_kit_calibration.yaml deleted file mode 100644 index 021cfffe54..0000000000 --- a/vehicle_launch/config/1090/aip_xx1/sensor_kit_calibration.yaml +++ /dev/null @@ -1,91 +0,0 @@ -sensor_kit_base_link2camera0: - pitch: 0.002 - roll: -0.01 - x: 0.215 - y: 0.031 - yaw: 0.032 - z: -0.024 -sensor_kit_base_link2camera1: - pitch: -0.0 - roll: -0.01 - x: -0.111 - y: -0.02 - yaw: -3.1 - z: -0.084 -sensor_kit_base_link2camera2: - pitch: 0.354 - roll: -0.008 - x: 0.087 - y: 0.581 - yaw: 1.075 - z: -0.274 -sensor_kit_base_link2camera3: - pitch: 0.39 - roll: 0.01 - x: -0.122 - y: 0.57 - yaw: 2.134 - z: -0.254 -sensor_kit_base_link2camera4: - pitch: 0.39 - roll: 0.003 - x: 0.083 - y: -0.58 - yaw: -1.01 - z: -0.234 -sensor_kit_base_link2camera5: - pitch: 0.365 - roll: -0.021 - x: -0.078 - y: -0.565 - yaw: -2.074 - z: -0.254 -sensor_kit_base_link2gnss: - pitch: 0.0 - roll: 0.0 - x: -0.1 - y: 0.0 - yaw: 0.0 - z: -0.2 -sensor_kit_base_link2imu_tamagawa: - pitch: 0.0 - roll: 3.14159265359 - x: 0.0 - y: 0.0 - yaw: 3.14159265359 - z: 0.0 -sensor_kit_base_link2traffic_light_left_camera: - pitch: 0.0 - roll: 0.0 - x: 0.431 - y: -0.148 - yaw: 0.044 - z: -0.135 -sensor_kit_base_link2traffic_light_right_camera: - pitch: -0.0128 - roll: 0.0 - x: 0.52 - y: 0.052 - yaw: 0.028 - z: -0.144 -sensor_kit_base_link2velodyne_left_base_link: - pitch: 0.712 - roll: -0.02 - x: -0.015 - y: 0.5 - yaw: 1.577 - z: -0.35 -sensor_kit_base_link2velodyne_right_base_link: - pitch: 0.69 - roll: -0.0285 - x: -0.027 - y: -0.65 - yaw: -1.579 - z: -0.294 -sensor_kit_base_link2velodyne_top_base_link: - pitch: 0.0 - roll: 0.0 - x: 0.0 - y: 0.0 - yaw: 1.575 - z: 0.0 diff --git a/vehicle_launch/config/1090/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/1090/aip_xx1/sensors_calibration.yaml deleted file mode 100644 index 6cbf687571..0000000000 --- a/vehicle_launch/config/1090/aip_xx1/sensors_calibration.yaml +++ /dev/null @@ -1,28 +0,0 @@ -base_link2livox_front_left_base_link: - pitch: -0.007 - roll: -0.026 - x: 3.38 - y: 0.67 - yaw: 0.803 - z: 0.31 -base_link2livox_front_right_base_link: - pitch: -3.107 - roll: 3.146 - x: 3.34 - y: -0.72 - yaw: 2.264 - z: 0.335 -base_link2sensor_kit_base_link: - pitch: -0.02 - roll: 0.0 - x: 0.6895 - y: 0.0 - yaw: -0.04 - z: 2.1 -base_link2velodyne_rear_base_link: - pitch: 2.425 - roll: -3.14 - x: -0.34 - y: 0.0 - yaw: -0.013 - z: 1.58 diff --git a/vehicle_launch/config/1090/brake_map.csv b/vehicle_launch/config/1090/brake_map.csv deleted file mode 100644 index bc2a195901..0000000000 --- a/vehicle_launch/config/1090/brake_map.csv +++ /dev/null @@ -1,10 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 -0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 -0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 -0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 -0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 -0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 -0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 -0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/1090/driver.param.yaml b/vehicle_launch/config/1090/driver.param.yaml deleted file mode 100644 index 609d2c7a0d..0000000000 --- a/vehicle_launch/config/1090/driver.param.yaml +++ /dev/null @@ -1,4 +0,0 @@ -/**: - ros__parameters: - vehicle_type: "LEXUS_RX_450H" - frame_id: "pacmod" diff --git a/vehicle_launch/config/1090/pacmod.param.yaml b/vehicle_launch/config/1090/pacmod.param.yaml deleted file mode 100644 index 1500c5ff7e..0000000000 --- a/vehicle_launch/config/1090/pacmod.param.yaml +++ /dev/null @@ -1,24 +0,0 @@ -/**: - ros__parameters: - base_frame_id: "base_link" - command_timeout_ms: 1000 - loop_rate: 30.0 - emergency_brake: 0.95 - max_throttle: 0.4 - max_brake: 0.8 - max_steering_wheel: 11.0 - min_steering_wheel: -11.0 - max_steering_wheel_rate: 3.5 - min_steering_wheel_rate: 1.0 - steering_offset: -0.001 - enable_steering_rate_control: false - vgr_coef_a: 15.713 - vgr_coef_b: 0.053 - vgr_coef_c: 0.042 - accel_pedal_offset: 0.0 - brake_pedal_offset: 0.0 - - # steer rotation rate limiter - low_vel_thresh: 0.83 # 3kmh - steering_wheel_rate_stopped: 2.2 - steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/1090/reader.param.yaml b/vehicle_launch/config/1090/reader.param.yaml deleted file mode 100644 index fe719e68e4..0000000000 --- a/vehicle_launch/config/1090/reader.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 68579 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/1090/writer.param.yaml b/vehicle_launch/config/1090/writer.param.yaml deleted file mode 100644 index fe719e68e4..0000000000 --- a/vehicle_launch/config/1090/writer.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 68579 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4939/accel_map.csv b/vehicle_launch/config/4939/accel_map.csv deleted file mode 100644 index c871dee542..0000000000 --- a/vehicle_launch/config/4939/accel_map.csv +++ /dev/null @@ -1,7 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 -0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 -0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 -0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 -0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/4939/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/4939/aip_xx1/sensor_kit_calibration.yaml deleted file mode 100644 index 68805c770c..0000000000 --- a/vehicle_launch/config/4939/aip_xx1/sensor_kit_calibration.yaml +++ /dev/null @@ -1,91 +0,0 @@ -sensor_kit_base_link2camera0: - pitch: 0.007 - roll: -0.01 - x: 0.215 - y: 0.031 - yaw: 0.034 - z: -0.024 -sensor_kit_base_link2camera1: - pitch: -0.0025 - roll: -0.01 - x: -0.111 - y: -0.02 - yaw: -3.1 - z: -0.084 -sensor_kit_base_link2camera2: - pitch: 0.35 - roll: -0.008 - x: 0.087 - y: 0.581 - yaw: 1.08 - z: -0.274 -sensor_kit_base_link2camera3: - pitch: 0.354 - roll: 0.01 - x: -0.122 - y: 0.57 - yaw: 2.141 - z: -0.254 -sensor_kit_base_link2camera4: - pitch: 0.349 - roll: -0.002 - x: 0.083 - y: -0.58 - yaw: -1.013 - z: -0.234 -sensor_kit_base_link2camera5: - pitch: 0.339 - roll: -0.012 - x: -0.078 - y: -0.565 - yaw: -2.055 - z: -0.254 -sensor_kit_base_link2gnss: - pitch: 0.0 - roll: 0.0 - x: -0.1 - y: 0.0 - yaw: 0.0 - z: -0.2 -sensor_kit_base_link2imu_tamagawa: - pitch: 0.0 - roll: 3.14159265359 - x: 0.0 - y: 0.0 - yaw: 3.14159265359 - z: 0.0 -sensor_kit_base_link2traffic_light_left_camera: - pitch: -0.012 - roll: 0.0 - x: 0.431 - y: -0.148 - yaw: 0.044 - z: -0.135 -sensor_kit_base_link2traffic_light_right_camera: - pitch: -0.01 - roll: 0.0 - x: 0.52 - y: 0.052 - yaw: 0.022 - z: -0.144 -sensor_kit_base_link2velodyne_left_base_link: - pitch: 0.698 - roll: -0.015 - x: -0.03 - y: 0.57 - yaw: 1.578 - z: -0.33 -sensor_kit_base_link2velodyne_right_base_link: - pitch: 0.693 - roll: -0.021 - x: 0.01 - y: -0.565 - yaw: -1.56 - z: -0.303 -sensor_kit_base_link2velodyne_top_base_link: - pitch: 0.0 - roll: 0.0 - x: 0.0 - y: 0.0 - yaw: 1.575 - z: 0.0 diff --git a/vehicle_launch/config/4939/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/4939/aip_xx1/sensors_calibration.yaml deleted file mode 100644 index 19c397b0c4..0000000000 --- a/vehicle_launch/config/4939/aip_xx1/sensors_calibration.yaml +++ /dev/null @@ -1,28 +0,0 @@ -base_link2livox_front_left_base_link: - pitch: -0.006 - roll: -0.0245 - x: 3.35 - y: 0.715 - yaw: 0.852 - z: 0.315 -base_link2livox_front_right_base_link: - pitch: -3.117 - roll: 3.148 - x: 3.32 - y: -0.71 - yaw: 2.262 - z: 0.31 -base_link2sensor_kit_base_link: - pitch: -0.02 - roll: 0.0 - x: 0.6895 - y: 0.0 - yaw: -0.0405 - z: 2.1 -base_link2velodyne_rear_base_link: - pitch: 2.42 - roll: -3.16 - x: -0.35 - y: 0.01 - yaw: -0.028 - z: 1.6 diff --git a/vehicle_launch/config/4939/brake_map.csv b/vehicle_launch/config/4939/brake_map.csv deleted file mode 100644 index bc2a195901..0000000000 --- a/vehicle_launch/config/4939/brake_map.csv +++ /dev/null @@ -1,10 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 -0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 -0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 -0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 -0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 -0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 -0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 -0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/4939/driver.param.yaml b/vehicle_launch/config/4939/driver.param.yaml deleted file mode 100644 index 609d2c7a0d..0000000000 --- a/vehicle_launch/config/4939/driver.param.yaml +++ /dev/null @@ -1,4 +0,0 @@ -/**: - ros__parameters: - vehicle_type: "LEXUS_RX_450H" - frame_id: "pacmod" diff --git a/vehicle_launch/config/4939/pacmod.param.yaml b/vehicle_launch/config/4939/pacmod.param.yaml deleted file mode 100644 index 590c0542eb..0000000000 --- a/vehicle_launch/config/4939/pacmod.param.yaml +++ /dev/null @@ -1,24 +0,0 @@ -/**: - ros__parameters: - base_frame_id: "base_link" - command_timeout_ms: 1000 - loop_rate: 30.0 - emergency_brake: 0.95 - max_throttle: 0.4 - max_brake: 0.8 - max_steering_wheel: 11.0 - min_steering_wheel: -11.0 - max_steering_wheel_rate: 3.5 - min_steering_wheel_rate: 1.0 - steering_offset: -0.004 - enable_steering_rate_control: false - vgr_coef_a: 15.713 - vgr_coef_b: 0.053 - vgr_coef_c: 0.042 - accel_pedal_offset: 0.0 - brake_pedal_offset: 0.0 - - # steer rotation rate limiter - low_vel_thresh: 0.83 # 3kmh - steering_wheel_rate_stopped: 2.2 - steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/4939/reader.param.yaml b/vehicle_launch/config/4939/reader.param.yaml deleted file mode 100644 index fe719e68e4..0000000000 --- a/vehicle_launch/config/4939/reader.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 68579 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4939/writer.param.yaml b/vehicle_launch/config/4939/writer.param.yaml deleted file mode 100644 index fe719e68e4..0000000000 --- a/vehicle_launch/config/4939/writer.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 68579 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4940/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/4940/aip_xx1/sensor_kit_calibration.yaml deleted file mode 100644 index 3de5471173..0000000000 --- a/vehicle_launch/config/4940/aip_xx1/sensor_kit_calibration.yaml +++ /dev/null @@ -1,91 +0,0 @@ -sensor_kit_base_link2camera0: - x: 0.10731 - y: 0.56343 - z: -0.27697 - roll: -0.025 - pitch: 0.315 - yaw: 1.035 -sensor_kit_base_link2camera1: - x: -0.10731 - y: -0.56343 - z: -0.27697 - roll: -0.025 - pitch: 0.32 - yaw: -2.12 -sensor_kit_base_link2camera2: - x: 0.10731 - y: -0.56343 - z: -0.27697 - roll: -0.00 - pitch: 0.335 - yaw: -1.04 -sensor_kit_base_link2camera3: - x: -0.10731 - y: 0.56343 - z: -0.27697 - roll: 0.0 - pitch: 0.325 - yaw: 2.0943951 -sensor_kit_base_link2camera4: - x: 0.07356 - y: 0.0 - z: -0.0525 - roll: 0.0 - pitch: -0.03 - yaw: -0.005 -sensor_kit_base_link2camera5: - x: -0.07356 - y: 0.0 - z: -0.0525 - roll: 0.0 - pitch: -0.01 - yaw: 3.125 -sensor_kit_base_link2traffic_light_right_camera: - x: 0.05 - y: -0.0175 - z: -0.1 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 -sensor_kit_base_link2traffic_light_left_camera: - x: 0.05 - y: 0.0175 - z: -0.1 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 -sensor_kit_base_link2velodyne_top_base_link: - x: 0.0 - y: 0.0 - z: 0.0 - roll: 0.0 - pitch: 0.0 - yaw: 1.575 -sensor_kit_base_link2velodyne_left_base_link: - x: 0.0 - y: 0.56362 - z: -0.30555 - roll: -0.01 - pitch: 0.71 - yaw: 1.580 -sensor_kit_base_link2velodyne_right_base_link: - x: 0.0 - y: -0.56362 - z: -0.30555 - roll: -0.01 - pitch: 0.71 - yaw: -1.580 -sensor_kit_base_link2gnss: - x: -0.1 - y: 0.0 - z: -0.2 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 -sensor_kit_base_link2imu_tamagawa: - x: 0.0 - y: 0.0 - z: 0.0 - roll: 3.14159265359 - pitch: 0.0 - yaw: 3.14159265359 diff --git a/vehicle_launch/config/4940/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/4940/aip_xx1/sensors_calibration.yaml deleted file mode 100644 index 2584c3f9bc..0000000000 --- a/vehicle_launch/config/4940/aip_xx1/sensors_calibration.yaml +++ /dev/null @@ -1,28 +0,0 @@ -base_link2sensor_kit_base_link: - x: 0.75 - y: 0.0 - z: 2.1 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 -base_link2livox_front_right_base_link: - x: 3.290 - y: -0.65485 - z: 0.3216 - roll: 0.0 - pitch: 0.0 - yaw: -0.872664444 -base_link2livox_front_left_base_link: - x: 3.290 - y: 0.65485 - z: 0.3016 - roll: -0.021 - pitch: 0.05 - yaw: 0.872664444 -base_link2velodyne_rear_base_link: - x: -0.358 - y: 0.0 - z: 1.631 - roll: -0.02 - pitch: 0.7281317 - yaw: 3.141592 diff --git a/vehicle_launch/config/4940/driver.param.yaml b/vehicle_launch/config/4940/driver.param.yaml deleted file mode 100644 index 609d2c7a0d..0000000000 --- a/vehicle_launch/config/4940/driver.param.yaml +++ /dev/null @@ -1,4 +0,0 @@ -/**: - ros__parameters: - vehicle_type: "LEXUS_RX_450H" - frame_id: "pacmod" diff --git a/vehicle_launch/config/4940/pacmod.param.yaml b/vehicle_launch/config/4940/pacmod.param.yaml deleted file mode 100644 index 35838251e0..0000000000 --- a/vehicle_launch/config/4940/pacmod.param.yaml +++ /dev/null @@ -1,24 +0,0 @@ -/**: - ros__parameters: - base_frame_id: "base_link" - command_timeout_ms: 1000 - loop_rate: 30.0 - emergency_brake: 0.7 - max_throttle: 0.4 - max_brake: 0.8 - max_steering_wheel: 11.0 - min_steering_wheel: -11.0 - max_steering_wheel_rate: 3.5 - min_steering_wheel_rate: 1.0 - steering_offset: 0.0 - enable_steering_rate_control: false - vgr_coef_a: 15.713 - vgr_coef_b: 0.053 - vgr_coef_c: 0.042 - accel_pedal_offset: 0.0 - brake_pedal_offset: 0.0 - - # steer rotation rate limiter - low_vel_thresh: 0.83 # 3kmh - steering_wheel_rate_stopped: 2.2 - steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/4940/reader.param.yaml b/vehicle_launch/config/4940/reader.param.yaml deleted file mode 100644 index 2853241f61..0000000000 --- a/vehicle_launch/config/4940/reader.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 10051 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4940/writer.param.yaml b/vehicle_launch/config/4940/writer.param.yaml deleted file mode 100644 index 2853241f61..0000000000 --- a/vehicle_launch/config/4940/writer.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 10051 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4941/accel_map.csv b/vehicle_launch/config/4941/accel_map.csv deleted file mode 100644 index c871dee542..0000000000 --- a/vehicle_launch/config/4941/accel_map.csv +++ /dev/null @@ -1,7 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 -0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 -0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 -0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 -0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/4941/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/4941/aip_xx1/sensor_kit_calibration.yaml deleted file mode 100644 index 94c67c4dec..0000000000 --- a/vehicle_launch/config/4941/aip_xx1/sensor_kit_calibration.yaml +++ /dev/null @@ -1,91 +0,0 @@ -sensor_kit_base_link2camera0: - x: 0.250 - y: 0.031 - z: -0.034 - roll: -0.010 - pitch: 0.021 - yaw: 0.020 -sensor_kit_base_link2camera1: - x: -0.080 - y: -0.021 - z: -0.124 - roll: 0.011 - pitch: -0.004 - yaw: -3.122 -sensor_kit_base_link2camera2: - x: -0.042 - y: 0.600 - z: -0.244 - roll: -0.020 - pitch: 0.344 - yaw: 1.059 -sensor_kit_base_link2camera3: - x: -0.042 - y: 0.580 - z: -0.245 - roll: -0.023 - pitch: 0.348 - yaw: 2.136 -sensor_kit_base_link2camera4: - x: 0.072 - y: -0.580 - z: -0.244 - roll: -0.005 - pitch: 0.359 - yaw: -1.024 -sensor_kit_base_link2camera5: - x: -0.058 - y: -0.580 - z: -0.265 - roll: -0.008 - pitch: 0.387 - yaw: -2.069 -sensor_kit_base_link2traffic_light_right_camera: - x: 0.431 - y: -0.048 - z: -0.164 - roll: 0.006 - pitch: 0.03 - yaw: 0.015 -sensor_kit_base_link2traffic_light_left_camera: - x: 0.460 - y: 0.020 - z: -0.144 - roll: -0.005 - pitch: -0.01 - yaw: 0.00 -sensor_kit_base_link2velodyne_top_base_link: - x: 0.0 - y: 0.0 - z: 0.0 - roll: 0.0 - pitch: 0.0 - yaw: 1.575 -sensor_kit_base_link2velodyne_left_base_link: - x: -0.006 - y: 0.603 - z: -0.291 - roll: -0.023 - pitch: 0.702 - yaw: 1.565 -sensor_kit_base_link2velodyne_right_base_link: - x: 0.000 - y: -0.593 - z: -0.299 - roll: 0.004 - pitch: 0.719 - yaw: -1.565 -sensor_kit_base_link2gnss: - x: -0.1 - y: 0.0 - z: -0.2 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 -sensor_kit_base_link2imu_tamagawa: - x: 0.0 - y: 0.0 - z: 0.0 - roll: 3.14159265359 - pitch: 0.0 - yaw: 3.14159265359 diff --git a/vehicle_launch/config/4941/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/4941/aip_xx1/sensors_calibration.yaml deleted file mode 100644 index 597961e4f5..0000000000 --- a/vehicle_launch/config/4941/aip_xx1/sensors_calibration.yaml +++ /dev/null @@ -1,28 +0,0 @@ -base_link2sensor_kit_base_link: - x: 0.6895 - y: 0.0 - z: 2.10 - roll: 0.0 - pitch: -0.017 - yaw: -0.022 -base_link2livox_front_right_base_link: - x: 3.34496 - y: -0.71084 - z: 0.44819 - roll: -3.12827 - pitch: -3.11198 - yaw: 2.2631 -base_link2livox_front_left_base_link: - x: 3.30612 - y: 0.730869 - z: 0.467323 - roll: -0.0243998 - pitch: 0.00246566 - yaw: 0.834616 -base_link2velodyne_rear_base_link: - x: -0.463376 - y: -0.0191915 - z: 1.65 - roll: -0.0258193 - pitch: 0.738549 - yaw: 3.10169 \ No newline at end of file diff --git a/vehicle_launch/config/4941/brake_map.csv b/vehicle_launch/config/4941/brake_map.csv deleted file mode 100644 index bc2a195901..0000000000 --- a/vehicle_launch/config/4941/brake_map.csv +++ /dev/null @@ -1,10 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 -0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 -0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 -0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 -0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 -0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 -0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 -0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/4941/driver.param.yaml b/vehicle_launch/config/4941/driver.param.yaml deleted file mode 100644 index 609d2c7a0d..0000000000 --- a/vehicle_launch/config/4941/driver.param.yaml +++ /dev/null @@ -1,4 +0,0 @@ -/**: - ros__parameters: - vehicle_type: "LEXUS_RX_450H" - frame_id: "pacmod" diff --git a/vehicle_launch/config/4941/pacmod.param.yaml b/vehicle_launch/config/4941/pacmod.param.yaml deleted file mode 100644 index 24ce450fde..0000000000 --- a/vehicle_launch/config/4941/pacmod.param.yaml +++ /dev/null @@ -1,24 +0,0 @@ -/**: - ros__parameters: - base_frame_id: "base_link" - command_timeout_ms: 1000 - loop_rate: 30.0 - emergency_brake: 0.95 - max_throttle: 0.4 - max_brake: 0.8 - max_steering_wheel: 11.0 - min_steering_wheel: -11.0 - max_steering_wheel_rate: 3.5 - min_steering_wheel_rate: 1.0 - steering_offset: 0.0 - enable_steering_rate_control: false - vgr_coef_a: 15.713 - vgr_coef_b: 0.053 - vgr_coef_c: 0.042 - accel_pedal_offset: 0.0 - brake_pedal_offset: 0.0 - - # steer rotation rate limiter - low_vel_thresh: 0.83 # 3kmh - steering_wheel_rate_stopped: 2.2 - steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/4941/reader.param.yaml b/vehicle_launch/config/4941/reader.param.yaml deleted file mode 100644 index 30d927112d..0000000000 --- a/vehicle_launch/config/4941/reader.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 78810 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4941/writer.param.yaml b/vehicle_launch/config/4941/writer.param.yaml deleted file mode 100644 index 30d927112d..0000000000 --- a/vehicle_launch/config/4941/writer.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 78810 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4943/accel_map.csv b/vehicle_launch/config/4943/accel_map.csv deleted file mode 100644 index c871dee542..0000000000 --- a/vehicle_launch/config/4943/accel_map.csv +++ /dev/null @@ -1,7 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 -0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 -0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 -0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 -0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/4943/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/4943/aip_xx1/sensor_kit_calibration.yaml deleted file mode 100644 index fe1fddd916..0000000000 --- a/vehicle_launch/config/4943/aip_xx1/sensor_kit_calibration.yaml +++ /dev/null @@ -1,91 +0,0 @@ -sensor_kit_base_link2camera0: - pitch: 0.002 - roll: -0.01 - x: 0.215 - y: 0.031 - yaw: 0.025 - z: -0.024 -sensor_kit_base_link2camera1: - pitch: 0.01 - roll: -0.01 - x: -0.111 - y: -0.02 - yaw: -3.11 - z: -0.084 -sensor_kit_base_link2camera2: - pitch: 0.37 - roll: -0.008 - x: 0.087 - y: 0.581 - yaw: 1.05 - z: -0.274 -sensor_kit_base_link2camera3: - pitch: 0.353 - roll: 0.01 - x: -0.122 - y: 0.57 - yaw: 2.132 - z: -0.254 -sensor_kit_base_link2camera4: - pitch: 0.36 - roll: 0.003 - x: 0.083 - y: -0.58 - yaw: -1.02 - z: -0.234 -sensor_kit_base_link2camera5: - pitch: 0.35 - roll: -0.021 - x: -0.078 - y: -0.565 - yaw: -2.09 - z: -0.254 -sensor_kit_base_link2gnss: - pitch: 0.0 - roll: 0.0 - x: -0.1 - y: 0.0 - yaw: 0.0 - z: -0.2 -sensor_kit_base_link2imu_tamagawa: - pitch: 0.0 - roll: 3.14159265359 - x: 0.0 - y: 0.0 - yaw: 3.14159265359 - z: 0.0 -sensor_kit_base_link2traffic_light_left_camera: - pitch: 0.0 - roll: 0.0 - x: 0.431 - y: -0.148 - yaw: 0.038 - z: -0.135 -sensor_kit_base_link2traffic_light_right_camera: - pitch: 0.005 - roll: 0.0 - x: 0.52 - y: 0.052 - yaw: 0.028 - z: -0.144 -sensor_kit_base_link2velodyne_left_base_link: - pitch: 0.71 - roll: -0.023 - x: -0.017 - y: 0.598 - yaw: 1.555 - z: -0.301 -sensor_kit_base_link2velodyne_right_base_link: - pitch: 0.708 - roll: -0.016 - x: -0.027 - y: -0.552 - yaw: -1.58 - z: -0.294 -sensor_kit_base_link2velodyne_top_base_link: - pitch: 0.0 - roll: 0.0 - x: 0.0 - y: 0.0 - yaw: 1.575 - z: 0.0 diff --git a/vehicle_launch/config/4943/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/4943/aip_xx1/sensors_calibration.yaml deleted file mode 100644 index 939e451588..0000000000 --- a/vehicle_launch/config/4943/aip_xx1/sensors_calibration.yaml +++ /dev/null @@ -1,28 +0,0 @@ -base_link2livox_front_left_base_link: - pitch: 0.0 - roll: -0.01 - x: 3.36 - y: 0.68 - yaw: 0.852876 - z: 0.32 -base_link2livox_front_right_base_link: - pitch: -3.11 - roll: 3.1287 - x: 3.36 - y: -0.68 - yaw: 2.255 - z: 0.35 -base_link2sensor_kit_base_link: - pitch: -0.02 - roll: 0.0 - x: 0.6895 - y: 0.0 - yaw: -0.021 - z: 2.1 -base_link2velodyne_rear_base_link: - pitch: 2.435 - roll: -3.143 - x: -0.4 - y: 0.02 - yaw: -0.02 - z: 1.67 diff --git a/vehicle_launch/config/4943/brake_map.csv b/vehicle_launch/config/4943/brake_map.csv deleted file mode 100644 index bc2a195901..0000000000 --- a/vehicle_launch/config/4943/brake_map.csv +++ /dev/null @@ -1,10 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 -0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 -0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 -0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 -0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 -0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 -0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 -0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/4943/driver.param.yaml b/vehicle_launch/config/4943/driver.param.yaml deleted file mode 100644 index 609d2c7a0d..0000000000 --- a/vehicle_launch/config/4943/driver.param.yaml +++ /dev/null @@ -1,4 +0,0 @@ -/**: - ros__parameters: - vehicle_type: "LEXUS_RX_450H" - frame_id: "pacmod" diff --git a/vehicle_launch/config/4943/pacmod.param.yaml b/vehicle_launch/config/4943/pacmod.param.yaml deleted file mode 100644 index f025ea1a2d..0000000000 --- a/vehicle_launch/config/4943/pacmod.param.yaml +++ /dev/null @@ -1,24 +0,0 @@ -/**: - ros__parameters: - base_frame_id: "base_link" - command_timeout_ms: 1000 - loop_rate: 30.0 - emergency_brake: 0.95 - max_throttle: 0.4 - max_brake: 0.8 - max_steering_wheel: 11.0 - min_steering_wheel: -11.0 - max_steering_wheel_rate: 3.5 - min_steering_wheel_rate: 1.0 - steering_offset: 0.0 - enable_steering_rate_control: false - vgr_coef_a: 15.713 - vgr_coef_b: 0.053 - vgr_coef_c: 0.042 - accel_pedal_offset: 0.0 - brake_pedal_offset: -0.03 - - # steer rotation rate limiter - low_vel_thresh: 0.83 # 3kmh - steering_wheel_rate_stopped: 2.2 - steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/4943/reader.param.yaml b/vehicle_launch/config/4943/reader.param.yaml deleted file mode 100644 index 46fbbc391b..0000000000 --- a/vehicle_launch/config/4943/reader.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 78811 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4943/writer.param.yaml b/vehicle_launch/config/4943/writer.param.yaml deleted file mode 100644 index 46fbbc391b..0000000000 --- a/vehicle_launch/config/4943/writer.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 78811 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4944/accel_map.csv b/vehicle_launch/config/4944/accel_map.csv deleted file mode 100644 index c871dee542..0000000000 --- a/vehicle_launch/config/4944/accel_map.csv +++ /dev/null @@ -1,7 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 -0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 -0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 -0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 -0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/4944/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/4944/aip_xx1/sensor_kit_calibration.yaml deleted file mode 100644 index 1d8dafa2e0..0000000000 --- a/vehicle_launch/config/4944/aip_xx1/sensor_kit_calibration.yaml +++ /dev/null @@ -1,91 +0,0 @@ -sensor_kit_base_link2camera0: - pitch: 0.0 - roll: 0.005 - x: 0.215 - y: 0.031 - yaw: 0.038 - z: -0.024 -sensor_kit_base_link2camera1: - pitch: -0.005 - roll: -0.01 - x: -0.111 - y: -0.02 - yaw: -3.105 - z: -0.084 -sensor_kit_base_link2camera2: - pitch: 0.352 - roll: -0.008 - x: 0.087 - y: 0.581 - yaw: 1.07 - z: -0.274 -sensor_kit_base_link2camera3: - pitch: 0.355 - roll: 0.01 - x: -0.122 - y: 0.57 - yaw: 2.12 - z: -0.254 -sensor_kit_base_link2camera4: - pitch: 0.365 - roll: 0.004 - x: 0.083 - y: -0.58 - yaw: -1.01 - z: -0.234 -sensor_kit_base_link2camera5: - pitch: 0.375 - roll: -0.021 - x: -0.078 - y: -0.565 - yaw: -2.075 - z: -0.254 -sensor_kit_base_link2gnss: - pitch: 0.0 - roll: 0.0 - x: -0.1 - y: 0.0 - yaw: 0.0 - z: -0.2 -sensor_kit_base_link2imu_tamagawa: - pitch: 0.0 - roll: 3.14159265359 - x: 0.0 - y: 0.0 - yaw: 3.14159265359 - z: 0.0 -sensor_kit_base_link2traffic_light_left_camera: - pitch: 0.0 - roll: 0.0 - x: 0.431 - y: -0.05 - yaw: 0.055 - z: -0.135 -sensor_kit_base_link2traffic_light_right_camera: - pitch: -0.01 - roll: 0.0 - x: 0.52 - y: 0.052 - yaw: 0.042 - z: -0.144 -sensor_kit_base_link2velodyne_left_base_link: - pitch: 0.705 - roll: -0.026 - x: -0.008 - y: 0.55 - yaw: 1.575 - z: -0.32 -sensor_kit_base_link2velodyne_right_base_link: - pitch: 0.728 - roll: -0.004 - x: 0.05 - y: -0.552 - yaw: -1.56 - z: -0.325 -sensor_kit_base_link2velodyne_top_base_link: - pitch: 0.0 - roll: 0.0 - x: 0.0 - y: 0.0 - yaw: 1.575 - z: 0.0 diff --git a/vehicle_launch/config/4944/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/4944/aip_xx1/sensors_calibration.yaml deleted file mode 100644 index 7cca86d2c9..0000000000 --- a/vehicle_launch/config/4944/aip_xx1/sensors_calibration.yaml +++ /dev/null @@ -1,28 +0,0 @@ -base_link2livox_front_left_base_link: - pitch: -0.028 - roll: -0.019 - x: 3.36 - y: 0.68 - yaw: 0.858 - z: 0.34 -base_link2livox_front_right_base_link: - pitch: -3.119 - roll: 3.16 - x: 3.32 - y: -0.71 - yaw: 2.261 - z: 0.33 -base_link2sensor_kit_base_link: - pitch: -0.02 - roll: 0.0 - x: 0.6895 - y: 0.0 - yaw: -0.041 - z: 2.1 -base_link2velodyne_rear_base_link: - pitch: 2.417 - roll: -3.169 - x: -0.35 - y: -0.01 - yaw: -0.037 - z: 1.585 diff --git a/vehicle_launch/config/4944/brake_map.csv b/vehicle_launch/config/4944/brake_map.csv deleted file mode 100644 index bc2a195901..0000000000 --- a/vehicle_launch/config/4944/brake_map.csv +++ /dev/null @@ -1,10 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 -0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 -0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 -0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 -0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 -0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 -0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 -0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/4944/driver.param.yaml b/vehicle_launch/config/4944/driver.param.yaml deleted file mode 100644 index 609d2c7a0d..0000000000 --- a/vehicle_launch/config/4944/driver.param.yaml +++ /dev/null @@ -1,4 +0,0 @@ -/**: - ros__parameters: - vehicle_type: "LEXUS_RX_450H" - frame_id: "pacmod" diff --git a/vehicle_launch/config/4944/pacmod.param.yaml b/vehicle_launch/config/4944/pacmod.param.yaml deleted file mode 100644 index 244ae5ee61..0000000000 --- a/vehicle_launch/config/4944/pacmod.param.yaml +++ /dev/null @@ -1,24 +0,0 @@ -/**: - ros__parameters: - base_frame_id: "base_link" - command_timeout_ms: 1000 - loop_rate: 30.0 - emergency_brake: 0.95 - max_throttle: 0.4 - max_brake: 0.8 - max_steering_wheel: 11.0 - min_steering_wheel: -11.0 - max_steering_wheel_rate: 3.5 - min_steering_wheel_rate: 1.0 - steering_offset: -0.0011 - enable_steering_rate_control: false - vgr_coef_a: 15.713 - vgr_coef_b: 0.053 - vgr_coef_c: 0.042 - accel_pedal_offset: 0.0 - brake_pedal_offset: -0.09 - - # steer rotation rate limiter - low_vel_thresh: 0.83 # 3kmh - steering_wheel_rate_stopped: 2.2 - steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/4944/reader.param.yaml b/vehicle_launch/config/4944/reader.param.yaml deleted file mode 100644 index 93a92b3d6c..0000000000 --- a/vehicle_launch/config/4944/reader.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 78812 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4944/writer.param.yaml b/vehicle_launch/config/4944/writer.param.yaml deleted file mode 100644 index 93a92b3d6c..0000000000 --- a/vehicle_launch/config/4944/writer.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 78812 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4945/accel_map.csv b/vehicle_launch/config/4945/accel_map.csv deleted file mode 100644 index c871dee542..0000000000 --- a/vehicle_launch/config/4945/accel_map.csv +++ /dev/null @@ -1,7 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 -0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 -0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 -0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 -0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/4945/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/4945/aip_xx1/sensor_kit_calibration.yaml deleted file mode 100644 index 19b3a313bd..0000000000 --- a/vehicle_launch/config/4945/aip_xx1/sensor_kit_calibration.yaml +++ /dev/null @@ -1,91 +0,0 @@ -sensor_kit_base_link2camera0: - pitch: 0.005 - roll: -0.01 - x: 0.215 - y: 0.031 - yaw: 0.027 - z: -0.024 -sensor_kit_base_link2camera1: - pitch: 0.01 - roll: -0.01 - x: -0.111 - y: -0.02 - yaw: -3.107 - z: -0.084 -sensor_kit_base_link2camera2: - pitch: 0.375 - roll: -0.008 - x: 0.087 - y: 0.581 - yaw: 1.05 - z: -0.274 -sensor_kit_base_link2camera3: - pitch: 0.353 - roll: 0.01 - x: -0.122 - y: 0.57 - yaw: 2.14 - z: -0.254 -sensor_kit_base_link2camera4: - pitch: 0.354 - roll: 0.003 - x: 0.083 - y: -0.58 - yaw: -1.018 - z: -0.234 -sensor_kit_base_link2camera5: - pitch: 0.347 - roll: -0.021 - x: -0.078 - y: -0.565 - yaw: -2.083 - z: -0.254 -sensor_kit_base_link2gnss: - pitch: 0.0 - roll: 0.0 - x: -0.1 - y: 0.0 - yaw: 0.0 - z: -0.2 -sensor_kit_base_link2imu_tamagawa: - pitch: 0.0 - roll: 3.14159265359 - x: 0.0 - y: 0.0 - yaw: 3.14159265359 - z: 0.0 -sensor_kit_base_link2traffic_light_left_camera: - pitch: 0.003 - roll: 0.0 - x: 0.431 - y: -0.148 - yaw: 0.038 - z: -0.135 -sensor_kit_base_link2traffic_light_right_camera: - pitch: 0.005 - roll: 0.0 - x: 0.52 - y: 0.052 - yaw: 0.028 - z: -0.144 -sensor_kit_base_link2velodyne_left_base_link: - pitch: 0.705 - roll: -0.022 - x: -0.005 - y: 0.53 - yaw: 1.561 - z: -0.34 -sensor_kit_base_link2velodyne_right_base_link: - pitch: 0.712 - roll: -0.022 - x: -0.027 - y: -0.58 - yaw: -1.587 - z: -0.305 -sensor_kit_base_link2velodyne_top_base_link: - pitch: 0.0 - roll: 0.0 - x: 0.0 - y: 0.0 - yaw: 1.575 - z: 0.0 diff --git a/vehicle_launch/config/4945/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/4945/aip_xx1/sensors_calibration.yaml deleted file mode 100644 index 7fb1684d13..0000000000 --- a/vehicle_launch/config/4945/aip_xx1/sensors_calibration.yaml +++ /dev/null @@ -1,28 +0,0 @@ -base_link2livox_front_left_base_link: - pitch: -0.01 - roll: -0.015 - x: 3.36 - y: 0.68 - yaw: 0.839 - z: 0.294 -base_link2livox_front_right_base_link: - pitch: -3.115 - roll: 3.149 - x: 3.31 - y: -0.74 - yaw: 2.264 - z: 0.31 -base_link2sensor_kit_base_link: - pitch: -0.02 - roll: 0.0 - x: 0.6895 - y: 0.0 - yaw: -0.0245 - z: 2.1 -base_link2velodyne_rear_base_link: - pitch: 2.427 - roll: -3.166 - x: -0.35 - y: -0.01 - yaw: -0.04 - z: 1.595 diff --git a/vehicle_launch/config/4945/brake_map.csv b/vehicle_launch/config/4945/brake_map.csv deleted file mode 100644 index bc2a195901..0000000000 --- a/vehicle_launch/config/4945/brake_map.csv +++ /dev/null @@ -1,10 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 -0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 -0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 -0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 -0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 -0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 -0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 -0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/4945/driver.param.yaml b/vehicle_launch/config/4945/driver.param.yaml deleted file mode 100644 index 609d2c7a0d..0000000000 --- a/vehicle_launch/config/4945/driver.param.yaml +++ /dev/null @@ -1,4 +0,0 @@ -/**: - ros__parameters: - vehicle_type: "LEXUS_RX_450H" - frame_id: "pacmod" diff --git a/vehicle_launch/config/4945/pacmod.param.yaml b/vehicle_launch/config/4945/pacmod.param.yaml deleted file mode 100644 index 5d42e557b7..0000000000 --- a/vehicle_launch/config/4945/pacmod.param.yaml +++ /dev/null @@ -1,24 +0,0 @@ -/**: - ros__parameters: - base_frame_id: "base_link" - command_timeout_ms: 1000 - loop_rate: 30.0 - emergency_brake: 0.95 - max_throttle: 0.4 - max_brake: 0.8 - max_steering_wheel: 11.0 - min_steering_wheel: -11.0 - max_steering_wheel_rate: 3.5 - min_steering_wheel_rate: 1.0 - steering_offset: -0.007 - enable_steering_rate_control: false - vgr_coef_a: 15.713 - vgr_coef_b: 0.053 - vgr_coef_c: 0.042 - accel_pedal_offset: 0.0 - brake_pedal_offset: 0.00 - - # steer rotation rate limiter - low_vel_thresh: 0.83 # 3kmh - steering_wheel_rate_stopped: 2.2 - steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/4945/reader.param.yaml b/vehicle_launch/config/4945/reader.param.yaml deleted file mode 100644 index 21f8eb72da..0000000000 --- a/vehicle_launch/config/4945/reader.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 78825 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4945/writer.param.yaml b/vehicle_launch/config/4945/writer.param.yaml deleted file mode 100644 index 21f8eb72da..0000000000 --- a/vehicle_launch/config/4945/writer.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 78825 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4946/accel_map.csv b/vehicle_launch/config/4946/accel_map.csv deleted file mode 100644 index c871dee542..0000000000 --- a/vehicle_launch/config/4946/accel_map.csv +++ /dev/null @@ -1,7 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 -0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 -0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 -0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 -0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/4946/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/4946/aip_xx1/sensor_kit_calibration.yaml deleted file mode 100644 index 3ed7b68990..0000000000 --- a/vehicle_launch/config/4946/aip_xx1/sensor_kit_calibration.yaml +++ /dev/null @@ -1,91 +0,0 @@ -sensor_kit_base_link2camera0: - pitch: 0.03 - roll: -0.01 - x: 0.215 - y: 0.031 - yaw: 0.023 - z: -0.024 -sensor_kit_base_link2camera1: - pitch: 0.006 - roll: -0.01 - x: -0.111 - y: -0.02 - yaw: -3.118 - z: -0.084 -sensor_kit_base_link2camera2: - pitch: 0.335 - roll: -0.008 - x: 0.087 - y: 0.581 - yaw: 1.07 - z: -0.274 -sensor_kit_base_link2camera3: - pitch: 0.35 - roll: 0.01 - x: -0.122 - y: 0.57 - yaw: 2.125 - z: -0.254 -sensor_kit_base_link2camera4: - pitch: 0.371 - roll: 0.003 - x: 0.083 - y: -0.58 - yaw: -1.015 - z: -0.234 -sensor_kit_base_link2camera5: - pitch: 0.392 - roll: -0.005 - x: -0.078 - y: -0.565 - yaw: -2.063 - z: -0.254 -sensor_kit_base_link2gnss: - pitch: 0.0 - roll: 0.0 - x: -0.1 - y: 0.0 - yaw: 0.0 - z: -0.2 -sensor_kit_base_link2imu_tamagawa: - pitch: 0.0 - roll: 3.14159265359 - x: 0.0 - y: 0.0 - yaw: 3.14159265359 - z: 0.0 -sensor_kit_base_link2traffic_light_left_camera: - pitch: -0.007 - roll: 0.0 - x: 0.431 - y: -0.148 - yaw: 0.029 - z: -0.135 -sensor_kit_base_link2traffic_light_right_camera: - pitch: -0.018 - roll: 0.0 - x: 0.52 - y: 0.052 - yaw: 0.01 - z: -0.144 -sensor_kit_base_link2velodyne_left_base_link: - pitch: 0.71 - roll: -0.023 - x: -0.017 - y: 0.598 - yaw: 1.57 - z: -0.301 -sensor_kit_base_link2velodyne_right_base_link: - pitch: 0.708 - roll: 0.005 - x: -0.01 - y: -0.58 - yaw: -1.568 - z: -0.35 -sensor_kit_base_link2velodyne_top_base_link: - pitch: 0.0 - roll: 0.0 - x: 0.0 - y: 0.0 - yaw: 1.575 - z: 0.0 diff --git a/vehicle_launch/config/4946/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/4946/aip_xx1/sensors_calibration.yaml deleted file mode 100644 index 03ecfdff67..0000000000 --- a/vehicle_launch/config/4946/aip_xx1/sensors_calibration.yaml +++ /dev/null @@ -1,28 +0,0 @@ -base_link2livox_front_left_base_link: - pitch: -0.01 - roll: -0.02 - x: 3.38 - y: 0.58 - yaw: 0.845 - z: 0.32 -base_link2livox_front_right_base_link: - pitch: -3.117 - roll: 3.157 - x: 3.38 - y: -0.65 - yaw: 2.243 - z: 0.33 -base_link2sensor_kit_base_link: - pitch: -0.02 - roll: 0.0 - x: 0.6895 - y: 0.0 - yaw: -0.025 - z: 2.1 -base_link2velodyne_rear_base_link: - pitch: 2.418 - roll: -3.153 - x: -0.4 - y: 0.02 - yaw: 0.0 - z: 1.6 diff --git a/vehicle_launch/config/4946/brake_map.csv b/vehicle_launch/config/4946/brake_map.csv deleted file mode 100644 index bc2a195901..0000000000 --- a/vehicle_launch/config/4946/brake_map.csv +++ /dev/null @@ -1,10 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 -0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 -0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 -0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 -0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 -0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 -0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 -0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/4946/driver.param.yaml b/vehicle_launch/config/4946/driver.param.yaml deleted file mode 100644 index 609d2c7a0d..0000000000 --- a/vehicle_launch/config/4946/driver.param.yaml +++ /dev/null @@ -1,4 +0,0 @@ -/**: - ros__parameters: - vehicle_type: "LEXUS_RX_450H" - frame_id: "pacmod" diff --git a/vehicle_launch/config/4946/pacmod.param.yaml b/vehicle_launch/config/4946/pacmod.param.yaml deleted file mode 100644 index 309a1c1cfb..0000000000 --- a/vehicle_launch/config/4946/pacmod.param.yaml +++ /dev/null @@ -1,24 +0,0 @@ -/**: - ros__parameters: - base_frame_id: "base_link" - command_timeout_ms: 1000 - loop_rate: 30.0 - emergency_brake: 0.95 - max_throttle: 0.4 - max_brake: 0.8 - max_steering_wheel: 11.0 - min_steering_wheel: -11.0 - max_steering_wheel_rate: 3.5 - min_steering_wheel_rate: 1.0 - steering_offset: -0.004 - enable_steering_rate_control: false - vgr_coef_a: 15.713 - vgr_coef_b: 0.053 - vgr_coef_c: 0.042 - accel_pedal_offset: 0.0 - brake_pedal_offset: 0.03 - - # steer rotation rate limiter - low_vel_thresh: 0.83 # 3kmh - steering_wheel_rate_stopped: 2.2 - steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/4946/reader.param.yaml b/vehicle_launch/config/4946/reader.param.yaml deleted file mode 100644 index 5c4fd8ce7c..0000000000 --- a/vehicle_launch/config/4946/reader.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 78826 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/4946/writer.param.yaml b/vehicle_launch/config/4946/writer.param.yaml deleted file mode 100644 index 5c4fd8ce7c..0000000000 --- a/vehicle_launch/config/4946/writer.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 78826 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/8676/accel_map.csv b/vehicle_launch/config/8676/accel_map.csv deleted file mode 100644 index c871dee542..0000000000 --- a/vehicle_launch/config/8676/accel_map.csv +++ /dev/null @@ -1,7 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 -0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 -0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 -0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 -0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/8676/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/8676/aip_xx1/sensor_kit_calibration.yaml deleted file mode 100644 index 7d5e4d906f..0000000000 --- a/vehicle_launch/config/8676/aip_xx1/sensor_kit_calibration.yaml +++ /dev/null @@ -1,91 +0,0 @@ -sensor_kit_base_link2camera0: - pitch: -0.015 - roll: -0.01 - x: 0.215 - y: 0.031 - yaw: 0.037 - z: -0.024 -sensor_kit_base_link2camera1: - pitch: -0.016 - roll: -0.01 - x: -0.111 - y: -0.02 - yaw: -3.11 - z: -0.084 -sensor_kit_base_link2camera2: - pitch: 0.33 - roll: -0.008 - x: 0.087 - y: 0.581 - yaw: 1.08 - z: -0.274 -sensor_kit_base_link2camera3: - pitch: 0.334 - roll: -0.013 - x: -0.122 - y: 0.57 - yaw: 2.13 - z: -0.254 -sensor_kit_base_link2camera4: - pitch: 0.34 - roll: 0.003 - x: 0.083 - y: -0.58 - yaw: -1.005 - z: -0.234 -sensor_kit_base_link2camera5: - pitch: 0.353 - roll: -0.021 - x: -0.078 - y: -0.565 - yaw: -2.055 - z: -0.254 -sensor_kit_base_link2gnss: - pitch: 0.0 - roll: 0.0 - x: -0.1 - y: 0.0 - yaw: 0.0 - z: -0.2 -sensor_kit_base_link2imu_tamagawa: - pitch: 0.0 - roll: 3.14159265359 - x: 0.0 - y: 0.0 - yaw: 3.14159265359 - z: 0.0 -sensor_kit_base_link2traffic_light_left_camera: - pitch: 0.0 - roll: 0.025 - x: 0.431 - y: 0.03 - yaw: 0.04 - z: -0.135 -sensor_kit_base_link2traffic_light_right_camera: - pitch: -0.005 - roll: 0.015 - x: 0.52 - y: 0.02 - yaw: 0.045 - z: -0.144 -sensor_kit_base_link2velodyne_left_base_link: - pitch: 0.698 - roll: -0.015 - x: -0.017 - y: 0.56 - yaw: 1.579 - z: -0.301 -sensor_kit_base_link2velodyne_right_base_link: - pitch: 0.705 - roll: -0.014 - x: -0.01 - y: -0.595 - yaw: -1.565 - z: -0.317 -sensor_kit_base_link2velodyne_top_base_link: - pitch: 0.0 - roll: 0.0 - x: 0.0 - y: 0.0 - yaw: 1.575 - z: 0.0 diff --git a/vehicle_launch/config/8676/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/8676/aip_xx1/sensors_calibration.yaml deleted file mode 100644 index 219fa6756c..0000000000 --- a/vehicle_launch/config/8676/aip_xx1/sensors_calibration.yaml +++ /dev/null @@ -1,28 +0,0 @@ -base_link2livox_front_left_base_link: - pitch: -0.026 - roll: 0.014 - x: 3.38 - y: 0.672172 - yaw: 0.848 - z: 0.315 -base_link2livox_front_right_base_link: - pitch: -3.113 - roll: 3.16 - x: 3.34 - y: -0.71 - yaw: 2.271 - z: 0.305 -base_link2sensor_kit_base_link: - pitch: -0.02 - roll: 0.0 - x: 0.6895 - y: 0.0 - yaw: -0.0465 - z: 2.1 -base_link2velodyne_rear_base_link: - pitch: 2.426 - roll: -3.175 - x: -0.35 - y: 0.01 - yaw: -0.042 - z: 1.6 diff --git a/vehicle_launch/config/8676/brake_map.csv b/vehicle_launch/config/8676/brake_map.csv deleted file mode 100644 index bc2a195901..0000000000 --- a/vehicle_launch/config/8676/brake_map.csv +++ /dev/null @@ -1,10 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 -0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 -0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 -0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 -0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 -0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 -0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 -0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/8676/driver.param.yaml b/vehicle_launch/config/8676/driver.param.yaml deleted file mode 100644 index 609d2c7a0d..0000000000 --- a/vehicle_launch/config/8676/driver.param.yaml +++ /dev/null @@ -1,4 +0,0 @@ -/**: - ros__parameters: - vehicle_type: "LEXUS_RX_450H" - frame_id: "pacmod" diff --git a/vehicle_launch/config/8676/pacmod.param.yaml b/vehicle_launch/config/8676/pacmod.param.yaml deleted file mode 100644 index 590c0542eb..0000000000 --- a/vehicle_launch/config/8676/pacmod.param.yaml +++ /dev/null @@ -1,24 +0,0 @@ -/**: - ros__parameters: - base_frame_id: "base_link" - command_timeout_ms: 1000 - loop_rate: 30.0 - emergency_brake: 0.95 - max_throttle: 0.4 - max_brake: 0.8 - max_steering_wheel: 11.0 - min_steering_wheel: -11.0 - max_steering_wheel_rate: 3.5 - min_steering_wheel_rate: 1.0 - steering_offset: -0.004 - enable_steering_rate_control: false - vgr_coef_a: 15.713 - vgr_coef_b: 0.053 - vgr_coef_c: 0.042 - accel_pedal_offset: 0.0 - brake_pedal_offset: 0.0 - - # steer rotation rate limiter - low_vel_thresh: 0.83 # 3kmh - steering_wheel_rate_stopped: 2.2 - steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/8676/reader.param.yaml b/vehicle_launch/config/8676/reader.param.yaml deleted file mode 100644 index d393260e92..0000000000 --- a/vehicle_launch/config/8676/reader.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 78838 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/8676/writer.param.yaml b/vehicle_launch/config/8676/writer.param.yaml deleted file mode 100644 index d393260e92..0000000000 --- a/vehicle_launch/config/8676/writer.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 78838 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false diff --git a/vehicle_launch/config/default/accel_map.csv b/vehicle_launch/config/default/accel_map.csv deleted file mode 100644 index c871dee542..0000000000 --- a/vehicle_launch/config/default/accel_map.csv +++ /dev/null @@ -1,7 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.836,0.57,0.379,0.17,0.08,0.07,0.068,0.027,-0.03,-0.117,-0.251 -0.2,1.129,0.863,0.672,0.542,0.4,0.38,0.361,0.32,0.263,0.176,0.042 -0.3,1.559,1.293,1.102,0.972,0.887,0.832,0.791,0.75,0.694,0.606,0.472 -0.4,2.176,1.909,1.718,1.588,1.503,1.448,1.408,1.367,1.31,1.222,1.089 -0.5,3.027,2.76,2.57,2.439,2.354,2.299,2.259,2.218,2.161,2.074,1.94 diff --git a/vehicle_launch/config/default/brake_map.csv b/vehicle_launch/config/default/brake_map.csv deleted file mode 100644 index bc2a195901..0000000000 --- a/vehicle_launch/config/default/brake_map.csv +++ /dev/null @@ -1,10 +0,0 @@ -default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 -0,0.631,0.11,-0.04,-0.04,-0.041,-0.096,-0.137,-0.178,-0.234,-0.322,-0.456 -0.1,0.466,0.08,-0.1,-0.121,-0.206,-0.261,-0.302,-0.343,-0.399,-0.487,-0.621 -0.2,0.1,0.05,-0.165,-0.296,-0.381,-0.436,-0.476,-0.517,-0.574,-0.661,-0.795 -0.3,-0.1,-0.207,-0.398,-0.528,-0.613,-0.668,-0.709,-0.75,-0.807,-0.894,-1.028 -0.4,-0.281,-0.547,-0.738,-0.868,-0.953,-1.008,-1.049,-1.09,-1.146,-1.234,-1.367 -0.5,-0.776,-1.042,-1.233,-1.364,-1.449,-1.504,-1.544,-1.585,-1.642,-1.729,-1.863 -0.6,-1.476,-1.743,-1.934,-2.064,-2.149,-2.204,-2.244,-2.285,-2.342,-2.43,-2.563 -0.7,-2.43,-2.697,-2.887,-3.018,-3.103,-3.158,-3.198,-3.239,-3.296,-3.383,-3.517 -0.8,-3.687,-3.953,-4.144,-4.274,-4.359,-4.414,-4.455,-4.496,-4.552,-4.64,-4.774 diff --git a/vehicle_launch/config/default/driver.param.yaml b/vehicle_launch/config/default/driver.param.yaml deleted file mode 100644 index 609d2c7a0d..0000000000 --- a/vehicle_launch/config/default/driver.param.yaml +++ /dev/null @@ -1,4 +0,0 @@ -/**: - ros__parameters: - vehicle_type: "LEXUS_RX_450H" - frame_id: "pacmod" diff --git a/vehicle_launch/config/default/pacmod.param.yaml b/vehicle_launch/config/default/pacmod.param.yaml deleted file mode 100644 index 24ce450fde..0000000000 --- a/vehicle_launch/config/default/pacmod.param.yaml +++ /dev/null @@ -1,24 +0,0 @@ -/**: - ros__parameters: - base_frame_id: "base_link" - command_timeout_ms: 1000 - loop_rate: 30.0 - emergency_brake: 0.95 - max_throttle: 0.4 - max_brake: 0.8 - max_steering_wheel: 11.0 - min_steering_wheel: -11.0 - max_steering_wheel_rate: 3.5 - min_steering_wheel_rate: 1.0 - steering_offset: 0.0 - enable_steering_rate_control: false - vgr_coef_a: 15.713 - vgr_coef_b: 0.053 - vgr_coef_c: 0.042 - accel_pedal_offset: 0.0 - brake_pedal_offset: 0.0 - - # steer rotation rate limiter - low_vel_thresh: 0.83 # 3kmh - steering_wheel_rate_stopped: 2.2 - steering_wheel_rate_low_vel: 3.0 diff --git a/vehicle_launch/config/default/reader.param.yaml b/vehicle_launch/config/default/reader.param.yaml deleted file mode 100644 index 19401791c8..0000000000 --- a/vehicle_launch/config/default/reader.param.yaml +++ /dev/null @@ -1,7 +0,0 @@ -/**: - ros__parameters: - hardware_id: 3 - circuit_id: 0 - bit_rate: 500000 - enable_echo: false - diff --git a/vehicle_launch/config/default/writer.param.yaml b/vehicle_launch/config/default/writer.param.yaml deleted file mode 100644 index bfb395514d..0000000000 --- a/vehicle_launch/config/default/writer.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - hardware_id: 3 - circuit_id: 1 - bit_rate: 500000 - enable_echo: false From e9531bfac8cfdfefc14f8d871b7642043206f215 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 7 Jul 2021 14:23:59 +0900 Subject: [PATCH 013/349] Add CI for develop branch (#268) --- .github/workflows/build_and_test.yml | 2 +- .github/workflows/build_and_test_pr.yml | 3 ++- .github/workflows/get_modified_package.sh | 6 +++--- .github/workflows/spell_check_pr.yml | 1 + 4 files changed, 7 insertions(+), 5 deletions(-) diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml index 41a58dc142..3cce9c76bb 100644 --- a/.github/workflows/build_and_test.yml +++ b/.github/workflows/build_and_test.yml @@ -6,7 +6,7 @@ on: workflow_dispatch: env: - BUILD_DEPEND_FILE: https://raw.githubusercontent.com/tier4/autoware.proj/main/autoware.proj.repos + BUILD_DEPEND_FILE: https://raw.githubusercontent.com/tier4/autoware.proj/develop/autoware.proj.repos SELF_REPO: tier4/autoware_launcher jobs: diff --git a/.github/workflows/build_and_test_pr.yml b/.github/workflows/build_and_test_pr.yml index 86b0dac6d1..2c71eb2a92 100644 --- a/.github/workflows/build_and_test_pr.yml +++ b/.github/workflows/build_and_test_pr.yml @@ -4,10 +4,11 @@ on: pull_request: branches: - main + - develop workflow_dispatch: env: - BUILD_DEPEND_FILE: https://raw.githubusercontent.com/tier4/autoware.proj/main/autoware.proj.repos + BUILD_DEPEND_FILE: https://raw.githubusercontent.com/tier4/autoware.proj/develop/autoware.proj.repos SELF_REPO: tier4/autoware_launcher jobs: diff --git a/.github/workflows/get_modified_package.sh b/.github/workflows/get_modified_package.sh index 696d112d36..d03f3dc692 100755 --- a/.github/workflows/get_modified_package.sh +++ b/.github/workflows/get_modified_package.sh @@ -1,5 +1,5 @@ #!/bin/bash -# Search for packages that have been modified from the main branch. +# Search for packages that have been modified from the develop branch. set -e @@ -40,8 +40,8 @@ function find_package_from_file() { return 1 } -# Find modified files after merging origin/main -merge_base=$(git merge-base HEAD origin/main) +# Find modified files after merging origin/develop +merge_base=$(git merge-base HEAD origin/develop) modified_files=$(git diff --name-only "$merge_base") # Find modified packages diff --git a/.github/workflows/spell_check_pr.yml b/.github/workflows/spell_check_pr.yml index c6c3c6c3da..d631c62cb8 100644 --- a/.github/workflows/spell_check_pr.yml +++ b/.github/workflows/spell_check_pr.yml @@ -4,6 +4,7 @@ on: pull_request: branches: - main + - develop jobs: spellcheck: From 14edc9c82bfba517dc4c4a57d38cbeb42a284f0d Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Fri, 9 Jul 2021 18:47:22 +0900 Subject: [PATCH 014/349] Add external api adaptor (#267) * Add external api adaptor * Add api adaptor to logging simulator Signed-off-by: Takagi, Isamu * Add engage status output Signed-off-by: Takagi, Isamu --- autoware_launch/launch/autoware.launch.xml | 3 ++- autoware_launch/launch/logging_simulator.launch.xml | 4 ++++ autoware_launch/launch/planning_simulator.launch.xml | 3 ++- autoware_launch/package.xml | 4 ++++ control_launch/launch/control.launch.py | 7 ++++++- 5 files changed, 18 insertions(+), 3 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 01325d8112..231e4dcee3 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -61,8 +61,9 @@ - + + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index ca1784889d..ce7886ba6f 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -94,6 +94,10 @@ + + + + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index cc2b7e0734..42361dc98f 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -66,8 +66,9 @@ - + + diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index d486662a5c..200eac3be4 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -29,6 +29,10 @@ python-bson python3-bson + + awapi_awiv_adapter + autoware_iv_external_api_adaptor + ament_lint_auto ament_lint_common diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 7afe3ce2bc..d39d9f85a8 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -170,7 +170,6 @@ def launch_setup(context, *args, **kwargs): plugin='VehicleCmdGate', name='vehicle_cmd_gate', remappings=[ - ('input/engage', '/autoware/engage'), ('input/system_emergency', '/system/emergency/is_emergency'), ('input/external_emergency_stop', '/remote/emergency_stop'), ('input/emergency', '/system/emergency/is_emergency'), @@ -194,7 +193,13 @@ def launch_setup(context, *args, **kwargs): ('output/shift_cmd', '/control/shift_cmd'), ('output/turn_signal_cmd', '/control/turn_signal_cmd'), ('output/gate_mode', '/control/current_gate_mode'), + ('output/engage', '/api/autoware/get/engage'), + + ('~/service/engage', '/api/autoware/set/engage'), + ('~/service/external_emergency', '/api/autoware/set/emergency'), + # TODO(Takagi, Isamu): deprecated + ('input/engage', '/autoware/engage'), ('~/service/external_emergency_stop', '~/external_emergency_stop'), ('~/service/clear_external_emergency_stop', '~/clear_external_emergency_stop'), ], From f0e26e2ab156a3c0fbc8e74b73b4c47d48460975 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Fri, 16 Jul 2021 12:54:43 +0900 Subject: [PATCH 015/349] Add internal api adaptor (#273) Signed-off-by: Takagi, Isamu --- autoware_launch/launch/autoware.launch.xml | 1 + autoware_launch/launch/logging_simulator.launch.xml | 1 + autoware_launch/launch/planning_simulator.launch.xml | 1 + 3 files changed, 3 insertions(+) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 231e4dcee3..da07eb842b 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -64,6 +64,7 @@ + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index ce7886ba6f..09cf3c7f42 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -97,6 +97,7 @@ + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 42361dc98f..a8191362b3 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -69,6 +69,7 @@ + From 3fce7ee7b47307214576a8a0380383fbb4ea4d83 Mon Sep 17 00:00:00 2001 From: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Date: Thu, 1 Jul 2021 15:15:33 +0900 Subject: [PATCH 016/349] add dependabot (#258) --- .github/dependabot.yml | 7 +++++++ 1 file changed, 7 insertions(+) create mode 100644 .github/dependabot.yml diff --git a/.github/dependabot.yml b/.github/dependabot.yml new file mode 100644 index 0000000000..b940a74a4c --- /dev/null +++ b/.github/dependabot.yml @@ -0,0 +1,7 @@ +version: 2 +updates: + - package-ecosystem: "github-actions" + directory: "/" + schedule: + interval: "daily" + open-pull-requests-limit: 1 From e2dbbeead0bd72cfe6776f724537314ce417a69c Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Thu, 1 Jul 2021 15:28:22 +0900 Subject: [PATCH 017/349] Bump streetsidesoftware/cspell-action from 1.1.1 to 1.2.5 (#259) Bumps [streetsidesoftware/cspell-action](https://github.com/streetsidesoftware/cspell-action) from 1.1.1 to 1.2.5. - [Release notes](https://github.com/streetsidesoftware/cspell-action/releases) - [Changelog](https://github.com/streetsidesoftware/cspell-action/blob/main/CHANGELOG.md) - [Commits](https://github.com/streetsidesoftware/cspell-action/compare/v1.1.1...v1.2.5) --- updated-dependencies: - dependency-name: streetsidesoftware/cspell-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/spell_check_pr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/spell_check_pr.yml b/.github/workflows/spell_check_pr.yml index d631c62cb8..23add79c4b 100644 --- a/.github/workflows/spell_check_pr.yml +++ b/.github/workflows/spell_check_pr.yml @@ -19,6 +19,6 @@ jobs: --output .github/workflows/.cspell.json \ https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/cspell/.cspell.json - - uses: streetsidesoftware/cspell-action@v1.1.1 + - uses: streetsidesoftware/cspell-action@v1.2.5 with: config: ".github/workflows/.cspell.json" From f6eaadbe4be5420305e1492a62d6e7184060a6f8 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Fri, 2 Jul 2021 16:24:12 +0900 Subject: [PATCH 018/349] Enable intra process and mt (#204) Signed-off-by: wep21 --- localization_launch/launch/util/util.launch.xml | 2 +- sensing_launch/launch/aip_xx1/lidar.launch.xml | 4 ++-- sensing_launch/launch/velodyne_VLP16.launch.xml | 2 +- sensing_launch/launch/velodyne_VLS128.launch.xml | 4 ++-- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml index f1727a7c1a..3a7b67fb1d 100644 --- a/localization_launch/launch/util/util.launch.xml +++ b/localization_launch/launch/util/util.launch.xml @@ -14,7 +14,7 @@ - + diff --git a/sensing_launch/launch/aip_xx1/lidar.launch.xml b/sensing_launch/launch/aip_xx1/lidar.launch.xml index 940ab9fa9c..2300103af5 100644 --- a/sensing_launch/launch/aip_xx1/lidar.launch.xml +++ b/sensing_launch/launch/aip_xx1/lidar.launch.xml @@ -95,8 +95,8 @@ - - + + diff --git a/sensing_launch/launch/velodyne_VLP16.launch.xml b/sensing_launch/launch/velodyne_VLP16.launch.xml index 7259ed855e..9382390ffa 100644 --- a/sensing_launch/launch/velodyne_VLP16.launch.xml +++ b/sensing_launch/launch/velodyne_VLP16.launch.xml @@ -28,7 +28,7 @@ - + diff --git a/sensing_launch/launch/velodyne_VLS128.launch.xml b/sensing_launch/launch/velodyne_VLS128.launch.xml index a5ed5f30b2..79d35df000 100644 --- a/sensing_launch/launch/velodyne_VLS128.launch.xml +++ b/sensing_launch/launch/velodyne_VLS128.launch.xml @@ -28,8 +28,8 @@ - - + + From 90ace283788d1ea26f27cf5709439e5194526452 Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Mon, 5 Jul 2021 09:47:20 +0900 Subject: [PATCH 019/349] Fix CI build depends (#261) * Fix CI build depends Signed-off-by: Kenji Miyake * Remove xacro find package Signed-off-by: Kenji Miyake --- .github/workflows/build_and_test.yml | 24 +----------------------- .github/workflows/build_and_test_pr.yml | 24 ------------------------ build_depends.repos | 1 + vehicle_launch/CMakeLists.txt | 1 - vehicle_launch/package.xml | 3 +-- 5 files changed, 3 insertions(+), 50 deletions(-) create mode 100644 build_depends.repos diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml index 3cce9c76bb..521375739c 100644 --- a/.github/workflows/build_and_test.yml +++ b/.github/workflows/build_and_test.yml @@ -23,15 +23,7 @@ jobs: apt-get -y update apt-get -y install python3-pip - - name: Install kvaser library - run: | - apt-get -y update - apt-get -y install software-properties-common - add-apt-repository ppa:astuff/kvaser-linux - apt-get -y update - apt-get -y install kvaser-canlib-dev kvaser-drivers-dkms - - - name: Search modified package + - name: Search packages in this repository id: list_packages run: | echo ::set-output name=package_list::$(colcon list --names-only) @@ -44,20 +36,6 @@ jobs: run: | find . -name package.xml | xargs -I {} sed -i -rz "s|\s*[a-zA-Z_0-9]+\s*\n||g" {} - - name: Install yq - run: | - apt-get -y update - apt-get -y install wget - wget -O /usr/local/bin/yq https://github.com/mikefarah/yq/releases/download/v4.9.1/yq_linux_amd64 - chmod +x /usr/local/bin/yq - - - name: Create build_depends.repos - run: | - curl -sSL -H "Authorization: token ${{ secrets.REPO_TOKEN }}" ${{ env.BUILD_DEPEND_FILE }} | sed -e "s|git@github.com:|https://github.com/|g" > build_depends.repos - repo_key=$(grep ${{ env.SELF_REPO }} build_depends.repos -B2 | grep ":\$" | sed -r 's|\s+([a-zA-Z/\.]+):|\1|g') - echo "Remove $repo_key from build_depends.repos" - yq eval --inplace "del(.repositories.\"${repo_key}\")" build_depends.repos - - name: Set git config for private repositories run: | git config --local --unset-all http.https://github.com/.extraheader || true diff --git a/.github/workflows/build_and_test_pr.yml b/.github/workflows/build_and_test_pr.yml index 2c71eb2a92..9139d6d653 100644 --- a/.github/workflows/build_and_test_pr.yml +++ b/.github/workflows/build_and_test_pr.yml @@ -31,14 +31,6 @@ jobs: apt-get -y update apt-get -y install python3-pip - - name: Install kvaser library - run: | - apt-get -y update - apt-get -y install software-properties-common - add-apt-repository ppa:astuff/kvaser-linux - apt-get -y update - apt-get -y install kvaser-canlib-dev kvaser-drivers-dkms - - name: Search modified package id: list_packages run: | @@ -53,22 +45,6 @@ jobs: run: | find . -name package.xml | xargs -I {} sed -i -rz "s|\s*[a-zA-Z_0-9]+\s*\n||g" {} - - name: Install yq - if: ${{ steps.list_packages.outputs.package_list != '' }} - run: | - apt-get -y update - apt-get -y install wget - wget -O /usr/local/bin/yq https://github.com/mikefarah/yq/releases/download/v4.9.1/yq_linux_amd64 - chmod +x /usr/local/bin/yq - - - name: Create build_depends.repos - if: ${{ steps.list_packages.outputs.package_list != '' }} - run: | - curl -sSL -H "Authorization: token ${{ secrets.REPO_TOKEN }}" ${{ env.BUILD_DEPEND_FILE }} | sed -e "s|git@github.com:|https://github.com/|g" > build_depends.repos - repo_key=$(grep ${{ env.SELF_REPO }} build_depends.repos -B2 | grep ":\$" | sed -r 's|\s+([a-zA-Z/\.]+):|\1|g') - echo "Remove $repo_key from build_depends.repos" - yq eval --inplace "del(.repositories.\"${repo_key}\")" build_depends.repos - - name: Set git config for private repositories if: ${{ steps.list_packages.outputs.package_list != '' }} run: | diff --git a/build_depends.repos b/build_depends.repos new file mode 100644 index 0000000000..56f46b6f79 --- /dev/null +++ b/build_depends.repos @@ -0,0 +1 @@ +repositories: diff --git a/vehicle_launch/CMakeLists.txt b/vehicle_launch/CMakeLists.txt index a119aa504d..f7f9c23733 100644 --- a/vehicle_launch/CMakeLists.txt +++ b/vehicle_launch/CMakeLists.txt @@ -4,7 +4,6 @@ project(vehicle_launch) add_compile_options(-std=c++14) find_package(ament_cmake_auto REQUIRED) -find_package(xacro REQUIRED) ament_auto_find_build_dependencies() diff --git a/vehicle_launch/package.xml b/vehicle_launch/package.xml index 0b76112636..d9d663ace1 100644 --- a/vehicle_launch/package.xml +++ b/vehicle_launch/package.xml @@ -10,14 +10,13 @@ ament_cmake_auto - xacro - camera_description imu_description livox_description velodyne_description robot_state_publisher simple_planning_simulator + xacro ament_lint_auto ament_lint_common From dce49ebd38dc09afbce8f37cab80b613334c36eb Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Thu, 8 Jul 2021 12:02:31 +0900 Subject: [PATCH 020/349] Add global_params.launch.py (#260) Signed-off-by: Kenji Miyake --- autoware_launch/launch/autoware.launch.xml | 5 +- .../launch/global_params.launch.py | 52 +++++++++++++++++++ .../launch/logging_simulator.launch.xml | 7 ++- .../launch/planning_simulator.launch.xml | 7 +-- 4 files changed, 59 insertions(+), 12 deletions(-) create mode 100644 autoware_launch/launch/global_params.launch.py diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index da07eb842b..772d2c2783 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -10,9 +10,8 @@ - - - + + diff --git a/autoware_launch/launch/global_params.launch.py b/autoware_launch/launch/global_params.launch.py new file mode 100644 index 0000000000..4763e50496 --- /dev/null +++ b/autoware_launch/launch/global_params.launch.py @@ -0,0 +1,52 @@ +# Copyright 2021 Tier IV, Inc. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import IncludeLaunchDescription +from launch.actions import OpaqueFunction +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import SetParameter +from launch_ros.substitutions import FindPackageShare + + +def launch_setup(context, *args, **kwargs): + # use_sim_time + set_use_sim_time = SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')) + + # vehicle_info + vehicle_description_pkg = FindPackageShare([ + LaunchConfiguration('vehicle_model'), '_description']).perform(context) + + load_vehicle_info = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [FindPackageShare('vehicle_launch'), '/launch/vehicle_info.launch.py'] + ), + launch_arguments={ + 'config_file': [vehicle_description_pkg, '/config/vehicle_info.param.yaml'] + }.items() + ) + + return [ + set_use_sim_time, + load_vehicle_info, + ] + + +def generate_launch_description(): + return LaunchDescription([ + DeclareLaunchArgument('use_sim_time', default_value='false'), + OpaqueFunction(function=launch_setup), + ]) diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 09cf3c7f42..d8247267e4 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -19,12 +19,11 @@ - - - - + + + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index a8191362b3..160f53c6e7 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -15,15 +15,12 @@ - - - - - + + From 1fff72ef52791722ff1fa4b5d9f96db87ea7fb30 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 19 Jul 2021 16:13:20 +0900 Subject: [PATCH 021/349] Load output_measurement_range_sensor_points_topic param (#271) Signed-off-by: kosuke55 --- localization_launch/launch/util/util.launch.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/localization_launch/launch/util/util.launch.py b/localization_launch/launch/util/util.launch.py index 7555d0c714..bde66951be 100644 --- a/localization_launch/launch/util/util.launch.py +++ b/localization_launch/launch/util/util.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): remappings=[ ('input', LaunchConfiguration('input_sensor_points_topic')), ('output', - 'measurement_range/pointcloud'), + LaunchConfiguration('output_measurement_range_sensor_points_topic')), ], parameters=[{ 'input_frame': LaunchConfiguration('base_frame'), @@ -50,7 +50,7 @@ def generate_launch_description(): name='voxel_grid_downsample_filter', remappings=[ ('input', - 'measurement_range/pointcloud'), + LaunchConfiguration('output_measurement_range_sensor_points_topic')), ('output', LaunchConfiguration('output_voxel_grid_downsample_sensor_points_topic')), ], From 6f91520abbb8b110316a4150229625be0e3c09cd Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Sun, 25 Jul 2021 23:49:15 +0900 Subject: [PATCH 022/349] hide traffic light id by default (#286) Co-authored-by: satoshi-ota --- autoware_launch/rviz/autoware.rviz | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 4641c2a876..f73c31137d 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -369,6 +369,7 @@ Visualization Manager: road_lanelets: false stop_lines: true traffic_light: true + traffic_light_id: false traffic_light_triangle: true Topic: Depth: 5 From 74d64ec354178257853469a88bb41646bbc56c71 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon, 26 Jul 2021 17:52:50 +0900 Subject: [PATCH 023/349] remove yaw-recalc param in mpc (#190) (#294) Co-authored-by: tkimura4 --- control_launch/config/mpc_follower/mpc_follower.param.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/control_launch/config/mpc_follower/mpc_follower.param.yaml b/control_launch/config/mpc_follower/mpc_follower.param.yaml index 72a9fcd8db..9aa14101a9 100644 --- a/control_launch/config/mpc_follower/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/mpc_follower.param.yaml @@ -3,7 +3,6 @@ # -- system -- ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value From 50273d7e671df0c4c5bd2b278f217b5d70b6d266 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon, 26 Jul 2021 18:58:49 +0900 Subject: [PATCH 024/349] Master sync for velocity controller (#297) * update velocity_controller_param.yaml for refactoring velocity_controller (#238) * update velocity_controller_param.yaml (#247) Co-authored-by: Takayuki Murooka --- .../velocity_controller.param.yaml | 95 ++++++++++--------- 1 file changed, 49 insertions(+), 46 deletions(-) diff --git a/control_launch/config/velocity_controller/velocity_controller.param.yaml b/control_launch/config/velocity_controller/velocity_controller.param.yaml index 6688822503..f28e5271dc 100644 --- a/control_launch/config/velocity_controller/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/velocity_controller.param.yaml @@ -1,36 +1,56 @@ /**: ros__parameters: - # closest waypoint threshold - closest_waypoint_distance_threshold: 3.0 - closest_waypoint_angle_threshold: 0.7854 - - # stop state - stop_state_velocity: 0.0 - stop_state_acc: -3.4 - stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.1 - stop_state_keep_stopping_dist: 0.5 - # delay compensation delay_compensation_time: 0.17 - # emergency stop by this controller - emergency_stop_acc: -5.0 - emergency_stop_jerk: -3.0 + # slope compensation + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + stopping_state_stop_dist: 0.5 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 1.0 + ki: 0.1 + kd: 0 + max_out: 1.0 + min_out: -1.0 + max_p_effort: 1.0 + min_p_effort: -1.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0 + min_d_effort: 0 + lpf_vel_error_gain: 0.9 + current_velocity_threshold_pid_integration: 0.5 + + # smooth stop state + smooth_stop_max_strong_acc: -0.5 + smooth_stop_min_strong_acc: -0.8 + smooth_stop_weak_acc: -0.3 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 - # smooth stop - smooth_stop: - stop_dist: 0.5 - exit_ego_speed: 1.0 - entry_ego_speed: 0.8 - exit_target_speed: 1.0 - entry_target_speed: 0.2 - weak_brake_time: 1.0 - weak_brake_acc: -1.0 - increasing_brake_time: 1.0 - increasing_brake_gradient: -0.1 - stop_brake_time: 1.0 - stop_brake_acc: -3.4 + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 # acceleration limit max_acc: 3.0 @@ -40,25 +60,8 @@ max_jerk: 2.0 min_jerk: -5.0 - # slope compensation - enable_slope_compensation: true + # pitch use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - lpf_pitch_gain: 0.95 - - # velocity feedback - pid_controller: - kp: 1.0 - ki: 0.1 - kd: 0.0 - max_out: 1.0 - min_out: -1.0 - max_p_effort: 1.0 - min_p_effort: -1.0 - max_i_effort: 0.3 - min_i_effort: -0.3 - max_d_effort: 0.0 - min_d_effort: 0.0 - current_velocity_threshold_pid_integration: 0.5 - lpf_velocity_error_gain: 0.9 From 94e53b994879544dd9871a10e05b13b3cbebd4c3 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon, 26 Jul 2021 21:38:12 +0900 Subject: [PATCH 025/349] add environment_name parameter into localization launch (#175) (#293) * add environment_name parameter into localization launch (#175) * add environment_name parameter into localization launch change launcher parameters of crop_box_filter_mesurement_range and voxel_grid_filter to yaml file Signed-off-by: Azumi Suzuki * change param file directory name Signed-off-by: Azumi Suzuki * Remove redundant comments Signed-off-by: wep21 Co-authored-by: s-azumi <38061530+s-azumi@users.noreply.github.com> --- ...op_box_filter_measurement_range.param.yaml | 9 ++++ .../{ => default}/ndt_scan_matcher.param.yaml | 0 .../default/voxel_grid_filter.param.yaml | 5 ++ .../pose_estimator/pose_estimator.launch.xml | 4 +- .../launch/util/util.launch.py | 54 +++++++++++++------ .../launch/util/util.launch.xml | 1 + 6 files changed, 57 insertions(+), 16 deletions(-) create mode 100644 localization_launch/config/default/crop_box_filter_measurement_range.param.yaml rename localization_launch/config/{ => default}/ndt_scan_matcher.param.yaml (100%) create mode 100644 localization_launch/config/default/voxel_grid_filter.param.yaml diff --git a/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml b/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml new file mode 100644 index 0000000000..03d969ba51 --- /dev/null +++ b/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + min_x: -60.0 + max_x: 60.0 + min_y: -60.0 + max_y: 60.0 + min_z: -30.0 + max_z: 50.0 + negative: False diff --git a/localization_launch/config/ndt_scan_matcher.param.yaml b/localization_launch/config/default/ndt_scan_matcher.param.yaml similarity index 100% rename from localization_launch/config/ndt_scan_matcher.param.yaml rename to localization_launch/config/default/ndt_scan_matcher.param.yaml diff --git a/localization_launch/config/default/voxel_grid_filter.param.yaml b/localization_launch/config/default/voxel_grid_filter.param.yaml new file mode 100644 index 0000000000..51a7ee9d89 --- /dev/null +++ b/localization_launch/config/default/voxel_grid_filter.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + voxel_size_x: 3.0 + voxel_size_y: 3.0 + voxel_size_z: 3.0 diff --git a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml index ce949fd34b..6eb082bbe4 100644 --- a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml +++ b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml @@ -1,5 +1,7 @@ + + @@ -10,7 +12,7 @@ - + diff --git a/localization_launch/launch/util/util.launch.py b/localization_launch/launch/util/util.launch.py index bde66951be..314ee5043a 100644 --- a/localization_launch/launch/util/util.launch.py +++ b/localization_launch/launch/util/util.launch.py @@ -13,13 +13,22 @@ # limitations under the License. import launch +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction from launch.conditions import LaunchConfigurationNotEquals from launch.substitutions import LaunchConfiguration from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode +from launch_ros.substitutions import FindPackageShare +import yaml -def generate_launch_description(): +def launch_setup(context, *args, **kwargs): + # https://github.com/ros2/launch_ros/issues/156 + def load_composable_node_param(param_path): + with open(LaunchConfiguration(param_path).perform(context), 'r') as f: + return yaml.safe_load(f)['/**']['ros__parameters'] + crop_box_component = ComposableNode( package='pointcloud_preprocessor', plugin='pointcloud_preprocessor::CropBoxFilterComponent', @@ -32,14 +41,9 @@ def generate_launch_description(): parameters=[{ 'input_frame': LaunchConfiguration('base_frame'), 'output_frame': LaunchConfiguration('base_frame'), - 'min_x': -60.0, - 'max_x': 60.0, - 'min_y': -60.0, - 'max_y': 60.0, - 'min_z': -30.0, - 'max_z': 50.0, - 'negative': False, - }], + }, + load_composable_node_param('crop_box_filter_measurement_range_param_path'), + ], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') }], @@ -54,11 +58,7 @@ def generate_launch_description(): ('output', LaunchConfiguration('output_voxel_grid_downsample_sensor_points_topic')), ], - parameters=[{ - 'voxel_size_x': 3.0, - 'voxel_size_y': 3.0, - 'voxel_size_z': 3.0, - }], + parameters=[load_composable_node_param('voxel_grid_downsample_filter_param_path')], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') }], @@ -90,4 +90,28 @@ def generate_launch_description(): composable_node_descriptions=composable_nodes, target_container=LaunchConfiguration('container'), ) - return launch.LaunchDescription([load_composable_nodes]) + + return [load_composable_nodes] + + +def generate_launch_description(): + def add_launch_arg(name: str, default_value=None): + return DeclareLaunchArgument(name, default_value=default_value) + + return launch.LaunchDescription([ + add_launch_arg('crop_box_filter_measurement_range_param_path', + [ + FindPackageShare('localization_launch'), + '/config/', + LaunchConfiguration('environment_name'), + '/crop_box_filter_measurement_range.param.yaml' + ]), + add_launch_arg('voxel_grid_downsample_filter_param_path', + [ + FindPackageShare('localization_launch'), + '/config/', + LaunchConfiguration('environment_name'), + '/voxel_grid_filter.param.yaml' + ]), + OpaqueFunction(function=launch_setup), + ]) diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml index 3a7b67fb1d..9cdc05ba91 100644 --- a/localization_launch/launch/util/util.launch.xml +++ b/localization_launch/launch/util/util.launch.xml @@ -1,5 +1,6 @@ + From 95b832444503b6c0494839191215ffcfb1ec707a Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Tue, 27 Jul 2021 12:45:35 +0900 Subject: [PATCH 026/349] Fix parameter type (#299) Signed-off-by: wep21 --- .../velocity_controller/velocity_controller.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/control_launch/config/velocity_controller/velocity_controller.param.yaml b/control_launch/config/velocity_controller/velocity_controller.param.yaml index f28e5271dc..f754b5a856 100644 --- a/control_launch/config/velocity_controller/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/velocity_controller.param.yaml @@ -18,15 +18,15 @@ # drive state kp: 1.0 ki: 0.1 - kd: 0 + kd: 0.0 max_out: 1.0 min_out: -1.0 max_p_effort: 1.0 min_p_effort: -1.0 max_i_effort: 0.3 min_i_effort: -0.3 - max_d_effort: 0 - min_d_effort: 0 + max_d_effort: 0.0 + min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_velocity_threshold_pid_integration: 0.5 From ba3aca15493eb093370fb0b548b3f4ef5dbf6539 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Wed, 28 Jul 2021 18:08:29 +0900 Subject: [PATCH 027/349] Feature/porting behavior path planner (#300) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * modify behavior_planning launch for behavior_path_planner with lane_c… (#239) * modify behavior_planning launch for behavior_path_planner with lane_change_only config Signed-off-by: Takamasa Horibe * remove avoidance & side_shift related code Signed-off-by: Takamasa Horibe * Fix launcher and add config files and change obstacle avoid param * Add new line * Fix visualization and remove multiple args * Enable auto approve path change Co-authored-by: rej55 Signed-off-by: wep21 * add param in behavior_path_planner (#255) Signed-off-by: Takamasa Horibe * Fix param (#251) * Fix typo Signed-off-by: wep21 Co-authored-by: Takamasa Horibe Co-authored-by: rej55 --- autoware_launch/rviz/autoware.rviz | 22 +-- .../avoidance/avoidance.param.yaml | 20 +++ .../behavior_path_planner.param.yaml | 11 ++ .../lane_change/lane_change.param.yaml | 20 +++ .../side_shift/side_shift.param.yaml | 9 ++ .../obstacle_avoidance_planner.param.yaml | 6 +- .../behavior_planning.launch.py | 130 +++++++++++------- .../behavior_planning.launch.xml | 41 +++--- 8 files changed, 159 insertions(+), 100 deletions(-) create mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml create mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml create mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml create mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index f73c31137d..b189adc608 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1005,34 +1005,16 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: LaneChange - Namespaces: - candidate_lane_change_path: false - ego_lane_change_path: false - ego_lane_follow_path: false - factor_text: true - object_predicted_path: false - selected_path: false - stop_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/lane_change_planner/debug/predicted_path_markers - Value: true - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: true - Name: LaneChangeCanditate + Name: PathChangeCandidate Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/lane_change_candidate_path + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/output/path_candidate Value: true View Path: Alpha: 0.30000001192092896 diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml new file mode 100644 index 0000000000..7b5e6b96b8 --- /dev/null +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -0,0 +1,20 @@ +# see AvoidanceParameters description in avoidance_module.hpp for description. +/**: + ros__parameters: + avoidance: + threshold_distance_object_is_on_center: 0.0 # [m] + threshold_speed_object_is_stopped: 1.0 # [m/s] + object_check_forward_distance: 150.0 # [m] + object_check_backward_distance: 2.0 # [m] + lateral_collision_margin: 2.0 # [m] + longitudinal_collision_margin: 3.0 # [m] + time_to_start_avoidance: 1.0 # [s] + min_distance_to_start_avoidance: 1.0 # [m] + time_avoiding: 7.0 # [s] + min_distance_avoiding: 50.0 # [m] + + min_distance_avoidance_end_to_object: 5.0 # [m] + time_avoidance_end_to_object: 1.0 # [s] + + nominal_lateral_jerk: 0.3 # [m/s3] + max_lateral_jerk: 2.0 # [m/s3] diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml new file mode 100644 index 0000000000..b25707950e --- /dev/null +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + backward_path_length: 5.0 + forward_path_length: 300.0 + backward_length_buffer_for_end_of_lane: 5.0 + minimum_lane_change_length: 12.0 + drivable_area_resolution: 0.1 + drivable_area_width: 100.0 + drivable_area_height: 50.0 + refine_goal_search_radius_range: 7.5 + intersection_search_distance: 30.0 diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml new file mode 100644 index 0000000000..50934a7454 --- /dev/null +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -0,0 +1,20 @@ +/**: + ros__parameters: + lane_change: + min_stop_distance: 5.0 + stop_time: 2.0 + hysteresis_buffer_distance: 2.0 + lane_change_prepare_duration: 4.0 + lane_changing_duration: 8.0 + lane_change_finish_judge_buffer: 3.0 + minimum_lane_change_velocity: 5.6 + prediction_duration: 8.0 + prediction_time_resolution: 0.5 + static_obstacle_velocity_thresh: 1.5 + maximum_deceleration: 1.0 + enable_abort_lane_change: false + enable_collision_check_at_prepare_phase: false + use_predicted_path_outside_lanelet: false + use_all_predicted_path: false + enable_blocked_by_obstacle: false + lane_change_search_distance: 30.0 diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml new file mode 100644 index 0000000000..dabe370faf --- /dev/null +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + side_shift: + min_fix_distance: 20.0 + start_avoid_sec: 4.0 + drivable_area_resolution: 0.1 + drivable_area_width: 100.0 + drivable_area_height: 50.0 + inside_outside_judge_margin: 0.3 diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 2a1b0a6d06..52620f1d3c 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -2,8 +2,8 @@ ros__parameters: # trajectory total/fixing length trajectory_length: 200 # total trajectory length[m] - forward_fixing_distance: 20.0 # forward fixing length from base_link[m] - backward_fixing_distance: 5.0 # backward fixing length from base_link[m] + forward_fixing_distance: 5.0 # forward fixing length from base_link[m] + backward_fixing_distance: 3.0 # backward fixing length from base_link[m] # clearance(distance) when generating trajectory clearance_from_road: 0.2 # clearance from road boundary[m] @@ -14,7 +14,7 @@ # clearance for unique points clearance_for_straight_line: 0.05 # minimum optimizing range around straight points clearance_for_joint: 0.1 # minimum optimizing range around joint points - clearance_for_only_smoothing: 0.1 # minimum optimizing range when applygin only smoothing + clearance_for_only_smoothing: 0.1 # minimum optimizing range when applying only smoothing range_for_extend_joint: 0.1 # minimum optimizing range around joint points for extending clearance_from_object_for_straight: 10.0 # minimum clearance from object when judging straight line diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 677230e71f..f0560fc4a0 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -24,54 +24,100 @@ from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer from launch_ros.descriptions import ComposableNode +from launch_ros.substitutions import FindPackageShare import yaml def generate_launch_description(): - # lane change planner - lane_change_planner_param_path = os.path.join( + # behavior path planner + side_shift_param_path = os.path.join( get_package_share_directory('planning_launch'), 'config', 'scenario_planning', 'lane_driving', 'behavior_planning', - 'lane_change_planner', - 'lane_change_planner.param.yaml', + 'behavior_path_planner', + 'side_shift', + 'side_shift.param.yaml', ) - with open(lane_change_planner_param_path, 'r') as f: - lane_change_planner_param = yaml.safe_load(f)['/**']['ros__parameters'] + with open(side_shift_param_path, 'r') as f: + side_shift_param = yaml.safe_load(f)['/**']['ros__parameters'] - lane_change_planner_component = ComposableNode( - package='lane_change_planner', - plugin='lane_change_planner::LaneChanger', - name='lane_change_planner', + avoidance_param_path = os.path.join( + get_package_share_directory('planning_launch'), + 'config', + 'scenario_planning', + 'lane_driving', + 'behavior_planning', + 'behavior_path_planner', + 'avoidance', + 'avoidance.param.yaml', + ) + with open(avoidance_param_path, 'r') as f: + avoidance_param = yaml.safe_load(f)['/**']['ros__parameters'] + + lane_change_param_path = os.path.join( + get_package_share_directory('planning_launch'), + 'config', + 'scenario_planning', + 'lane_driving', + 'behavior_planning', + 'behavior_path_planner', + 'lane_change', + 'lane_change.param.yaml', + ) + with open(lane_change_param_path, 'r') as f: + lane_change_param = yaml.safe_load(f)['/**']['ros__parameters'] + + behavior_path_planner_param_path = os.path.join( + get_package_share_directory('planning_launch'), + 'config', + 'scenario_planning', + 'lane_driving', + 'behavior_planning', + 'behavior_path_planner', + 'behavior_path_planner.param.yaml', + ) + with open(behavior_path_planner_param_path, 'r') as f: + behavior_path_planner_param = yaml.safe_load(f)['/**']['ros__parameters'] + + behavior_path_planner_component = ComposableNode( + package='behavior_path_planner', + plugin='behavior_path_planner::BehaviorPathPlannerNode', + name='behavior_path_planner', namespace='', remappings=[ ('~/input/route', LaunchConfiguration('input_route_topic_name')), ('~/input/vector_map', LaunchConfiguration('map_topic_name')), ('~/input/perception', '/perception/object_recognition/objects'), ('~/input/velocity', '/localization/twist'), - ('~/input/lane_change_approval', - '/planning/scenario_planning/lane_driving/lane_change_approval'), - ('~/input/force_lane_change', - '/planning/scenario_planning/lane_driving/force_lane_change'), - ('~/output/lane_change_path', 'path_with_lane_id'), - ('~/output/lane_change_ready', - '/planning/scenario_planning/lane_driving/lane_change_ready'), - ('~/output/lane_change_available', - '/planning/scenario_planning/lane_driving/lane_change_available'), - ('~/output/stop_reasons', '/planning/scenario_planning/status/stop_reasons'), - ('~/debug/lane_change_candidate_path', - '/planning/scenario_planning/lane_driving/lane_change_candidate_path'), + ('~/input/external_approval', + '/planning/scenario_planning/lane_driving/behavior_planning/' + 'behavior_path_planner/path_change_approval'), + ('~/input/force_approval', + '/planning/scenario_planning/lane_driving/behavior_planning/' + 'behavior_path_planner/path_change_force'), + ('~/output/path', 'path_with_lane_id'), + ('~/output/ready', + '/planning/scenario_planning/lane_driving/behavior_planning/' + 'behavior_path_planner/ready_module'), + ('~/output/running', + '/planning/scenario_planning/lane_driving/behavior_planning/' + 'behavior_path_planner/running_modules'), + ('~/output/force_available', + '/planning/scenario_planning/lane_driving/behavior_planning/' + 'behavior_path_planner/force_available'), + ('~/output/turn_signal_cmd', '/planning/turn_signal_decider/turn_signal_cmd'), ], parameters=[ - lane_change_planner_param, + side_shift_param, + avoidance_param, + lane_change_param, + behavior_path_planner_param, { - 'enable_abort_lane_change': False, - 'enable_collision_check_at_prepare_phase': False, - 'use_predicted_path_outside_lanelet': False, - 'use_all_predicted_path': False, - 'enable_blocked_by_obstacle': False, + 'bt_tree_config_path': + [FindPackageShare('behavior_path_planner'), + '/config/behavior_path_planner_tree.xml'] } ], extra_arguments=[ @@ -79,26 +125,6 @@ def generate_launch_description(): ], ) - # turn signal decider - turn_signal_decider_component = ComposableNode( - package='turn_signal_decider', - plugin='turn_signal_decider::TurnSignalDecider', - name='turn_signal_decider', - namespace='', - remappings=[ - ('input/path_with_lane_id', 'path_with_lane_id'), - ('input/vector_map', LaunchConfiguration('map_topic_name')), - ('output/turn_signal_cmd', '/planning/turn_signal_decider/turn_signal_cmd'), - ], - parameters=[ - {'lane_change_search_distance': 30.0}, - {'intersection_search_distance': 30.0}, - ], - extra_arguments=[ - {'use_intra_process_comms': LaunchConfiguration('use_intra_process')} - ], - ) - # behavior velocity planner blind_spot_param_path = os.path.join( get_package_share_directory('behavior_velocity_planner'), @@ -199,8 +225,7 @@ def generate_launch_description(): package='rclcpp_components', executable=LaunchConfiguration('container_executable'), composable_node_descriptions=[ - lane_change_planner_component, - turn_signal_decider_component, + behavior_path_planner_component, behavior_velocity_planner_component, ], output='screen', @@ -238,7 +263,8 @@ def generate_launch_description(): container, ExecuteProcess( cmd=['ros2', 'topic', 'pub', - '/planning/scenario_planning/lane_driving/lane_change_approval', - 'autoware_planning_msgs/msg/LaneChangeCommand', '{command: true}', + '/planning/scenario_planning/lane_driving/behavior_planning/' + 'behavior_path_planner/path_change_approval', + 'autoware_planning_msgs/msg/Approval', '{approval: true}', '-r', '10']), ]) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index 708fe5158d..5fdb56f26b 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -2,35 +2,26 @@ - + + + - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + From dd02979b4386730fa5c742d8db2bccb879d19797 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Wed, 28 Jul 2021 18:30:40 +0900 Subject: [PATCH 028/349] Feature/porting motion velocity smoother (#302) * Launch motion_velocity_smoother (#215) * Launch motion_velocity_smoother * Change params * Fix parameter files * Fix Signed-off-by: wep21 * Fix/smoother trajectory ds (#249) * Add parameter * Fix * Fix * change launcher parameter (#265) * Feature/smoother resampling (#269) * change launcher parameter * add new parameter Co-authored-by: Fumiya Watanabe Co-authored-by: purewater0901 <43805014+purewater0901@users.noreply.github.com> --- .../JerkFiltered.param.yaml | 7 +++ .../motion_velocity_smoother/L2.param.yaml | 5 ++ .../motion_velocity_smoother/Linf.param.yaml | 5 ++ .../motion_velocity_smoother.param.yaml | 54 +++++++++++++++++++ .../lane_change_planner.param.yaml | 2 +- .../obstacle_avoidance_planner.param.yaml | 2 +- .../scenario_planning.launch.xml | 11 ++-- 7 files changed, 80 insertions(+), 6 deletions(-) create mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml create mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_smoother/L2.param.yaml create mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml create mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml new file mode 100644 index 0000000000..a6906b7117 --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + jerk_weight: 0.1 # weight for "smoothness" cost for jerk + over_v_weight: 10000.0 # weight for "over speed limit" cost + over_a_weight: 500.0 # weight for "over accel limit" cost + over_j_weight: 200.0 # weight for "over jerk limit" cost + jerk_filter_ds: 0.1 # resampling ds for jerk filter diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/L2.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/L2.param.yaml new file mode 100644 index 0000000000..c993978204 --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/L2.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + pseudo_jerk_weight: 100.0 # weight for "smoothness" cost + over_v_weight: 100000.0 # weight for "over speed limit" cost + over_a_weight: 1000.0 # weight for "over accel limit" cost diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml new file mode 100644 index 0000000000..ec38010621 --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + pseudo_jerk_weight: 200.0 # weight for "smoothness" cost + over_v_weight: 100000.0 # weight for "over speed limit" cost + over_a_weight: 5000.0 # weight for "over accel limit" cost diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml new file mode 100644 index 0000000000..4231eb1ef8 --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -0,0 +1,54 @@ +/**: + ros__parameters: + # motion state constraints + max_velocity: 20.0 # max velocity limit [m/s] + max_accel: 1.0 # max acceleration limit [m/ss] + min_decel: -0.5 # min deceleration limit [m/ss] + max_jerk: 1.0 # default maximum jerk limit + min_jerk: -0.5 # default minimum jerk limit + + # external velocity limit parameter + margin_to_insert_external_velocity_limit: 0.3 # margin distance to insert external velocity limit [m] + + # curve parameters + max_lateral_accel: 0.8 # max lateral acceleration limit [m/ss] + min_curve_velocity: 2.74 # min velocity at lateral acceleration limit [m/ss] + 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 + + # engage & replan parameters + replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] + engage_velocity: 0.25 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) + engage_acceleration: 0.1 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_exit_ratio: 0.5 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. + stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] + + # stop velocity + stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] + stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. + + # path extraction parameters + extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] + extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] + delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] + + # resampling parameters for optimization + max_trajectory_length: 200.0 # max trajectory length for resampling [m] + min_trajectory_length: 150.0 # min trajectory length for resampling [m] + resample_time: 5.0 # resample total time for dense sampling [s] + dense_dt: 0.1 # resample time interval for dense sampling [s] + dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m] + sparse_dt: 0.5 # resample time interval for sparse sampling [s] + sparse_min_interval_distance: 4.0 # minimum points-interval length for sparse sampling [m] + + # resampling parameters for post process + post_max_trajectory_length: 300.0 # max trajectory length for resampling [m] + post_min_trajectory_length: 30.0 # min trajectory length for resampling [m] + post_resample_time: 10.0 # resample total time for dense sampling [s] + post_dense_dt: 0.1 # resample time interval for dense sampling [s] + post_dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m] + post_sparse_dt: 0.1 # resample time interval for sparse sampling [s] + post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m] + + # system + over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/lane_change_planner/lane_change_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/lane_change_planner/lane_change_planner.param.yaml index 3e899ca586..0bf42387a6 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/lane_change_planner/lane_change_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/lane_change_planner/lane_change_planner.param.yaml @@ -4,7 +4,7 @@ stop_time: 2.0 hysteresis_buffer_distance: 2.0 backward_path_length: 5.0 - forward_path_length: 200.0 + forward_path_length: 300.0 max_accel: -5.0 lane_change_prepare_duration: 4.0 lane_changing_duration: 8.0 diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 52620f1d3c..8150af7436 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: # trajectory total/fixing length - trajectory_length: 200 # total trajectory length[m] + trajectory_length: 300 # total trajectory length[m] forward_fixing_distance: 5.0 # forward fixing length from base_link[m] backward_fixing_distance: 3.0 # backward fixing length from base_link[m] diff --git a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml index 0d80c87faf..639cc9b6b1 100644 --- a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml @@ -14,10 +14,13 @@ - - - - + + + + + + + From 5cab90e002622602b743c88dde459faabbdbc973 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Wed, 28 Jul 2021 18:35:40 +0900 Subject: [PATCH 029/349] Master sync parking module (#303) * Add namespace Signed-off-by: wep21 * Add freespace planner config file Signed-off-by: wep21 * Add missing import Signed-off-by: wep21 --- .../freespace_planner.param.yaml | 38 ++++++++++++++++ .../scenario_planning/parking.launch.py | 44 ++++++++----------- .../scenario_planning/parking.launch.xml | 1 + 3 files changed, 57 insertions(+), 26 deletions(-) create mode 100644 planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml diff --git a/planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml new file mode 100644 index 0000000000..72648a9dfd --- /dev/null +++ b/planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml @@ -0,0 +1,38 @@ +/**: + ros__parameters: + # -- Node Configurations -- + planning_algorithm: "astar" + waypoints_velocity: 5.0 + update_rate: 10.0 + th_arrived_distance_m: 1.0 + th_stopped_time_sec: 1.0 + th_stopped_velocity_mps: 0.01 + th_course_out_distance_m: 1.0 + replan_when_obstacle_found: true + replan_when_course_out: true + + # -- Configurations common to the all planners -- + # base configs + time_limit: 30000.0 + # robot configs # TODO replace by vehicle_info + robot_length: 4.5 + robot_width: 1.75 + robot_base2back: 1.0 + minimum_turning_radius: 9.0 + maximum_turning_radius: 9.0 + turning_radius_size: 1 + # search configs + theta_size: 144 + angle_goal_range: 6.0 + curve_weight: 1.2 + reverse_weight: 2.0 + lateral_goal_range: 0.5 + longitudinal_goal_range: 2.0 + # costmap configs + obstacle_threshold: 100 + + # -- A* search Configurations -- + astar: + only_behind_solutions: false + use_back: true + distance_heuristic_weight: 1.0 diff --git a/planning_launch/launch/scenario_planning/parking.launch.py b/planning_launch/launch/scenario_planning/parking.launch.py index d831a3bcd4..406e415cdd 100644 --- a/planning_launch/launch/scenario_planning/parking.launch.py +++ b/planning_launch/launch/scenario_planning/parking.launch.py @@ -12,6 +12,8 @@ # See the License for the specific language governing permissions and # limitations under the License. +from ament_index_python.packages import get_package_share_directory + import launch from launch.actions import DeclareLaunchArgument from launch.actions import GroupAction @@ -23,8 +25,22 @@ from launch_ros.actions import PushRosNamespace from launch_ros.descriptions import ComposableNode +import os +import yaml + def generate_launch_description(): + freespace_planner_param_path = os.path.join( + get_package_share_directory('planning_launch'), + 'config', + 'scenario_planning', + 'parking', + 'freespace_planner', + 'freespace_planner.param.yaml', + ) + with open(freespace_planner_param_path, 'r') as f: + freespace_planner_param = yaml.safe_load(f)['/**']['ros__parameters'] + container = ComposableNodeContainer( name='parking_container', namespace='', @@ -71,7 +87,7 @@ def generate_launch_description(): ), ComposableNode( package='freespace_planner', - plugin='FreespacePlannerNode', + plugin='freespace_planner::FreespacePlannerNode', name='freespace_planner', remappings=[ ('~/input/route', '/planning/mission_planning/route'), @@ -83,31 +99,7 @@ def generate_launch_description(): ('is_completed', '/planning/scenario_planning/parking/is_completed'), ], parameters=[ - { - 'waypoints_velocity': 5.0, - 'update_rate': 10.0, - 'th_arrived_distance_m': 1.0, - 'th_stopped_time_sec': 1.0, - 'th_stopped_velocity_mps': 0.01, - 'th_course_out_distance_m': 1.0, - 'replan_when_obstacle_found': True, - 'replan_when_course_out': True, - 'use_back': True, - 'only_behind_solutions': False, - 'time_limit': 30000.0, - 'robot_length': 4.5, - 'robot_width': 1.75, - 'robot_base2back': 1.0, - 'minimum_turning_radius': 9.0, - 'theta_size': 144, - 'angle_goal_range': 6.0, - 'curve_weight': 1.2, - 'reverse_weight': 2.0, - 'lateral_goal_range': 0.5, - 'longitudinal_goal_range': 2.0, - 'obstacle_threshold': 100, - 'distance_heuristic_weight': 1.0, - }, + freespace_planner_param, ], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') diff --git a/planning_launch/launch/scenario_planning/parking.launch.xml b/planning_launch/launch/scenario_planning/parking.launch.xml index 5ca9fdca55..f8254c8fa5 100644 --- a/planning_launch/launch/scenario_planning/parking.launch.xml +++ b/planning_launch/launch/scenario_planning/parking.launch.xml @@ -18,6 +18,7 @@ + From 7521152b947071c424b35f2fb8e27f54e4e1eac5 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Thu, 29 Jul 2021 14:41:50 +0900 Subject: [PATCH 030/349] add smoothing_num parameter (#263) (#301) * add smoothing_num parameter * change param Co-authored-by: tkimura4 --- control_launch/config/mpc_follower/mpc_follower.param.yaml | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/control_launch/config/mpc_follower/mpc_follower.param.yaml b/control_launch/config/mpc_follower/mpc_follower.param.yaml index 9aa14101a9..e11651495e 100644 --- a/control_launch/config/mpc_follower/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/mpc_follower.param.yaml @@ -8,9 +8,10 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing - path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + enable_path_smoothing: false # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qpoases_max_iter: 500 # max iteration number for quadratic programming From 025e2457073e726f1a200a59994b4e5a811bbd0c Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Thu, 29 Jul 2021 15:39:03 +0900 Subject: [PATCH 031/349] fix plugin name --- control_launch/launch/control.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index d39d9f85a8..c165e5e9ad 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -247,7 +247,7 @@ def launch_setup(context, *args, **kwargs): # remote cmd converter remote_cmd_converter_component = ComposableNode( package='remote_cmd_converter', - plugin='RemoteCmdConverter', + plugin='remote_cmd_converter::RemoteCmdConverterNode', name='remote_cmd_converter', remappings=[ ('in/external_control_cmd', '/external/external_cmd_selector/external_control_cmd'), From 8642a627befe66884349ac5770e422edaf29c689 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 29 Jul 2021 16:37:07 +0900 Subject: [PATCH 032/349] update rviz config & planner params (#305) Co-authored-by: satoshi-ota --- autoware_launch/rviz/autoware.rviz | 6 ++++++ .../obstacle_stop_planner/obstacle_stop_planner.param.yaml | 4 ++-- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index b189adc608..1f423ba7c5 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1061,10 +1061,16 @@ Visualization Manager: Namespaces: collision_polygons: false detection_polygons: false + slow_down_polygons: false + slow_down_detection_polygons: false factor_text: true stop_virtual_wall: true stop_obstacle_point: false stop_obstacle_text: false + virtual_wall/slow_down_start: false + factor_text/slow_down_start: false + virtual_wall/slow_down_end: false + factor_text/slow_down_end: false Topic: Depth: 5 Durability Policy: Volatile diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index 91beb1e1ca..db3b3dcaea 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -8,8 +8,8 @@ expand_stop_range: 0.0 # margin of vehicle footprint [m] slow_down_planner: - slow_down_margin: 5.0 # margin distance from slow down point [m] + slow_down_forward_margin: 5.0 # margin distance from slow down point to vehicle front [m] + slow_down_backward_margin: 5.0 # margin distance from slow down point to vehicle rear [m] expand_slow_down_range: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m] max_slow_down_vel: 1.38 # max slow down velocity [m/s] min_slow_down_vel: 0.28 # min slow down velocity [m/s] - max_deceleration: 2.0 # max slow down deceleration [m/s2] From 5711e5f50df2232a1bb69cfd12a54c8ad8fe8128 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Fri, 30 Jul 2021 14:32:30 +0900 Subject: [PATCH 033/349] lidar_detection: apollo instance segmentation -> centerpoint (#225) (#307) Co-authored-by: Yusuke Muramatsu --- .../detection/lidar_based_detection.launch.xml | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index 0f45cc31ca..bbf7696381 100644 --- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -1,9 +1,6 @@ - - - - + From d3ca30d01a2d0787af085ee0aa5443a0e0fe0b78 Mon Sep 17 00:00:00 2001 From: tkimura4 Date: Fri, 30 Jul 2021 15:28:56 +0900 Subject: [PATCH 034/349] Feature/porting occlusion spot (#309) * add occulusion_spot marker (#266) * add blindspot marker * to occlusion spot slow down * remove debug info from marker (#287) * remove debug info from marker * remove debug arrow * fix format * update behavior launch * apply pep8 * fix format Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> --- autoware_launch/rviz/autoware.rviz | 18 ++++++++++++++++++ .../behavior_planning.launch.py | 13 ++++++++++++- 2 files changed, 30 insertions(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 1f423ba7c5..1c5f64bc64 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1005,6 +1005,24 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: OcclusionSpot + Namespaces: + arrow: false + occlusion spot slow down: true + collision: false + info_obstacle: false + obstacle: false + sidewalk: false + slow factor_text: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot + Value: true - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: true diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index f0560fc4a0..9f5846cf9d 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -174,6 +174,14 @@ def generate_launch_description(): with open(traffic_light_param_path, 'r') as f: traffic_light_param = yaml.safe_load(f)['/**']['ros__parameters'] + occlusion_spot_param_path = os.path.join( + get_package_share_directory('behavior_velocity_planner'), + 'config', + 'occlusion_spot.param.yaml', + ) + with open(occlusion_spot_param_path, 'r') as f: + occlusion_spot_param = yaml.safe_load(f)['/**']['ros__parameters'] + behavior_velocity_planner_component = ComposableNode( package='behavior_velocity_planner', plugin='behavior_velocity_planner::BehaviorVelocityPlannerNode', @@ -189,6 +197,7 @@ def generate_launch_description(): '/perception/traffic_light_recognition/traffic_light_states'), ('~/input/external_traffic_light_states', '/awapi/traffic_light/put/traffic_light_status'), + ('~/input/occupancy_grid', '/sensing/lidar/occupancy_grid'), ('~/output/path', 'path'), ('~/output/stop_reasons', '/planning/scenario_planning/status/stop_reasons'), @@ -202,6 +211,7 @@ def generate_launch_description(): 'launch_intersection': True, 'launch_blind_spot': True, 'launch_detection_area': True, + 'launch_occlusion_spot': True, 'forward_path_length': 1000.0, 'backward_path_length': 5.0, 'max_accel': -2.8, @@ -212,7 +222,8 @@ def generate_launch_description(): detection_area_param, intersection_param, stop_line_param, - traffic_light_param + traffic_light_param, + occlusion_spot_param ], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') From 2dca964b73b3a349540092b5cb0bc5adef08df06 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Fri, 30 Jul 2021 16:08:21 +0900 Subject: [PATCH 035/349] fix conflict --- .../behavior_planning/behavior_planning.launch.py | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 82f5f7105a..2567c393e6 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -115,17 +115,14 @@ def generate_launch_description(): lane_change_param, behavior_path_planner_param, { -<<<<<<< HEAD 'enable_abort_lane_change': LaunchConfiguration('disuse_foa'), 'enable_collision_check_at_prepare_phase': LaunchConfiguration('disuse_foa'), 'use_predicted_path_outside_lanelet': LaunchConfiguration('disuse_foa'), 'use_all_predicted_path': LaunchConfiguration('disuse_foa'), 'enable_blocked_by_obstacle': LaunchConfiguration('disuse_foa'), -======= 'bt_tree_config_path': [FindPackageShare('behavior_path_planner'), '/config/behavior_path_planner_tree.xml'] ->>>>>>> upstream/develop } ], extra_arguments=[ @@ -282,16 +279,8 @@ def generate_launch_description(): container, ExecuteProcess( cmd=['ros2', 'topic', 'pub', -<<<<<<< HEAD - '/planning/scenario_planning/lane_driving/lane_change_approval', - 'autoware_planning_msgs/msg/LaneChangeCommand', '{command: true}', - '-r', '10'], - condition=IfCondition(LaunchConfiguration('disuse_foa')) - ), -======= '/planning/scenario_planning/lane_driving/behavior_planning/' 'behavior_path_planner/path_change_approval', 'autoware_planning_msgs/msg/Approval', '{approval: true}', '-r', '10']), ->>>>>>> upstream/develop ]) From 70a3cc6490c5e6ee7ed4892dab0b8ed1428f134d Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Fri, 30 Jul 2021 16:23:57 +0900 Subject: [PATCH 036/349] fix yaml (int->double) --- .../velocity_controller/10/velocity_controller.param.yaml | 6 +++--- .../velocity_controller/2/velocity_controller.param.yaml | 6 +++--- .../velocity_controller/3/velocity_controller.param.yaml | 6 +++--- .../velocity_controller/5/velocity_controller.param.yaml | 6 +++--- .../velocity_controller/7/velocity_controller.param.yaml | 6 +++--- .../velocity_controller/9/velocity_controller.param.yaml | 6 +++--- .../default/velocity_controller.param.yaml | 6 +++--- 7 files changed, 21 insertions(+), 21 deletions(-) diff --git a/control_launch/config/velocity_controller/10/velocity_controller.param.yaml b/control_launch/config/velocity_controller/10/velocity_controller.param.yaml index ac67d1b443..9cb6ac27fd 100644 --- a/control_launch/config/velocity_controller/10/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/10/velocity_controller.param.yaml @@ -18,15 +18,15 @@ # drive state kp: 2.0 ki: 0.02 - kd: 0 + kd: 0.0 max_out: 1.0 min_out: -5.0 max_p_effort: 0.5 min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 - max_d_effort: 0 - min_d_effort: 0 + max_d_effort: 0.0 + min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 diff --git a/control_launch/config/velocity_controller/2/velocity_controller.param.yaml b/control_launch/config/velocity_controller/2/velocity_controller.param.yaml index ac67d1b443..9cb6ac27fd 100644 --- a/control_launch/config/velocity_controller/2/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/2/velocity_controller.param.yaml @@ -18,15 +18,15 @@ # drive state kp: 2.0 ki: 0.02 - kd: 0 + kd: 0.0 max_out: 1.0 min_out: -5.0 max_p_effort: 0.5 min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 - max_d_effort: 0 - min_d_effort: 0 + max_d_effort: 0.0 + min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 diff --git a/control_launch/config/velocity_controller/3/velocity_controller.param.yaml b/control_launch/config/velocity_controller/3/velocity_controller.param.yaml index b06f21ce55..c76cfc9b7a 100644 --- a/control_launch/config/velocity_controller/3/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/3/velocity_controller.param.yaml @@ -18,15 +18,15 @@ # drive state kp: 1.0 ki: 0.02 - kd: 0 + kd: 0.0 max_out: 1.0 min_out: -5.0 max_p_effort: 0.5 min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 - max_d_effort: 0 - min_d_effort: 0 + max_d_effort: 0.0 + min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 diff --git a/control_launch/config/velocity_controller/5/velocity_controller.param.yaml b/control_launch/config/velocity_controller/5/velocity_controller.param.yaml index ac67d1b443..9cb6ac27fd 100644 --- a/control_launch/config/velocity_controller/5/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/5/velocity_controller.param.yaml @@ -18,15 +18,15 @@ # drive state kp: 2.0 ki: 0.02 - kd: 0 + kd: 0.0 max_out: 1.0 min_out: -5.0 max_p_effort: 0.5 min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 - max_d_effort: 0 - min_d_effort: 0 + max_d_effort: 0.0 + min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 diff --git a/control_launch/config/velocity_controller/7/velocity_controller.param.yaml b/control_launch/config/velocity_controller/7/velocity_controller.param.yaml index ac67d1b443..9cb6ac27fd 100644 --- a/control_launch/config/velocity_controller/7/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/7/velocity_controller.param.yaml @@ -18,15 +18,15 @@ # drive state kp: 2.0 ki: 0.02 - kd: 0 + kd: 0.0 max_out: 1.0 min_out: -5.0 max_p_effort: 0.5 min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 - max_d_effort: 0 - min_d_effort: 0 + max_d_effort: 0.0 + min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 diff --git a/control_launch/config/velocity_controller/9/velocity_controller.param.yaml b/control_launch/config/velocity_controller/9/velocity_controller.param.yaml index 2db9b9c7c9..a17964c4b1 100644 --- a/control_launch/config/velocity_controller/9/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/9/velocity_controller.param.yaml @@ -18,15 +18,15 @@ # drive state kp: 1.0 ki: 0.1 - kd: 0 + kd: 0.0 max_out: 1.0 min_out: -1.0 max_p_effort: 1.0 min_p_effort: -1.0 max_i_effort: 0.3 min_i_effort: -0.3 - max_d_effort: 0 - min_d_effort: 0 + max_d_effort: 0.0 + min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 diff --git a/control_launch/config/velocity_controller/default/velocity_controller.param.yaml b/control_launch/config/velocity_controller/default/velocity_controller.param.yaml index ac67d1b443..9cb6ac27fd 100644 --- a/control_launch/config/velocity_controller/default/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/default/velocity_controller.param.yaml @@ -18,15 +18,15 @@ # drive state kp: 2.0 ki: 0.02 - kd: 0 + kd: 0.0 max_out: 1.0 min_out: -5.0 max_p_effort: 0.5 min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 - max_d_effort: 0 - min_d_effort: 0 + max_d_effort: 0.0 + min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 From 5357ad0698a092d2c07a9f3e99c1930994665987 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Sun, 1 Aug 2021 22:00:38 +0900 Subject: [PATCH 037/349] Use scan ground filter for xx1 (#313) Signed-off-by: wep21 --- .../launch/aip_xx1/pointcloud_preprocessor.launch.py | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py index a9e3b03e55..351e6b53d7 100644 --- a/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py +++ b/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py @@ -117,16 +117,17 @@ def launch_setup(context, *args, **kwargs): ground_component = ComposableNode( package=pkg, - plugin='pointcloud_preprocessor::RayGroundFilterComponent', - name='ray_ground_filter', + plugin='pointcloud_preprocessor::ScanGroundFilterComponent', + name='scan_ground_filter', remappings=[ ('input', 'measurement_range_cropped/pointcloud'), ('output', 'no_ground/pointcloud') ], parameters=[{ - 'general_max_slope': 10.0, - 'local_max_slope': 10.0, - 'min_height_threshold': 0.2, + 'global_slope_max': 10.0, + 'local_slope_max_angle': 30.0, + 'split_points_distance_tolerance': 0.2, + 'split_height_distance': 0.2, }], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') From f1a426ed414feb5e2582be4466d3bcef4f3c8e5c Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon, 2 Aug 2021 00:54:06 +0900 Subject: [PATCH 038/349] Enable time series outlier filter (#314) Signed-off-by: wep21 --- .../aip_xx1/pointcloud_preprocessor.launch.py | 39 ++++++++++++++++++- 1 file changed, 37 insertions(+), 2 deletions(-) diff --git a/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py index 351e6b53d7..138082ff98 100644 --- a/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py +++ b/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py @@ -16,14 +16,17 @@ import launch from launch.actions import DeclareLaunchArgument +from launch.actions import IncludeLaunchDescription from launch.actions import OpaqueFunction from launch.actions import SetLaunchConfiguration from launch.conditions import IfCondition from launch.conditions import UnlessCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode +from launch_ros.substitutions import FindPackageShare import yaml @@ -121,7 +124,7 @@ def launch_setup(context, *args, **kwargs): name='scan_ground_filter', remappings=[ ('input', 'measurement_range_cropped/pointcloud'), - ('output', 'no_ground/pointcloud') + ('output', 'no_ground/oneshot/pointcloud') ], parameters=[{ 'global_slope_max': 10.0, @@ -134,6 +137,37 @@ def launch_setup(context, *args, **kwargs): }], ) + load_laserscan_to_occupancy_grid_map = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + FindPackageShare('laserscan_to_occupancy_grid_map'), + '/launch/laserscan_to_occupancy_grid_map.launch.py' + ] + ), + launch_arguments={ + 'container': + '/sensing/lidar/pointcloud_preprocessor/pointcloud_preprocessor_container', + 'input/obstacle_pointcloud': 'no_ground/oneshot/pointcloud', + 'input/raw_pointcloud': 'concatenated/pointcloud', + 'output': 'occupancy_grid', + 'use_intra_process': LaunchConfiguration('use_intra_process'), + }.items() + ) + + occupancy_grid_map_outlier_component = ComposableNode( + package=pkg, + plugin='pointcloud_preprocessor::OccupancyGridMapOutlierFilterComponent', + name='occupancy_grid_map_outlier_filter', + remappings=[ + ('~/input/occupancy_grid_map', 'occupancy_grid'), + ('~/input/pointcloud', 'no_ground/oneshot/pointcloud'), + ('~/output/pointcloud', 'no_ground/pointcloud'), + ], + extra_arguments=[{ + 'use_intra_process_comms': LaunchConfiguration('use_intra_process') + }], + ) + # set container to run all required components in the same process container = ComposableNodeContainer( name='pointcloud_preprocessor_container', @@ -143,6 +177,7 @@ def launch_setup(context, *args, **kwargs): composable_node_descriptions=[ cropbox_component, ground_component, + occupancy_grid_map_outlier_component, ], output='screen', ) @@ -160,7 +195,7 @@ def launch_setup(context, *args, **kwargs): condition=UnlessCondition(LaunchConfiguration('use_concat_filter')), ) - return [container, concat_loader, passthrough_loader] + return [container, concat_loader, passthrough_loader, load_laserscan_to_occupancy_grid_map] def generate_launch_description(): From e83814c1997793ca8d8ac69c8f91a736a561ac75 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon, 2 Aug 2021 12:12:55 +0900 Subject: [PATCH 039/349] add stopped_jerk (#276) (#315) * add stopped_jerk * set stopped_jerk -5.0 Co-authored-by: Takayuki Murooka --- .../config/velocity_controller/velocity_controller.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/control_launch/config/velocity_controller/velocity_controller.param.yaml b/control_launch/config/velocity_controller/velocity_controller.param.yaml index f754b5a856..5e9bb41d06 100644 --- a/control_launch/config/velocity_controller/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/velocity_controller.param.yaml @@ -46,6 +46,7 @@ # stopped state stopped_vel: 0.0 stopped_acc: -3.4 + stopped_jerk: -5.0 # emergency state emergency_vel: 0.0 From c91a39aeb39dbed9d4c2aa83cb1c47e87d4b8748 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 2 Aug 2021 12:22:25 +0900 Subject: [PATCH 040/349] Add stopped_jerk for each vehicle Signed-off-by: wep21 --- .../config/velocity_controller/1/velocity_controller.param.yaml | 1 + .../config/velocity_controller/10/velocity_controller.param.yaml | 1 + .../config/velocity_controller/2/velocity_controller.param.yaml | 1 + .../config/velocity_controller/3/velocity_controller.param.yaml | 1 + .../config/velocity_controller/4/velocity_controller.param.yaml | 1 + .../config/velocity_controller/5/velocity_controller.param.yaml | 1 + .../config/velocity_controller/6/velocity_controller.param.yaml | 1 + .../config/velocity_controller/7/velocity_controller.param.yaml | 1 + .../velocity_controller/default/velocity_controller.param.yaml | 1 + 9 files changed, 9 insertions(+) diff --git a/control_launch/config/velocity_controller/1/velocity_controller.param.yaml b/control_launch/config/velocity_controller/1/velocity_controller.param.yaml index 0d0c56d2f6..bec04354bb 100644 --- a/control_launch/config/velocity_controller/1/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/1/velocity_controller.param.yaml @@ -46,6 +46,7 @@ # stopped state stopped_vel: 0.0 stopped_acc: -3.4 + stopped_jerk: -5.0 # emergency state emergency_vel: 0.0 diff --git a/control_launch/config/velocity_controller/10/velocity_controller.param.yaml b/control_launch/config/velocity_controller/10/velocity_controller.param.yaml index 9cb6ac27fd..79523b3038 100644 --- a/control_launch/config/velocity_controller/10/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/10/velocity_controller.param.yaml @@ -46,6 +46,7 @@ # stopped state stopped_vel: 0.0 stopped_acc: -3.4 + stopped_jerk: -5.0 # emergency state emergency_vel: 0.0 diff --git a/control_launch/config/velocity_controller/2/velocity_controller.param.yaml b/control_launch/config/velocity_controller/2/velocity_controller.param.yaml index 9cb6ac27fd..79523b3038 100644 --- a/control_launch/config/velocity_controller/2/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/2/velocity_controller.param.yaml @@ -46,6 +46,7 @@ # stopped state stopped_vel: 0.0 stopped_acc: -3.4 + stopped_jerk: -5.0 # emergency state emergency_vel: 0.0 diff --git a/control_launch/config/velocity_controller/3/velocity_controller.param.yaml b/control_launch/config/velocity_controller/3/velocity_controller.param.yaml index c76cfc9b7a..72d1a61165 100644 --- a/control_launch/config/velocity_controller/3/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/3/velocity_controller.param.yaml @@ -46,6 +46,7 @@ # stopped state stopped_vel: 0.0 stopped_acc: -3.4 + stopped_jerk: -5.0 # emergency state emergency_vel: 0.0 diff --git a/control_launch/config/velocity_controller/4/velocity_controller.param.yaml b/control_launch/config/velocity_controller/4/velocity_controller.param.yaml index 8abd3fb2a1..641c250d99 100644 --- a/control_launch/config/velocity_controller/4/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/4/velocity_controller.param.yaml @@ -46,6 +46,7 @@ # stopped state stopped_vel: 0.0 stopped_acc: -3.4 + stopped_jerk: -5.0 # emergency state emergency_vel: 0.0 diff --git a/control_launch/config/velocity_controller/5/velocity_controller.param.yaml b/control_launch/config/velocity_controller/5/velocity_controller.param.yaml index 9cb6ac27fd..79523b3038 100644 --- a/control_launch/config/velocity_controller/5/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/5/velocity_controller.param.yaml @@ -46,6 +46,7 @@ # stopped state stopped_vel: 0.0 stopped_acc: -3.4 + stopped_jerk: -5.0 # emergency state emergency_vel: 0.0 diff --git a/control_launch/config/velocity_controller/6/velocity_controller.param.yaml b/control_launch/config/velocity_controller/6/velocity_controller.param.yaml index 0d0c56d2f6..bec04354bb 100644 --- a/control_launch/config/velocity_controller/6/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/6/velocity_controller.param.yaml @@ -46,6 +46,7 @@ # stopped state stopped_vel: 0.0 stopped_acc: -3.4 + stopped_jerk: -5.0 # emergency state emergency_vel: 0.0 diff --git a/control_launch/config/velocity_controller/7/velocity_controller.param.yaml b/control_launch/config/velocity_controller/7/velocity_controller.param.yaml index 9cb6ac27fd..79523b3038 100644 --- a/control_launch/config/velocity_controller/7/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/7/velocity_controller.param.yaml @@ -46,6 +46,7 @@ # stopped state stopped_vel: 0.0 stopped_acc: -3.4 + stopped_jerk: -5.0 # emergency state emergency_vel: 0.0 diff --git a/control_launch/config/velocity_controller/default/velocity_controller.param.yaml b/control_launch/config/velocity_controller/default/velocity_controller.param.yaml index 9cb6ac27fd..79523b3038 100644 --- a/control_launch/config/velocity_controller/default/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/default/velocity_controller.param.yaml @@ -46,6 +46,7 @@ # stopped state stopped_vel: 0.0 stopped_acc: -3.4 + stopped_jerk: -5.0 # emergency state emergency_vel: 0.0 From 9079797a779e20c61caa64c08c0848256dda35a5 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon, 2 Aug 2021 13:29:36 +0900 Subject: [PATCH 041/349] Feature/porting camera lidar fusion (#316) * Feature/camera lidar fusion (#248) * change camera lidar fusion node * change default mode of object recognition * change spilit range parameter from 10 to 30 (#272) Co-authored-by: Yukihiro Saito --- autoware_launch/launch/autoware.launch.xml | 2 +- .../launch/logging_simulator.launch.xml | 2 +- ...ra_lidar_fusion_based_detection.launch.xml | 58 ++----------------- 3 files changed, 7 insertions(+), 55 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 829519b5c2..bb318e7a01 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -47,7 +47,7 @@ - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 4f50aa2015..f695a41f2c 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -75,7 +75,7 @@ - + diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index 8c6ced37f6..0ad64f5eed 100644 --- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -1,5 +1,4 @@ - @@ -77,67 +76,20 @@ - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + - + - From 0cce2e78737dbeec1c0161047cd5177e8cade19d Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 2 Aug 2021 14:06:20 +0900 Subject: [PATCH 042/349] Disable traffic light detection and classifier Signed-off-by: wep21 --- .../launch/traffic_light_recognition/traffic_light.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml index eb1f6cf843..d69dcf7e7d 100644 --- a/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml +++ b/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml @@ -20,12 +20,12 @@ - + From 67fa256f80d35547879747c034d9e14082b08fb1 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 2 Aug 2021 16:51:29 +0900 Subject: [PATCH 043/349] Disable auto approval when using foa Signed-off-by: wep21 --- .../behavior_planning/behavior_planning.launch.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 2567c393e6..7d710a63c1 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -282,5 +282,7 @@ def generate_launch_description(): '/planning/scenario_planning/lane_driving/behavior_planning/' 'behavior_path_planner/path_change_approval', 'autoware_planning_msgs/msg/Approval', '{approval: true}', - '-r', '10']), + '-r', '10'], + condition=IfCondition(LaunchConfiguration('disuse_foa')), + ), ]) From b22be6490e2923387f2efa54f7a9beb24a00d129 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Mon, 2 Aug 2021 17:20:29 +0900 Subject: [PATCH 044/349] Add map hash generator (#319) Signed-off-by: Takagi, Isamu --- map_launch/launch/map.launch.py | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/map_launch/launch/map.launch.py b/map_launch/launch/map.launch.py index c72c85b251..c82e1a01f4 100644 --- a/map_launch/launch/map.launch.py +++ b/map_launch/launch/map.launch.py @@ -20,11 +20,23 @@ from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import Node from launch_ros.actions import PushRosNamespace from launch_ros.descriptions import ComposableNode def generate_launch_description(): + map_hash_generator = Node( + package='map_loader', + executable='map_hash_generator', + name='map_hash_generator', + parameters=[ + { + 'lanelet2_map_path': LaunchConfiguration('lanelet2_map_path'), + } + ], + ) + lanelet2_map_loader = ComposableNode( package='map_loader', plugin='Lanelet2MapLoaderNode', @@ -120,5 +132,6 @@ def add_launch_arg(name: str, default_value=None): GroupAction([ PushRosNamespace('map'), container, + map_hash_generator, ]) ]) From 8ef7bcfb113b8b714f49f0f6883ec7286eb737d0 Mon Sep 17 00:00:00 2001 From: Takayuki AKAMINE Date: Mon, 2 Aug 2021 17:26:26 +0900 Subject: [PATCH 045/349] Disable surround obstacle checker Signed-off-by: Takayuki AKAMINE --- .../lane_driving/motion_planning/motion_planning.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index 6313ef0cae..d398a2f51d 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -203,7 +203,7 @@ def generate_launch_description(): default_value='/planning/scenario_planning/lane_driving/behavior_planning/path'), DeclareLaunchArgument( 'use_surround_obstacle_check', - default_value='true' + default_value='false' ), DeclareLaunchArgument( 'use_intra_process', From 5bfe6040b375b99a3a7903fb88f9ca9ea901b208 Mon Sep 17 00:00:00 2001 From: yabuta Date: Tue, 3 Aug 2021 17:09:04 +0900 Subject: [PATCH 046/349] change external traffic light topic name in behavior velocity planner (#310) * fix topic * change internal topic name --- .../lane_driving/behavior_planning/behavior_planning.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 9f5846cf9d..f8dd3c5b90 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -196,7 +196,7 @@ def generate_launch_description(): ('~/input/traffic_light_states', '/perception/traffic_light_recognition/traffic_light_states'), ('~/input/external_traffic_light_states', - '/awapi/traffic_light/put/traffic_light_status'), + '/external/traffic_light_recognition/traffic_light_states'), ('~/input/occupancy_grid', '/sensing/lidar/occupancy_grid'), ('~/output/path', 'path'), ('~/output/stop_reasons', From f24a75f96c09801d252a483db203a6d34f6ff63c Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 4 Aug 2021 14:31:58 +0900 Subject: [PATCH 047/349] add underscore to marker namespace (#323) Co-authored-by: satoshi-ota --- 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 1c5f64bc64..2aea4f4192 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1123,11 +1123,11 @@ Visualization Manager: bounds_candidate_top_text: false constrain_rect: false constrain_rect_text: false - constrain_rectlocation: false + constrain_rect_location: false current_vehicle_footprint: false extending_constrain_rect: false extending_constrain_rect_text: false - extending_constrain_rectlocation: false + extending_constrain_rect_location: false fixed_mpt_points: false fixed_points_for_extending: false fixed_points_marker: false From b0a282aaea42daabd8737c476fafd4f0a2f7914c Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 4 Aug 2021 23:25:28 +0900 Subject: [PATCH 048/349] Feature/hide verbose marker (#322) * tmp : enable slow down * hide verbose markers * Revert "tmp : enable slow down" This reverts commit 5ad32c5903866d9cf946cc47b0b35cefa359d502. * update rviz tool bar Co-authored-by: satoshi-ota --- autoware_launch/rviz/autoware.rviz | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 2aea4f4192..bf86516be6 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1075,20 +1075,25 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: ObstaclePointCLoudStop + Name: ObstacleStop Namespaces: collision_polygons: false detection_polygons: false slow_down_polygons: false slow_down_detection_polygons: false - factor_text: true - stop_virtual_wall: true stop_obstacle_point: false stop_obstacle_text: false - virtual_wall/slow_down_start: false - factor_text/slow_down_start: false - virtual_wall/slow_down_end: false - factor_text/slow_down_end: false + slow_down_obstacle_point: false + slow_down_obstacle_text: false + slow_down_start_virtual_wall: false + slow_down_start_factor_text: false + slow_down_end_virtual_wall: false + slow_down_end_factor_text: false + slow_down_end: false + stop_virtual_wall: true + stop_factor_text: true + slow_down_virtual_wall: true + slow_down_factor_text: true Topic: Depth: 5 Durability Policy: Volatile From 10fcada7ee46481870d1bd0ac60d7a0b8ddc2995 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Fri, 6 Aug 2021 12:15:51 +0900 Subject: [PATCH 049/349] Add autoware api launch (#326) * Add autoware api launch Signed-off-by: Takagi, Isamu * Apply autoware api launch Signed-off-by: Takagi, Isamu * Add deprecated comment Signed-off-by: Takagi, Isamu --- autoware_api_launch/CMakeLists.txt | 12 ++++++++++ .../launch/autoware_api.launch.xml | 22 +++++++++++++++++ autoware_api_launch/package.xml | 24 +++++++++++++++++++ autoware_launch/launch/autoware.launch.xml | 4 +--- .../launch/logging_simulator.launch.xml | 4 +--- .../launch/planning_simulator.launch.xml | 4 +--- 6 files changed, 61 insertions(+), 9 deletions(-) create mode 100644 autoware_api_launch/CMakeLists.txt create mode 100644 autoware_api_launch/launch/autoware_api.launch.xml create mode 100644 autoware_api_launch/package.xml diff --git a/autoware_api_launch/CMakeLists.txt b/autoware_api_launch/CMakeLists.txt new file mode 100644 index 0000000000..37c18e108f --- /dev/null +++ b/autoware_api_launch/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_api_launch) + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/autoware_api_launch/launch/autoware_api.launch.xml b/autoware_api_launch/launch/autoware_api.launch.xml new file mode 100644 index 0000000000..8cc3f7efbe --- /dev/null +++ b/autoware_api_launch/launch/autoware_api.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/autoware_api_launch/package.xml b/autoware_api_launch/package.xml new file mode 100644 index 0000000000..0e8211d06d --- /dev/null +++ b/autoware_api_launch/package.xml @@ -0,0 +1,24 @@ + + + + + autoware_api_launch + 0.0.0 + The autoware_api_launch package + Takagi, Isamu + Apache License 2.0 + + ament_cmake_auto + + autoware_iv_external_api_adaptor + autoware_iv_internal_api_adaptor + path_distance_calculator + + ament_lint_auto + ament_lint_common + + + ament_cmake + + + diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index bb318e7a01..1be5a76356 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -61,9 +61,7 @@ - - - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index f695a41f2c..a830465c95 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -94,9 +94,7 @@ - - - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 196cd37c48..94c7b625b1 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -64,9 +64,7 @@ - - - + From 1807d5f956199299c9125a5f51cde7e5b82db8a1 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Fri, 6 Aug 2021 13:16:07 +0900 Subject: [PATCH 050/349] Use multithread for lane driving planning (#327) Signed-off-by: wep21 --- .../launch/scenario_planning/lane_driving.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning_launch/launch/scenario_planning/lane_driving.launch.xml b/planning_launch/launch/scenario_planning/lane_driving.launch.xml index ebceb31b8a..26ed39dde9 100644 --- a/planning_launch/launch/scenario_planning/lane_driving.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving.launch.xml @@ -7,6 +7,7 @@ + @@ -14,6 +15,7 @@ + From 7019d0ba81d1efdb88c741a22bb5cfaf62f9235c Mon Sep 17 00:00:00 2001 From: Takayuki AKAMINE Date: Fri, 6 Aug 2021 15:10:55 +0900 Subject: [PATCH 051/349] Change perception mode: camera lidar fusion->lidar Signed-off-by: Takayuki AKAMINE --- autoware_launch/launch/autoware.launch.xml | 2 +- autoware_launch/launch/logging_simulator.launch.xml | 2 +- perception_launch/launch/perception.launch.xml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index d68f8e29c9..5ab5f0aad2 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -48,7 +48,7 @@ - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 777aa9b5c8..a52821a686 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -76,7 +76,7 @@ - + diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml index 193e7066e3..c9f5dc0d9b 100644 --- a/perception_launch/launch/perception.launch.xml +++ b/perception_launch/launch/perception.launch.xml @@ -2,7 +2,7 @@ - + From 468223d432a26b380eaaa283e0319ec875377096 Mon Sep 17 00:00:00 2001 From: Takayuki AKAMINE Date: Fri, 6 Aug 2021 15:25:00 +0900 Subject: [PATCH 052/349] Disable avoidance Signed-off-by: Takayuki AKAMINE --- .../lane_driving/behavior_planning/behavior_planning.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 77a584525e..a2f035ee52 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -122,7 +122,7 @@ def generate_launch_description(): 'enable_blocked_by_obstacle': LaunchConfiguration('disuse_foa'), 'bt_tree_config_path': [FindPackageShare('behavior_path_planner'), - '/config/behavior_path_planner_tree.xml'] + '/config/behavior_path_planner_tree_lane_change_only.xml'] } ], extra_arguments=[ From dd2986dd8eb326a2a2da2b4016e58be599728688 Mon Sep 17 00:00:00 2001 From: Takayuki AKAMINE Date: Fri, 6 Aug 2021 15:34:22 +0900 Subject: [PATCH 053/349] Fix lane change param name Signed-off-by: Takayuki AKAMINE --- .../behavior_planning/behavior_planning.launch.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index a2f035ee52..2c3d5faac0 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -115,11 +115,11 @@ def generate_launch_description(): lane_change_param, behavior_path_planner_param, { - 'enable_abort_lane_change': LaunchConfiguration('disuse_foa'), - 'enable_collision_check_at_prepare_phase': LaunchConfiguration('disuse_foa'), - 'use_predicted_path_outside_lanelet': LaunchConfiguration('disuse_foa'), - 'use_all_predicted_path': LaunchConfiguration('disuse_foa'), - 'enable_blocked_by_obstacle': LaunchConfiguration('disuse_foa'), + 'lane_change.enable_abort_lane_change': LaunchConfiguration('disuse_foa'), + 'lane_change.enable_collision_check_at_prepare_phase': LaunchConfiguration('disuse_foa'), + 'lane_change.use_predicted_path_outside_lanelet': LaunchConfiguration('disuse_foa'), + 'lane_change.use_all_predicted_path': LaunchConfiguration('disuse_foa'), + 'lane_change.enable_blocked_by_obstacle': LaunchConfiguration('disuse_foa'), 'bt_tree_config_path': [FindPackageShare('behavior_path_planner'), '/config/behavior_path_planner_tree_lane_change_only.xml'] From 284ec7150ec481bf7090cd8585cc6bf49c1ea665 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 11 Aug 2021 12:07:17 +0900 Subject: [PATCH 054/349] Remove unused parameter (#325) Signed-off-by: Takagi, Isamu --- localization_launch/launch/util/util.launch.xml | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml index 9cdc05ba91..b9da2e3e7a 100644 --- a/localization_launch/launch/util/util.launch.xml +++ b/localization_launch/launch/util/util.launch.xml @@ -18,10 +18,9 @@ - - - + + From 1a4c5333dcf45374b027ee37a583435bb7e76d44 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 12 Aug 2021 15:53:28 +0900 Subject: [PATCH 055/349] Add api parameter (#341) Signed-off-by: Takagi, Isamu --- autoware_launch/launch/autoware.launch.xml | 5 ++++- autoware_launch/launch/logging_simulator.launch.xml | 9 ++++----- autoware_launch/launch/planning_simulator.launch.xml | 5 ++++- 3 files changed, 12 insertions(+), 7 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 1be5a76356..a8f7c04b30 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -61,7 +61,10 @@ - + + + + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index a830465c95..811d4f7b0c 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -43,7 +43,6 @@ - @@ -52,7 +51,6 @@ - @@ -63,14 +61,12 @@ - - @@ -94,7 +90,10 @@ - + + + + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 94c7b625b1..d00e357e00 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -64,7 +64,10 @@ - + + + + From 001d6d32d3a9e53c9f17afe3d6c2808e673daaf2 Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Mon, 16 Aug 2021 05:43:50 +0900 Subject: [PATCH 056/349] Fix import order of parking.launch.py (#347) Signed-off-by: Kenji Miyake --- planning_launch/launch/scenario_planning/parking.launch.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/planning_launch/launch/scenario_planning/parking.launch.py b/planning_launch/launch/scenario_planning/parking.launch.py index fe11b734c4..b9ccd6cfc7 100644 --- a/planning_launch/launch/scenario_planning/parking.launch.py +++ b/planning_launch/launch/scenario_planning/parking.launch.py @@ -12,8 +12,9 @@ # See the License for the specific language governing permissions and # limitations under the License. -from ament_index_python.packages import get_package_share_directory +import os +from ament_index_python.packages import get_package_share_directory import launch from launch.actions import DeclareLaunchArgument from launch.actions import GroupAction @@ -24,8 +25,6 @@ from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import PushRosNamespace from launch_ros.descriptions import ComposableNode - -import os import yaml From 679385346d5475e0d4d7aa1d6cab36b5e607baa7 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Thu, 19 Aug 2021 15:07:05 +0900 Subject: [PATCH 057/349] Add sync upstream develop (#115) * Add sync upstream develop * Fix CI shell Signed-off-by: wep21 --- .github/workflows/get_modified_package.sh | 4 +- .github/workflows/sync-upstream-develop.yml | 77 +++++++++++++++++++++ 2 files changed, 79 insertions(+), 2 deletions(-) create mode 100644 .github/workflows/sync-upstream-develop.yml diff --git a/.github/workflows/get_modified_package.sh b/.github/workflows/get_modified_package.sh index d03f3dc692..4d4cec41e6 100755 --- a/.github/workflows/get_modified_package.sh +++ b/.github/workflows/get_modified_package.sh @@ -40,8 +40,8 @@ function find_package_from_file() { return 1 } -# Find modified files after merging origin/develop -merge_base=$(git merge-base HEAD origin/develop) +# Find modified files after merging origin/develop/ros2 +merge_base=$(git merge-base HEAD origin/develop/ros2) modified_files=$(git diff --name-only "$merge_base") # Find modified packages diff --git a/.github/workflows/sync-upstream-develop.yml b/.github/workflows/sync-upstream-develop.yml new file mode 100644 index 0000000000..941c141208 --- /dev/null +++ b/.github/workflows/sync-upstream-develop.yml @@ -0,0 +1,77 @@ +name: sync upstream develop + +on: + schedule: + - cron: "0 19 * * *" # run at 4 AM JST + workflow_dispatch: + +env: + UPSTREAM_REPO: https://github.com/tier4/autoware_launcher.git + BASE_BRANCH: develop/ros2 + SYNC_TARGET_BRANCH: develop + SYNC_BRANCH: sync-upstream-develop + +jobs: + sync-upstream: + runs-on: ubuntu-20.04 + + steps: + - name: Checkout repository + uses: actions/checkout@v2 + with: + ref: ${{ env.BASE_BRANCH }} + fetch-depth: 0 + + - name: Generate token + uses: tibdex/github-app-token@v1 + id: generate-token + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.APP_PRIVATE_KEY }} + + - name: Set git config for private repositories + run: | + git config --local --unset-all http.https://github.com/.extraheader || true + git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com' + + - name: Fetch upstream + run: | + git remote add upstream "${{ env.UPSTREAM_REPO }}" + git fetch -pPtf --all + + # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH" + - name: Reset to sync target branch + run: | + git reset --hard upstream/${{ env.SYNC_TARGET_BRANCH }} + + - name: Create PR + id: create_pr + uses: peter-evans/create-pull-request@v3 + with: + token: ${{ steps.generate-token.outputs.token }} + commit-message: sync upstream develop + committer: GitHub + author: GitHub + signoff: false + base: ${{ env.BASE_BRANCH }} + branch: ${{ env.SYNC_BRANCH }} + delete-branch: true + title: sync upstream develop + body: | + sync upstream develop + labels: | + sync-upstream-develop + draft: false + + - name: Check outputs + run: | + echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}" + echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}" + + - name: Enable Auto-merge + if: steps.create_pr.outputs.pull-request-operation == 'created' + uses: peter-evans/enable-pull-request-automerge@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }} + merge-method: merge From 7885082e89cd3bc55afc5609eeacda45f166b0b8 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Thu, 19 Aug 2021 18:14:33 +0900 Subject: [PATCH 058/349] Rename param from smooth_stop_max_fast_vel to smooth_stop_min_fast_vel --- .../config/velocity_controller/velocity_controller.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control_launch/config/velocity_controller/velocity_controller.param.yaml b/control_launch/config/velocity_controller/velocity_controller.param.yaml index 5e9bb41d06..f9a2f02b58 100644 --- a/control_launch/config/velocity_controller/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/velocity_controller.param.yaml @@ -36,7 +36,7 @@ smooth_stop_weak_acc: -0.3 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 - smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_fast_vel: 0.5 smooth_stop_min_running_vel: 0.01 smooth_stop_min_running_acc: 0.01 smooth_stop_weak_stop_time: 0.8 From 8278e17953e986a2c8a0db146f8363eb735f4105 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Mon, 23 Aug 2021 16:34:03 +0900 Subject: [PATCH 059/349] Add start request API (#321) * Add use start request option Signed-off-by: Takagi, Isamu * Fix lint Signed-off-by: Takagi, Isamu --- control_launch/launch/control.launch.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 4b97f64f0e..ed7dbde135 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -208,6 +208,7 @@ def launch_setup(context, *args, **kwargs): { 'use_emergency_handling': LaunchConfiguration('use_emergency_handling'), 'use_external_emergency_stop': LaunchConfiguration('use_external_emergency_stop'), + 'use_start_request': LaunchConfiguration('use_start_request'), } ], extra_arguments=[{ @@ -368,6 +369,7 @@ def add_launch_arg(name: str, default_value=None, description=None): # vehicle cmd gate add_launch_arg('use_emergency_handling', 'false', 'use emergency handling') add_launch_arg('use_external_emergency_stop', 'true', 'use external emergency stop') + add_launch_arg('use_start_request', 'false', 'use start request service') # external cmd selector add_launch_arg('initial_selector_mode', '1', '0: Local, 1: Remote') From ce0bfc95c9394da10646090088933a9a81b778e6 Mon Sep 17 00:00:00 2001 From: wep21 Date: Wed, 25 Aug 2021 07:35:00 +0900 Subject: [PATCH 060/349] Update parameter name for each vehicle in velocity controller Signed-off-by: wep21 --- .../config/velocity_controller/1/velocity_controller.param.yaml | 2 +- .../velocity_controller/10/velocity_controller.param.yaml | 2 +- .../config/velocity_controller/2/velocity_controller.param.yaml | 2 +- .../config/velocity_controller/3/velocity_controller.param.yaml | 2 +- .../config/velocity_controller/4/velocity_controller.param.yaml | 2 +- .../config/velocity_controller/5/velocity_controller.param.yaml | 2 +- .../config/velocity_controller/6/velocity_controller.param.yaml | 2 +- .../config/velocity_controller/7/velocity_controller.param.yaml | 2 +- .../velocity_controller/default/velocity_controller.param.yaml | 2 +- 9 files changed, 9 insertions(+), 9 deletions(-) diff --git a/control_launch/config/velocity_controller/1/velocity_controller.param.yaml b/control_launch/config/velocity_controller/1/velocity_controller.param.yaml index bec04354bb..753c7ee792 100644 --- a/control_launch/config/velocity_controller/1/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/1/velocity_controller.param.yaml @@ -36,7 +36,7 @@ smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 - smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_fast_vel: 0.5 smooth_stop_min_running_vel: 0.01 smooth_stop_min_running_acc: 0.01 smooth_stop_weak_stop_time: 0.8 diff --git a/control_launch/config/velocity_controller/10/velocity_controller.param.yaml b/control_launch/config/velocity_controller/10/velocity_controller.param.yaml index 79523b3038..e32610ffd8 100644 --- a/control_launch/config/velocity_controller/10/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/10/velocity_controller.param.yaml @@ -36,7 +36,7 @@ smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 - smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_fast_vel: 0.5 smooth_stop_min_running_vel: 0.01 smooth_stop_min_running_acc: 0.01 smooth_stop_weak_stop_time: 0.8 diff --git a/control_launch/config/velocity_controller/2/velocity_controller.param.yaml b/control_launch/config/velocity_controller/2/velocity_controller.param.yaml index 79523b3038..e32610ffd8 100644 --- a/control_launch/config/velocity_controller/2/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/2/velocity_controller.param.yaml @@ -36,7 +36,7 @@ smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 - smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_fast_vel: 0.5 smooth_stop_min_running_vel: 0.01 smooth_stop_min_running_acc: 0.01 smooth_stop_weak_stop_time: 0.8 diff --git a/control_launch/config/velocity_controller/3/velocity_controller.param.yaml b/control_launch/config/velocity_controller/3/velocity_controller.param.yaml index 72d1a61165..0fc93513fe 100644 --- a/control_launch/config/velocity_controller/3/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/3/velocity_controller.param.yaml @@ -36,7 +36,7 @@ smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 - smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_fast_vel: 0.5 smooth_stop_min_running_vel: 0.01 smooth_stop_min_running_acc: 0.01 smooth_stop_weak_stop_time: 0.8 diff --git a/control_launch/config/velocity_controller/4/velocity_controller.param.yaml b/control_launch/config/velocity_controller/4/velocity_controller.param.yaml index 641c250d99..1ba27b7392 100644 --- a/control_launch/config/velocity_controller/4/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/4/velocity_controller.param.yaml @@ -36,7 +36,7 @@ smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 - smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_fast_vel: 0.5 smooth_stop_min_running_vel: 0.01 smooth_stop_min_running_acc: 0.01 smooth_stop_weak_stop_time: 0.8 diff --git a/control_launch/config/velocity_controller/5/velocity_controller.param.yaml b/control_launch/config/velocity_controller/5/velocity_controller.param.yaml index 79523b3038..e32610ffd8 100644 --- a/control_launch/config/velocity_controller/5/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/5/velocity_controller.param.yaml @@ -36,7 +36,7 @@ smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 - smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_fast_vel: 0.5 smooth_stop_min_running_vel: 0.01 smooth_stop_min_running_acc: 0.01 smooth_stop_weak_stop_time: 0.8 diff --git a/control_launch/config/velocity_controller/6/velocity_controller.param.yaml b/control_launch/config/velocity_controller/6/velocity_controller.param.yaml index bec04354bb..753c7ee792 100644 --- a/control_launch/config/velocity_controller/6/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/6/velocity_controller.param.yaml @@ -36,7 +36,7 @@ smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 - smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_fast_vel: 0.5 smooth_stop_min_running_vel: 0.01 smooth_stop_min_running_acc: 0.01 smooth_stop_weak_stop_time: 0.8 diff --git a/control_launch/config/velocity_controller/7/velocity_controller.param.yaml b/control_launch/config/velocity_controller/7/velocity_controller.param.yaml index 79523b3038..e32610ffd8 100644 --- a/control_launch/config/velocity_controller/7/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/7/velocity_controller.param.yaml @@ -36,7 +36,7 @@ smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 - smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_fast_vel: 0.5 smooth_stop_min_running_vel: 0.01 smooth_stop_min_running_acc: 0.01 smooth_stop_weak_stop_time: 0.8 diff --git a/control_launch/config/velocity_controller/default/velocity_controller.param.yaml b/control_launch/config/velocity_controller/default/velocity_controller.param.yaml index 79523b3038..e32610ffd8 100644 --- a/control_launch/config/velocity_controller/default/velocity_controller.param.yaml +++ b/control_launch/config/velocity_controller/default/velocity_controller.param.yaml @@ -36,7 +36,7 @@ smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 - smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_fast_vel: 0.5 smooth_stop_min_running_vel: 0.01 smooth_stop_min_running_acc: 0.01 smooth_stop_weak_stop_time: 0.8 From 3cf4e56e9a529cce95b81207be476be72f68a6ac Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Wed, 25 Aug 2021 09:43:49 +0900 Subject: [PATCH 061/349] Fix param name in scan ground filter (#357) Signed-off-by: wep21 --- .../launch/aip_xx1/pointcloud_preprocessor.launch.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py index 138082ff98..878123e332 100644 --- a/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py +++ b/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py @@ -127,8 +127,8 @@ def launch_setup(context, *args, **kwargs): ('output', 'no_ground/oneshot/pointcloud') ], parameters=[{ - 'global_slope_max': 10.0, - 'local_slope_max_angle': 30.0, + 'global_slope_max_angle_deg': 10.0, + 'local_slope_max_angle_deg': 30.0, 'split_points_distance_tolerance': 0.2, 'split_height_distance': 0.2, }], From 4b59e5fb83250fb381941990348cd96d9d428120 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 25 Aug 2021 15:00:02 +0900 Subject: [PATCH 062/349] Feature external cmd selector heartbeat (#356) * Rename external command topic Signed-off-by: Takagi, Isamu * Modify command topic name Signed-off-by: Takagi, Isamu * Fix topic name Signed-off-by: Takagi, Isamu * Rename remote_cmd_converter Signed-off-by: Takagi, Isamu * Remove gate mode from external command Signed-off-by: Takagi, Isamu --- control_launch/control_launch.drawio.svg | 6 ++-- control_launch/launch/control.launch.py | 42 +++++++++++++----------- control_launch/launch/control.launch.xml | 35 +++++--------------- control_launch/package.xml | 2 +- 4 files changed, 34 insertions(+), 51 deletions(-) diff --git a/control_launch/control_launch.drawio.svg b/control_launch/control_launch.drawio.svg index 82361e0a24..bf244ee7bf 100644 --- a/control_launch/control_launch.drawio.svg +++ b/control_launch/control_launch.drawio.svg @@ -344,12 +344,12 @@
- remote_cmd_converter + external_cmd_converter

- package: remote_cmd_converter + package: external_cmd_converter
@@ -357,7 +357,7 @@
- remote_cmd_converter... + external_cmd_converter... diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index ed7dbde135..53e5db8977 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -171,18 +171,18 @@ def launch_setup(context, *args, **kwargs): name='vehicle_cmd_gate', remappings=[ ('input/system_emergency', '/system/emergency/is_emergency'), - ('input/external_emergency_stop', '/remote/emergency_stop'), ('input/emergency', '/system/emergency/is_emergency'), - ('input/gate_mode', '/remote/gate_mode_cmd'), ('input/steering', '/vehicle/status/steering'), ('input/auto/control_cmd', 'trajectory_follower/control_cmd'), ('input/auto/turn_signal_cmd', '/planning/turn_signal_decider/turn_signal_cmd'), ('input/auto/shift_cmd', '/control/shift_decider/shift_cmd'), - ('input/remote/control_cmd', '/external/external_cmd_selector/control_cmd'), - ('input/remote/turn_signal_cmd', '/external/external_cmd_selector/turn_signal_cmd'), - ('input/remote/shift_cmd', '/external/external_cmd_selector/shift_cmd'), + ('input/external/control_cmd', '/external/selected/control_cmd'), + ('input/external/turn_signal_cmd', '/external/selected/turn_signal_cmd'), + ('input/external/shift_cmd', '/external/selected/shift_cmd'), + ('input/external_emergency_stop', '/external/selected/heartbeat'), + ('input/gate_mode', '/control/gate_mode_cmd'), ('input/emergency/control_cmd', '/system/emergency/control_cmd'), ('input/emergency/turn_signal_cmd', '/system/emergency/turn_signal_cmd'), @@ -222,18 +222,20 @@ def launch_setup(context, *args, **kwargs): plugin='ExternalCmdSelector', name='external_cmd_selector', remappings=[ + ('~/service/select_external_command', '~/select_external_command'), ('~/input/local/control_cmd', '/external/local/control_cmd'), ('~/input/local/shift_cmd', '/external/local/shift_cmd'), ('~/input/local/turn_signal_cmd', '/external/local/turn_signal_cmd'), + ('~/input/local/heartbeat', '/external/local/heartbeat'), ('~/input/remote/control_cmd', '/external/remote/control_cmd'), ('~/input/remote/shift_cmd', '/external/remote/shift_cmd'), ('~/input/remote/turn_signal_cmd', '/external/remote/turn_signal_cmd'), + ('~/input/remote/heartbeat', '/external/remote/heartbeat'), + ('~/output/control_cmd', '/external/selected/external_control_cmd'), + ('~/output/shift_cmd', '/external/selected/shift_cmd'), + ('~/output/turn_signal_cmd', '/external/selected/turn_signal_cmd'), + ('~/output/heartbeat', '/external/selected/heartbeat'), ('~/output/current_selector_mode', '~/current_selector_mode'), - ('~/output/external_control_cmd', - '/external/external_cmd_selector/external_control_cmd'), - ('~/output/shift_cmd', '/external/external_cmd_selector/shift_cmd'), - ('~/output/turn_signal_cmd', '/external/external_cmd_selector/turn_signal_cmd'), - ('~/service/select_external_command', '~/select_external_command'), ], parameters=[ { @@ -246,18 +248,18 @@ def launch_setup(context, *args, **kwargs): ) # remote cmd converter - remote_cmd_converter_component = ComposableNode( - package='remote_cmd_converter', - plugin='remote_cmd_converter::RemoteCmdConverterNode', - name='remote_cmd_converter', + external_cmd_converter_component = ComposableNode( + package='external_cmd_converter', + plugin='external_cmd_converter::ExternalCmdConverterNode', + name='external_cmd_converter', remappings=[ - ('in/external_control_cmd', '/external/external_cmd_selector/external_control_cmd'), - ('in/shift_cmd', '/external/external_cmd_selector/shift_cmd'), + ('in/external_control_cmd', '/external/selected/external_control_cmd'), + ('in/shift_cmd', '/external/selected/shift_cmd'), ('in/emergency_stop', '/remote/emergency_stop'), ('in/current_gate_mode', '/control/current_gate_mode'), ('in/twist', '/localization/twist'), - ('out/control_cmd', '/external/external_cmd_selector/control_cmd'), - ('out/latest_remote_control_cmd', '/remote/latest_remote_control_cmd'), + ('out/control_cmd', '/external/selected/control_cmd'), + ('out/latest_remote_control_cmd', '/external/selected/latest_external_control_cmd'), ], parameters=[ { @@ -287,7 +289,7 @@ def launch_setup(context, *args, **kwargs): lane_departure_component, shift_decider_component, vehicle_cmd_gate_component, - remote_cmd_converter_component, + external_cmd_converter_component, external_cmd_selector_component, ], ) @@ -372,7 +374,7 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg('use_start_request', 'false', 'use start request service') # external cmd selector - add_launch_arg('initial_selector_mode', '1', '0: Local, 1: Remote') + add_launch_arg('initial_selector_mode', 'remote', 'local or remote') # remote cmd converter add_launch_arg( diff --git a/control_launch/launch/control.launch.xml b/control_launch/launch/control.launch.xml index 940fc887a4..b464ce390a 100644 --- a/control_launch/launch/control.launch.xml +++ b/control_launch/launch/control.launch.xml @@ -58,43 +58,24 @@ - - - - - - - - - - - - - - - - - - - - - + - + + - - - - - + + + + + diff --git a/control_launch/package.xml b/control_launch/package.xml index c668eb210e..fd1003d974 100644 --- a/control_launch/package.xml +++ b/control_launch/package.xml @@ -14,7 +14,7 @@ latlon_muxer mpc_follower pure_pursuit - remote_cmd_converter + external_cmd_converter shift_decider vehicle_cmd_gate velocity_controller From 9e3e0b64061db2a55c29a4847fd18301c4f2329b Mon Sep 17 00:00:00 2001 From: taikitanaka Date: Wed, 25 Aug 2021 18:46:38 +0900 Subject: [PATCH 063/349] add planning error monitor launch --- planning_launch/launch/planning.launch.xml | 7 +++++++ .../planning_error_monitor.launch.xml | 10 ++++++++++ 2 files changed, 17 insertions(+) create mode 100644 planning_launch/launch/planning_error_monitor/planning_error_monitor.launch.xml diff --git a/planning_launch/launch/planning.launch.xml b/planning_launch/launch/planning.launch.xml index 003af6fca8..748bc80e73 100644 --- a/planning_launch/launch/planning.launch.xml +++ b/planning_launch/launch/planning.launch.xml @@ -15,5 +15,12 @@ + + + + + + + diff --git a/planning_launch/launch/planning_error_monitor/planning_error_monitor.launch.xml b/planning_launch/launch/planning_error_monitor/planning_error_monitor.launch.xml new file mode 100644 index 0000000000..3875eec5df --- /dev/null +++ b/planning_launch/launch/planning_error_monitor/planning_error_monitor.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + + From 2837b5e2d756bb745aef8d82f48c847348674e6c Mon Sep 17 00:00:00 2001 From: taikitanaka Date: Wed, 25 Aug 2021 18:46:38 +0900 Subject: [PATCH 064/349] fix to plannig diagnostic --- planning_launch/launch/planning.launch.xml | 6 +++--- .../planning_error_monitor.launch.xml | 0 2 files changed, 3 insertions(+), 3 deletions(-) rename planning_launch/launch/{planning_error_monitor => planning_diagnostics}/planning_error_monitor.launch.xml (100%) diff --git a/planning_launch/launch/planning.launch.xml b/planning_launch/launch/planning.launch.xml index 748bc80e73..3f33650f47 100644 --- a/planning_launch/launch/planning.launch.xml +++ b/planning_launch/launch/planning.launch.xml @@ -16,10 +16,10 @@ - + - - + + diff --git a/planning_launch/launch/planning_error_monitor/planning_error_monitor.launch.xml b/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml similarity index 100% rename from planning_launch/launch/planning_error_monitor/planning_error_monitor.launch.xml rename to planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml From bc8be1621ea225dced79a606c182b2f34ef7fef1 Mon Sep 17 00:00:00 2001 From: taikitanaka Date: Wed, 25 Aug 2021 18:46:38 +0900 Subject: [PATCH 065/349] fix typo --- .../planning_diagnostics/planning_error_monitor.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml b/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml index 3875eec5df..63a00c8ff5 100644 --- a/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml +++ b/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml @@ -1,6 +1,6 @@ - + From 1e8af710a64efbb48859969dec82bd4b5ba4a62e Mon Sep 17 00:00:00 2001 From: taikitanaka Date: Wed, 25 Aug 2021 19:54:41 +0900 Subject: [PATCH 066/349] remove duplicated --- .../planning_diagnostics/planning_error_monitor.launch.xml | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml b/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml index 63a00c8ff5..0555cbf965 100644 --- a/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml +++ b/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml @@ -2,9 +2,7 @@ - - - - + + From f0de252f05aea1183c5e559d119d22c4ebfe72e1 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Wed, 25 Aug 2021 23:07:26 +0900 Subject: [PATCH 067/349] Add analytical smoother config (#360) Signed-off-by: Makoto Kurihara --- .../Analytical.param.yaml | 25 +++++++++++++++++++ 1 file changed, 25 insertions(+) create mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml new file mode 100644 index 0000000000..329714e3d3 --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml @@ -0,0 +1,25 @@ +/**: + ros__parameters: + resample: + ds_resample: 0.1 + num_resample: 1 + delta_yaw_threshold: 0.785 + + latacc: + enable_constant_velocity_while_turning: false + constant_velocity_dist_threshold: 2.0 + + forward: + max_acc: 1.0 + min_acc: -1.0 + max_jerk: 0.3 + min_jerk: -0.3 + kp: 0.3 + + backward: + start_jerk: -0.1 + min_jerk_mild_stop: -0.3 + min_jerk: -1.5 + min_acc_mild_stop: -1.0 + min_acc: -2.5 + span_jerk: -0.01 From 223905a276ab5a812273c1feeb2c643f43561c06 Mon Sep 17 00:00:00 2001 From: tkimura4 Date: Thu, 26 Aug 2021 01:09:29 +0900 Subject: [PATCH 068/349] update acc param (#358) --- .../obstacle_stop_planner/adaptive_cruise_control.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml index 8734776b34..dd76f2c4e5 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml @@ -7,7 +7,8 @@ consider_obj_velocity: true # consider forward vehicle velocity to ACC or not # general parameter for ACC - obstacle_stop_velocity_thresh: 1.0 # threshold of forward obstacle velocity to insert stop line (to stop acc) [m/s] + obstacle_velocity_thresh_to_start_acc: 1.5 # start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s] + obstacle_velocity_thresh_to_stop_acc: 1.0 # stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s] emergency_stop_acceleration: -5.0 # supposed minimum acceleration (deceleration) in emergency stop [m/ss] emergency_stop_idling_time: 0.5 # supposed idling time to start emergency stop [s] min_dist_stop: 4.0 # minimum distance of emergency stop [m] From 78bbf70de51dc01b8892436102c6ea28dda73d5b Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 26 Aug 2021 17:59:05 +0900 Subject: [PATCH 069/349] add rosparam for vehicle center optimization (#362) --- .../obstacle_avoidance_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 8150af7436..2a38048a66 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -82,6 +82,7 @@ terminal_path_lat_error_weight: 1000.0 # weight for lateral error at path end point terminal_path_yaw_error_weight: 1000.0 # weight for yaw error at path end point zero_ff_steer_angle: 0.5 # threshold that feed-forward angle becomes zero + optimization_center_offset: 1.5 # replanning & trimming trajectory param outside algorithm min_delta_dist_for_replan: 10.0 # minimum delta dist thres for replan[m] From 0549b368a8747e79855d1e5885035a0aa446bb7f Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 26 Aug 2021 19:36:58 +0900 Subject: [PATCH 070/349] Fix latest external command name (#361) Signed-off-by: Takagi, Isamu --- control_launch/launch/control.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 53e5db8977..ddd7e00c28 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -259,7 +259,7 @@ def launch_setup(context, *args, **kwargs): ('in/current_gate_mode', '/control/current_gate_mode'), ('in/twist', '/localization/twist'), ('out/control_cmd', '/external/selected/control_cmd'), - ('out/latest_remote_control_cmd', '/external/selected/latest_external_control_cmd'), + ('out/latest_external_control_cmd', '/external/selected/latest_external_control_cmd'), ], parameters=[ { From f7f341ae2b76339e7301e5293918b828f53717d0 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 26 Aug 2021 19:57:22 +0900 Subject: [PATCH 071/349] update ros param for .iv (#353) * update ros param for .iv * forward fixing mpt time: 3.0->1.0 --- .../obstacle_avoidance_planner.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 2a38048a66..ff885543f8 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -65,7 +65,8 @@ # trajectory param for mpt num_curvature_sampling_points: 5 # number of sampling points when calculating curvature delta_arc_length_for_mpt_points: 0.5 # delta arc length when generating mpt[m] - forward_fixing_mpt_distance: 10 # number of fixing points around ego vehicle + forward_fixing_mpt_min_distance: 10 # number of fixing points around ego vehicle + forward_fixing_mpt_time: 1.0 # forward fixing time with current velocity [s] # optimization param for mpt is_hard_fixing_terminal_point: false # hard fixing terminal point From cc2da0fda9eb9ed5348c4ec5db4c6e0c07c96b20 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Fri, 27 Aug 2021 12:09:23 +0900 Subject: [PATCH 072/349] Feature/vehicle gate parametrize acc (#320) * [vehicle_cmd_gate] add acc parameters Signed-off-by: TakaHoribe * fix typo Signed-off-by: TakaHoribe * Update control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml Co-authored-by: tkimura4 Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: tkimura4 --- .../config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index fbded96a7b..94b682a6b4 100644 --- a/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -3,7 +3,8 @@ update_rate: 10.0 system_emergency_heartbeat_timeout: 0.5 external_emergency_stop_heartbeat_timeout: 0.0 - + stop_hold_acceleration: -1.5 + emergency_acceleration: -2.4 vel_lim: 25.0 lon_acc_lim: 5.0 lon_jerk_lim: 5.0 From 361b7d5ec3eebc96ed9ee04aa3e02d830e8018db Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Fri, 27 Aug 2021 12:31:45 +0900 Subject: [PATCH 073/349] Fix lint (#121) Signed-off-by: wep21 --- .../behavior_planning/behavior_planning.launch.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 2c3d5faac0..786a136f77 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -116,8 +116,10 @@ def generate_launch_description(): behavior_path_planner_param, { 'lane_change.enable_abort_lane_change': LaunchConfiguration('disuse_foa'), - 'lane_change.enable_collision_check_at_prepare_phase': LaunchConfiguration('disuse_foa'), - 'lane_change.use_predicted_path_outside_lanelet': LaunchConfiguration('disuse_foa'), + 'lane_change.enable_collision_check_at_prepare_phase': + LaunchConfiguration('disuse_foa'), + 'lane_change.use_predicted_path_outside_lanelet': + LaunchConfiguration('disuse_foa'), 'lane_change.use_all_predicted_path': LaunchConfiguration('disuse_foa'), 'lane_change.enable_blocked_by_obstacle': LaunchConfiguration('disuse_foa'), 'bt_tree_config_path': From 16fa301934e64132cde58f5757c9537d321de714 Mon Sep 17 00:00:00 2001 From: wep21 Date: Fri, 27 Aug 2021 16:12:57 +0900 Subject: [PATCH 074/349] Disable camera launch Signed-off-by: wep21 --- sensing_launch/launch/sensing.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sensing_launch/launch/sensing.launch.xml b/sensing_launch/launch/sensing.launch.xml index 91bc779575..aa2d930d50 100644 --- a/sensing_launch/launch/sensing.launch.xml +++ b/sensing_launch/launch/sensing.launch.xml @@ -16,9 +16,9 @@ - + From 52c9104604a8636a42f7edb16b75dfc46a2f58bb Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Fri, 27 Aug 2021 20:14:34 +0900 Subject: [PATCH 075/349] Fix merge miss (#374) Signed-off-by: Kenji Miyake --- .github/workflows/build_and_test.yml | 4 ---- 1 file changed, 4 deletions(-) diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml index 5b36158821..16e047639f 100644 --- a/.github/workflows/build_and_test.yml +++ b/.github/workflows/build_and_test.yml @@ -5,10 +5,6 @@ on: - cron: "0 19 * * *" # run at 4 AM JST workflow_dispatch: -env: - BUILD_DEPEND_FILE: https://raw.githubusercontent.com/tier4/autoware.proj/develop/autoware.proj.repos - SELF_REPO: tier4/autoware_launcher - jobs: build-and-test: runs-on: ubuntu-latest From ac8fb4b2fe3610ec266cb1c63e2733b8f106658b Mon Sep 17 00:00:00 2001 From: wep21 Date: Tue, 31 Aug 2021 00:58:42 +0900 Subject: [PATCH 076/349] Disable Livox temporarily Signed-off-by: wep21 --- sensing_launch/launch/aip_xx1/lidar.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sensing_launch/launch/aip_xx1/lidar.launch.xml b/sensing_launch/launch/aip_xx1/lidar.launch.xml index 2300103af5..b487208ecf 100644 --- a/sensing_launch/launch/aip_xx1/lidar.launch.xml +++ b/sensing_launch/launch/aip_xx1/lidar.launch.xml @@ -69,7 +69,7 @@ - + From bf152ff34456d86f2381e5a8f90c590473aa4eb9 Mon Sep 17 00:00:00 2001 From: wep21 Date: Tue, 31 Aug 2021 01:34:54 +0900 Subject: [PATCH 077/349] Add system config yaml Signed-off-by: wep21 --- .../config/1/system_monitor/cpu_monitor.param.yaml | 10 ++++++++++ .../{ => 1}/system_monitor/gpu_monitor.param.yaml | 0 .../{ => 1}/system_monitor/hdd_monitor.param.yaml | 0 .../{ => 1}/system_monitor/mem_monitor.param.yaml | 0 .../config/1/system_monitor/net_monitor.param.yaml | 4 ++++ .../{ => 1}/system_monitor/ntp_monitor.param.yaml | 0 .../system_monitor/process_monitor.param.yaml | 0 .../10/system_monitor/cpu_monitor.param.yaml | 10 ++++++++++ .../10/system_monitor/gpu_monitor.param.yaml | 8 ++++++++ .../10/system_monitor/hdd_monitor.param.yaml | 11 +++++++++++ .../10/system_monitor/mem_monitor.param.yaml | 4 ++++ .../10/system_monitor/net_monitor.param.yaml | 4 ++++ .../10/system_monitor/ntp_monitor.param.yaml | 5 +++++ .../10/system_monitor/process_monitor.param.yaml | 3 +++ .../config/2/system_monitor/cpu_monitor.param.yaml | 10 ++++++++++ .../config/2/system_monitor/gpu_monitor.param.yaml | 8 ++++++++ .../config/2/system_monitor/hdd_monitor.param.yaml | 11 +++++++++++ .../config/2/system_monitor/mem_monitor.param.yaml | 4 ++++ .../config/2/system_monitor/net_monitor.param.yaml | 4 ++++ .../config/2/system_monitor/ntp_monitor.param.yaml | 5 +++++ .../2/system_monitor/process_monitor.param.yaml | 3 +++ .../config/3/system_monitor/cpu_monitor.param.yaml | 10 ++++++++++ .../config/3/system_monitor/gpu_monitor.param.yaml | 8 ++++++++ .../config/3/system_monitor/hdd_monitor.param.yaml | 11 +++++++++++ .../config/3/system_monitor/mem_monitor.param.yaml | 4 ++++ .../config/3/system_monitor/net_monitor.param.yaml | 4 ++++ .../config/3/system_monitor/ntp_monitor.param.yaml | 5 +++++ .../3/system_monitor/process_monitor.param.yaml | 3 +++ .../config/4/system_monitor/cpu_monitor.param.yaml | 10 ++++++++++ .../config/4/system_monitor/gpu_monitor.param.yaml | 8 ++++++++ .../config/4/system_monitor/hdd_monitor.param.yaml | 11 +++++++++++ .../config/4/system_monitor/mem_monitor.param.yaml | 4 ++++ .../config/4/system_monitor/net_monitor.param.yaml | 4 ++++ .../config/4/system_monitor/ntp_monitor.param.yaml | 5 +++++ .../4/system_monitor/process_monitor.param.yaml | 3 +++ .../config/5/system_monitor/cpu_monitor.param.yaml | 10 ++++++++++ .../config/5/system_monitor/gpu_monitor.param.yaml | 8 ++++++++ .../config/5/system_monitor/hdd_monitor.param.yaml | 11 +++++++++++ .../config/5/system_monitor/mem_monitor.param.yaml | 4 ++++ .../config/5/system_monitor/net_monitor.param.yaml | 4 ++++ .../config/5/system_monitor/ntp_monitor.param.yaml | 5 +++++ .../5/system_monitor/process_monitor.param.yaml | 3 +++ .../config/6/system_monitor/cpu_monitor.param.yaml | 10 ++++++++++ .../config/6/system_monitor/gpu_monitor.param.yaml | 8 ++++++++ .../config/6/system_monitor/hdd_monitor.param.yaml | 11 +++++++++++ .../config/6/system_monitor/mem_monitor.param.yaml | 4 ++++ .../config/6/system_monitor/net_monitor.param.yaml | 4 ++++ .../config/6/system_monitor/ntp_monitor.param.yaml | 5 +++++ .../6/system_monitor/process_monitor.param.yaml | 3 +++ .../config/7/system_monitor/cpu_monitor.param.yaml | 10 ++++++++++ .../config/7/system_monitor/gpu_monitor.param.yaml | 8 ++++++++ .../config/7/system_monitor/hdd_monitor.param.yaml | 11 +++++++++++ .../config/7/system_monitor/mem_monitor.param.yaml | 4 ++++ .../config/7/system_monitor/net_monitor.param.yaml | 4 ++++ .../config/7/system_monitor/ntp_monitor.param.yaml | 5 +++++ .../7/system_monitor/process_monitor.param.yaml | 3 +++ .../config/8/system_monitor/cpu_monitor.param.yaml | 10 ++++++++++ .../config/8/system_monitor/gpu_monitor.param.yaml | 8 ++++++++ .../config/8/system_monitor/hdd_monitor.param.yaml | 11 +++++++++++ .../config/8/system_monitor/mem_monitor.param.yaml | 4 ++++ .../config/8/system_monitor/net_monitor.param.yaml | 4 ++++ .../config/8/system_monitor/ntp_monitor.param.yaml | 5 +++++ .../8/system_monitor/process_monitor.param.yaml | 3 +++ .../config/9/system_monitor/cpu_monitor.param.yaml | 10 ++++++++++ .../config/9/system_monitor/gpu_monitor.param.yaml | 8 ++++++++ .../config/9/system_monitor/hdd_monitor.param.yaml | 11 +++++++++++ .../config/9/system_monitor/mem_monitor.param.yaml | 4 ++++ .../config/9/system_monitor/net_monitor.param.yaml | 4 ++++ .../config/9/system_monitor/ntp_monitor.param.yaml | 5 +++++ .../9/system_monitor/process_monitor.param.yaml | 3 +++ .../system_monitor/cpu_monitor.param.yaml | 0 .../default/system_monitor/gpu_monitor.param.yaml | 8 ++++++++ .../default/system_monitor/hdd_monitor.param.yaml | 11 +++++++++++ .../default/system_monitor/mem_monitor.param.yaml | 4 ++++ .../system_monitor/net_monitor.param.yaml | 0 .../default/system_monitor/ntp_monitor.param.yaml | 5 +++++ .../system_monitor/process_monitor.param.yaml | 3 +++ system_launch/launch/system.launch.xml | 14 +++++++------- 78 files changed, 457 insertions(+), 7 deletions(-) create mode 100644 system_launch/config/1/system_monitor/cpu_monitor.param.yaml rename system_launch/config/{ => 1}/system_monitor/gpu_monitor.param.yaml (100%) rename system_launch/config/{ => 1}/system_monitor/hdd_monitor.param.yaml (100%) rename system_launch/config/{ => 1}/system_monitor/mem_monitor.param.yaml (100%) create mode 100644 system_launch/config/1/system_monitor/net_monitor.param.yaml rename system_launch/config/{ => 1}/system_monitor/ntp_monitor.param.yaml (100%) rename system_launch/config/{ => 1}/system_monitor/process_monitor.param.yaml (100%) create mode 100644 system_launch/config/10/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/process_monitor.param.yaml rename system_launch/config/{ => default}/system_monitor/cpu_monitor.param.yaml (100%) create mode 100644 system_launch/config/default/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/default/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/default/system_monitor/mem_monitor.param.yaml rename system_launch/config/{ => default}/system_monitor/net_monitor.param.yaml (100%) create mode 100644 system_launch/config/default/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/default/system_monitor/process_monitor.param.yaml diff --git a/system_launch/config/1/system_monitor/cpu_monitor.param.yaml b/system_launch/config/1/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..741e560ea9 --- /dev/null +++ b/system_launch/config/1/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,10 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + usage_warn: 0.90 + usage_error: 1.00 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/system_monitor/gpu_monitor.param.yaml b/system_launch/config/1/system_monitor/gpu_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/gpu_monitor.param.yaml rename to system_launch/config/1/system_monitor/gpu_monitor.param.yaml diff --git a/system_launch/config/system_monitor/hdd_monitor.param.yaml b/system_launch/config/1/system_monitor/hdd_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/hdd_monitor.param.yaml rename to system_launch/config/1/system_monitor/hdd_monitor.param.yaml diff --git a/system_launch/config/system_monitor/mem_monitor.param.yaml b/system_launch/config/1/system_monitor/mem_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/mem_monitor.param.yaml rename to system_launch/config/1/system_monitor/mem_monitor.param.yaml diff --git a/system_launch/config/1/system_monitor/net_monitor.param.yaml b/system_launch/config/1/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..23cd49bf7e --- /dev/null +++ b/system_launch/config/1/system_monitor/net_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + usage_warn: 0.95 diff --git a/system_launch/config/system_monitor/ntp_monitor.param.yaml b/system_launch/config/1/system_monitor/ntp_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/ntp_monitor.param.yaml rename to system_launch/config/1/system_monitor/ntp_monitor.param.yaml diff --git a/system_launch/config/system_monitor/process_monitor.param.yaml b/system_launch/config/1/system_monitor/process_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/process_monitor.param.yaml rename to system_launch/config/1/system_monitor/process_monitor.param.yaml diff --git a/system_launch/config/10/system_monitor/cpu_monitor.param.yaml b/system_launch/config/10/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..741e560ea9 --- /dev/null +++ b/system_launch/config/10/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,10 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + usage_warn: 0.90 + usage_error: 1.00 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/10/system_monitor/gpu_monitor.param.yaml b/system_launch/config/10/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/10/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/10/system_monitor/hdd_monitor.param.yaml b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..bf687ae848 --- /dev/null +++ b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda + temp_warn: 55.0 + temp_error: 70.0 + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/10/system_monitor/mem_monitor.param.yaml b/system_launch/config/10/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..93688d608a --- /dev/null +++ b/system_launch/config/10/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/10/system_monitor/net_monitor.param.yaml b/system_launch/config/10/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..23cd49bf7e --- /dev/null +++ b/system_launch/config/10/system_monitor/net_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + usage_warn: 0.95 diff --git a/system_launch/config/10/system_monitor/ntp_monitor.param.yaml b/system_launch/config/10/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/10/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/10/system_monitor/process_monitor.param.yaml b/system_launch/config/10/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/10/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/2/system_monitor/cpu_monitor.param.yaml b/system_launch/config/2/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..741e560ea9 --- /dev/null +++ b/system_launch/config/2/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,10 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + usage_warn: 0.90 + usage_error: 1.00 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/2/system_monitor/gpu_monitor.param.yaml b/system_launch/config/2/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/2/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/2/system_monitor/hdd_monitor.param.yaml b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..bf687ae848 --- /dev/null +++ b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda + temp_warn: 55.0 + temp_error: 70.0 + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/2/system_monitor/mem_monitor.param.yaml b/system_launch/config/2/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..93688d608a --- /dev/null +++ b/system_launch/config/2/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/2/system_monitor/net_monitor.param.yaml b/system_launch/config/2/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..23cd49bf7e --- /dev/null +++ b/system_launch/config/2/system_monitor/net_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + usage_warn: 0.95 diff --git a/system_launch/config/2/system_monitor/ntp_monitor.param.yaml b/system_launch/config/2/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/2/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/2/system_monitor/process_monitor.param.yaml b/system_launch/config/2/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/2/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/3/system_monitor/cpu_monitor.param.yaml b/system_launch/config/3/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..741e560ea9 --- /dev/null +++ b/system_launch/config/3/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,10 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + usage_warn: 0.90 + usage_error: 1.00 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/3/system_monitor/gpu_monitor.param.yaml b/system_launch/config/3/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/3/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/3/system_monitor/hdd_monitor.param.yaml b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..bf687ae848 --- /dev/null +++ b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda + temp_warn: 55.0 + temp_error: 70.0 + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/3/system_monitor/mem_monitor.param.yaml b/system_launch/config/3/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..93688d608a --- /dev/null +++ b/system_launch/config/3/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/3/system_monitor/net_monitor.param.yaml b/system_launch/config/3/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..23cd49bf7e --- /dev/null +++ b/system_launch/config/3/system_monitor/net_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + usage_warn: 0.95 diff --git a/system_launch/config/3/system_monitor/ntp_monitor.param.yaml b/system_launch/config/3/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/3/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/3/system_monitor/process_monitor.param.yaml b/system_launch/config/3/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/3/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/4/system_monitor/cpu_monitor.param.yaml b/system_launch/config/4/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..741e560ea9 --- /dev/null +++ b/system_launch/config/4/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,10 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + usage_warn: 0.90 + usage_error: 1.00 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/4/system_monitor/gpu_monitor.param.yaml b/system_launch/config/4/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/4/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/4/system_monitor/hdd_monitor.param.yaml b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..bf687ae848 --- /dev/null +++ b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda + temp_warn: 55.0 + temp_error: 70.0 + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/4/system_monitor/mem_monitor.param.yaml b/system_launch/config/4/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..93688d608a --- /dev/null +++ b/system_launch/config/4/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/4/system_monitor/net_monitor.param.yaml b/system_launch/config/4/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..23cd49bf7e --- /dev/null +++ b/system_launch/config/4/system_monitor/net_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + usage_warn: 0.95 diff --git a/system_launch/config/4/system_monitor/ntp_monitor.param.yaml b/system_launch/config/4/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/4/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/4/system_monitor/process_monitor.param.yaml b/system_launch/config/4/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/4/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/5/system_monitor/cpu_monitor.param.yaml b/system_launch/config/5/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..741e560ea9 --- /dev/null +++ b/system_launch/config/5/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,10 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + usage_warn: 0.90 + usage_error: 1.00 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/5/system_monitor/gpu_monitor.param.yaml b/system_launch/config/5/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/5/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/5/system_monitor/hdd_monitor.param.yaml b/system_launch/config/5/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..32a6b134ea --- /dev/null +++ b/system_launch/config/5/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/nvme0n1 + temp_warn: 55.0 + temp_error: 70.0 + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/5/system_monitor/mem_monitor.param.yaml b/system_launch/config/5/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..93688d608a --- /dev/null +++ b/system_launch/config/5/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/5/system_monitor/net_monitor.param.yaml b/system_launch/config/5/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..935d003aea --- /dev/null +++ b/system_launch/config/5/system_monitor/net_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + devices: [ 'enp103s0f0','enp103s0f1','enx00e04c000c1f' ] + usage_warn: 0.95 diff --git a/system_launch/config/5/system_monitor/ntp_monitor.param.yaml b/system_launch/config/5/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/5/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/5/system_monitor/process_monitor.param.yaml b/system_launch/config/5/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/5/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/6/system_monitor/cpu_monitor.param.yaml b/system_launch/config/6/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..741e560ea9 --- /dev/null +++ b/system_launch/config/6/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,10 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + usage_warn: 0.90 + usage_error: 1.00 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/6/system_monitor/gpu_monitor.param.yaml b/system_launch/config/6/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/6/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/6/system_monitor/hdd_monitor.param.yaml b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..bf687ae848 --- /dev/null +++ b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda + temp_warn: 55.0 + temp_error: 70.0 + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/6/system_monitor/mem_monitor.param.yaml b/system_launch/config/6/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..93688d608a --- /dev/null +++ b/system_launch/config/6/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/6/system_monitor/net_monitor.param.yaml b/system_launch/config/6/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..23cd49bf7e --- /dev/null +++ b/system_launch/config/6/system_monitor/net_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + usage_warn: 0.95 diff --git a/system_launch/config/6/system_monitor/ntp_monitor.param.yaml b/system_launch/config/6/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/6/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/6/system_monitor/process_monitor.param.yaml b/system_launch/config/6/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/6/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/7/system_monitor/cpu_monitor.param.yaml b/system_launch/config/7/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..741e560ea9 --- /dev/null +++ b/system_launch/config/7/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,10 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + usage_warn: 0.90 + usage_error: 1.00 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/7/system_monitor/gpu_monitor.param.yaml b/system_launch/config/7/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/7/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/7/system_monitor/hdd_monitor.param.yaml b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..bf687ae848 --- /dev/null +++ b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda + temp_warn: 55.0 + temp_error: 70.0 + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/7/system_monitor/mem_monitor.param.yaml b/system_launch/config/7/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..93688d608a --- /dev/null +++ b/system_launch/config/7/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/7/system_monitor/net_monitor.param.yaml b/system_launch/config/7/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..23cd49bf7e --- /dev/null +++ b/system_launch/config/7/system_monitor/net_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + usage_warn: 0.95 diff --git a/system_launch/config/7/system_monitor/ntp_monitor.param.yaml b/system_launch/config/7/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/7/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/7/system_monitor/process_monitor.param.yaml b/system_launch/config/7/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/7/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/8/system_monitor/cpu_monitor.param.yaml b/system_launch/config/8/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..741e560ea9 --- /dev/null +++ b/system_launch/config/8/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,10 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + usage_warn: 0.90 + usage_error: 1.00 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/8/system_monitor/gpu_monitor.param.yaml b/system_launch/config/8/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/8/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/8/system_monitor/hdd_monitor.param.yaml b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..bf687ae848 --- /dev/null +++ b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda + temp_warn: 55.0 + temp_error: 70.0 + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/8/system_monitor/mem_monitor.param.yaml b/system_launch/config/8/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..93688d608a --- /dev/null +++ b/system_launch/config/8/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/8/system_monitor/net_monitor.param.yaml b/system_launch/config/8/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..23cd49bf7e --- /dev/null +++ b/system_launch/config/8/system_monitor/net_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + usage_warn: 0.95 diff --git a/system_launch/config/8/system_monitor/ntp_monitor.param.yaml b/system_launch/config/8/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/8/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/8/system_monitor/process_monitor.param.yaml b/system_launch/config/8/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/8/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/9/system_monitor/cpu_monitor.param.yaml b/system_launch/config/9/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..741e560ea9 --- /dev/null +++ b/system_launch/config/9/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,10 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + usage_warn: 0.90 + usage_error: 1.00 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/9/system_monitor/gpu_monitor.param.yaml b/system_launch/config/9/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/9/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/9/system_monitor/hdd_monitor.param.yaml b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..bf687ae848 --- /dev/null +++ b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda + temp_warn: 55.0 + temp_error: 70.0 + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/9/system_monitor/mem_monitor.param.yaml b/system_launch/config/9/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..93688d608a --- /dev/null +++ b/system_launch/config/9/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/9/system_monitor/net_monitor.param.yaml b/system_launch/config/9/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..23cd49bf7e --- /dev/null +++ b/system_launch/config/9/system_monitor/net_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + usage_warn: 0.95 diff --git a/system_launch/config/9/system_monitor/ntp_monitor.param.yaml b/system_launch/config/9/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/9/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/9/system_monitor/process_monitor.param.yaml b/system_launch/config/9/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/9/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/system_monitor/cpu_monitor.param.yaml b/system_launch/config/default/system_monitor/cpu_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/cpu_monitor.param.yaml rename to system_launch/config/default/system_monitor/cpu_monitor.param.yaml diff --git a/system_launch/config/default/system_monitor/gpu_monitor.param.yaml b/system_launch/config/default/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/default/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/default/system_monitor/hdd_monitor.param.yaml b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..bf687ae848 --- /dev/null +++ b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda + temp_warn: 55.0 + temp_error: 70.0 + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/default/system_monitor/mem_monitor.param.yaml b/system_launch/config/default/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..93688d608a --- /dev/null +++ b/system_launch/config/default/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + usage_warn: 0.95 + usage_error: 0.99 diff --git a/system_launch/config/system_monitor/net_monitor.param.yaml b/system_launch/config/default/system_monitor/net_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/net_monitor.param.yaml rename to system_launch/config/default/system_monitor/net_monitor.param.yaml diff --git a/system_launch/config/default/system_monitor/ntp_monitor.param.yaml b/system_launch/config/default/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/default/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/default/system_monitor/process_monitor.param.yaml b/system_launch/config/default/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/default/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml index 4a1baa6090..a4b8648cf4 100644 --- a/system_launch/launch/system.launch.xml +++ b/system_launch/launch/system.launch.xml @@ -9,13 +9,13 @@ - - - - - - - + + + + + + + From 30c549f4355846bd94e7865279d9e41c2522e3ae Mon Sep 17 00:00:00 2001 From: wep21 Date: Tue, 31 Aug 2021 01:56:18 +0900 Subject: [PATCH 078/349] Add error and state monitor config yaml Signed-off-by: wep21 --- .../config/autoware_error_monitor.param.yaml | 81 +++++++++ ...ror_monitor.planning_simulation.param.yaml | 81 +++++++++ .../config/autoware_state_monitor.param.yaml | 155 ++++++++++++++++++ ...ate_monitor.planning_simulation.param.yaml | 134 +++++++++++++++ system_launch/launch/system.launch.xml | 8 +- 5 files changed, 455 insertions(+), 4 deletions(-) create mode 100644 system_launch/config/autoware_error_monitor.param.yaml create mode 100644 system_launch/config/autoware_error_monitor.planning_simulation.param.yaml create mode 100644 system_launch/config/autoware_state_monitor.param.yaml create mode 100644 system_launch/config/autoware_state_monitor.planning_simulation.param.yaml diff --git a/system_launch/config/autoware_error_monitor.param.yaml b/system_launch/config/autoware_error_monitor.param.yaml new file mode 100644 index 0000000000..9a2da14f90 --- /dev/null +++ b/system_launch/config/autoware_error_monitor.param.yaml @@ -0,0 +1,81 @@ +# Description: +# name: diag name +# sf_at: diag level where it becomes Safe Fault +# lf_at: diag level where it becomes Latent Fault +# spf_at: diag level where it becomes Single Point Fault +# +# Note: +# empty-value for sf_at, lf_at and spf_at is "none" +# default values are: +# sf_at: "none" +# lf_at: "warn" +# spf_at: "error" +--- +/**: + ros__parameters: + required_modules: + autonomous_driving: + names: [ + "/autoware/control/autonomous_driving/alive_monitoring", + "/autoware/control/autonomous_driving/lane_departure", + # '/autoware/control/autonomous_driving/trajectory_deviation', # Unstable + "/autoware/control/command_gate/alive_monitoring", + "/autoware/localization/alive_monitoring", + "/autoware/localization/matching_score", + "/autoware/localization/localization_accuracy", + "/autoware/map/alive_monitoring", + "/autoware/map/map_version", + "/autoware/perception/alive_monitoring", + "/autoware/planning/alive_monitoring", + "/autoware/sensing/alive_monitoring", + "/autoware/sensing/camera", + "/autoware/sensing/gnss", + "/autoware/sensing/imu", + "/autoware/sensing/lidar", + "/autoware/system/alive_monitoring", + "/autoware/system/emergency_stop_operation", + "/autoware/system/logging", + "/autoware/system/resource_monitoring/cpu_temperature", + "/autoware/system/resource_monitoring/cpu_usage", + "/autoware/system/resource_monitoring/cpu_thermal_throttling", + "/autoware/system/resource_monitoring/hdd_temperature", + "/autoware/system/resource_monitoring/hdd_usage", + "/autoware/system/resource_monitoring/memory_usage", + "/autoware/system/resource_monitoring/network_usage", + "/autoware/system/resource_monitoring/ntp_offset", + "/autoware/system/resource_monitoring/gpu_temperature", + "/autoware/system/resource_monitoring/gpu_usage", + "/autoware/system/resource_monitoring/gpu_memory_usage", + "/autoware/system/resource_monitoring/gpu_thermal_throttling", + "/autoware/vehicle/alive_monitoring", + "/autoware/vehicle/vehicle_errors", + "/autoware/vehicle/obstacle_crush", + ] + diag_level: + /autoware/localization/matching_score: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/sensing/gnss: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/logging: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/system/resource_monitoring/cpu_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/resource_monitoring/cpu_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/resource_monitoring/cpu_thermal_throttling: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/resource_monitoring/hdd_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/resource_monitoring/hdd_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/resource_monitoring/memory_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/resource_monitoring/network_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/resource_monitoring/ntp_offset: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/system/resource_monitoring/gpu_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/resource_monitoring/gpu_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/resource_monitoring/gpu_memory_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/resource_monitoring/gpu_thermal_throttling: { sf_at: "warn", lf_at: "error", spf_at: "none" } + + remote_control: + names: + [ + "/autoware/control/command_gate/alive_monitoring", + "/autoware/control/remote_control/alive_monitoring", + "/autoware/system/alive_monitoring", + "/autoware/system/emergency_stop_operation", + "/autoware/vehicle/alive_monitoring", + "/autoware/vehicle/vehicle_errors", + "/autoware/vehicle/obstacle_crush", + ] diff --git a/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml b/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml new file mode 100644 index 0000000000..3e5dca4934 --- /dev/null +++ b/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml @@ -0,0 +1,81 @@ +# Description: +# name: diag name +# sf_at: diag level where it becomes Safe Fault +# lf_at: diag level where it becomes Latent Fault +# spf_at: diag level where it becomes Single Point Fault +# +# Note: +# empty-value for sf_at, lf_at and spf_at is "none" +# default values are: +# sf_at: "none" +# lf_at: "warn" +# spf_at: "error" +--- +/**: + ros__parameters: + required_modules: + autonomous_driving: + names: [ + "/autoware/control/autonomous_driving/alive_monitoring", + "/autoware/control/autonomous_driving/lane_departure", + # '/autoware/control/autonomous_driving/trajectory_deviation', # Unstable + "/autoware/control/command_gate/alive_monitoring", + "/autoware/localization/alive_monitoring", + "/autoware/localization/matching_score", + "/autoware/localization/localization_accuracy", + "/autoware/map/alive_monitoring", + "/autoware/map/map_version", + "/autoware/perception/alive_monitoring", + "/autoware/planning/alive_monitoring", + "/autoware/sensing/alive_monitoring", + "/autoware/sensing/camera", + "/autoware/sensing/gnss", + "/autoware/sensing/imu", + "/autoware/sensing/lidar", + "/autoware/system/alive_monitoring", + "/autoware/system/emergency_stop_operation", + "/autoware/system/logging", + # '/autoware/system/resource_monitoring/cpu_temperature', # Not working in containers + # '/autoware/system/resource_monitoring/cpu_usage', # No need to watch in simulation + # '/autoware/system/resource_monitoring/cpu_thermal_throttling', # Require setup + # '/autoware/system/resource_monitoring/hdd_temperature', # Require setup + # '/autoware/system/resource_monitoring/hdd_usage', # Not working in containers + # '/autoware/system/resource_monitoring/memory_usage', # No need to watch in simulation + # '/autoware/system/resource_monitoring/network_usage', # No need to watch in simulation + # '/autoware/system/resource_monitoring/ntp_offset', # No need to watch in simulation + # '/autoware/system/resource_monitoring/gpu_temperature', # Require GPU + # '/autoware/system/resource_monitoring/gpu_usage', # Require GPU + # '/autoware/system/resource_monitoring/gpu_memory_usage', # Require GPU + # '/autoware/system/resource_monitoring/gpu_thermal_throttling', # Require GPU + "/autoware/vehicle/alive_monitoring", + "/autoware/vehicle/vehicle_errors", + "/autoware/vehicle/obstacle_crush", + ] + diag_level: + /autoware/localization/matching_score: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/sensing/gnss: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/logging: { sf_at: "warn", lf_at: "none", spf_at: "none" } + # /autoware/system/resource_monitoring/cpu_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } # Not working in VMs + # /autoware/system/resource_monitoring/cpu_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation + # /autoware/system/resource_monitoring/cpu_thermal_throttling: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation + # /autoware/system/resource_monitoring/hdd_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation + # /autoware/system/resource_monitoring/hdd_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation + # /autoware/system/resource_monitoring/memory_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation + # /autoware/system/resource_monitoring/network_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation + # /autoware/system/resource_monitoring/ntp_offset: { sf_at: "warn", lf_at: "none", spf_at: "none" } # No need to watch in simulation + # /autoware/system/resource_monitoring/gpu_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation + # /autoware/system/resource_monitoring/gpu_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation + # /autoware/system/resource_monitoring/gpu_memory_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation + # /autoware/system/resource_monitoring/gpu_thermal_throttling: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation + + remote_control: + names: + [ + "/autoware/control/command_gate/alive_monitoring", + "/autoware/control/remote_control/alive_monitoring", + "/autoware/system/alive_monitoring", + "/autoware/system/emergency_stop_operation", + "/autoware/vehicle/alive_monitoring", + "/autoware/vehicle/vehicle_errors", + "/autoware/vehicle/obstacle_crush", + ] diff --git a/system_launch/config/autoware_state_monitor.param.yaml b/system_launch/config/autoware_state_monitor.param.yaml new file mode 100644 index 0000000000..b5a1adb11e --- /dev/null +++ b/system_launch/config/autoware_state_monitor.param.yaml @@ -0,0 +1,155 @@ +# Autoware State Monitor Parameters +/**: + ros__parameters: + # modules_names: string array + module_names: [ + "map", + "sensing", + "perception", + "localization", + "planning", + "control", + "vehicle", + "system" + ] + + # Topic Config + ## names: string array + ## configs: top level + ### names used to declare parameter group + #### module: string + #### timeout[s]: double (0: none) + #### warn_rate[hz]: double (0: none) + topic_configs: + names: [ + "/map/vector_map", + "/map/pointcloud_map", + "/sensing/lidar/no_ground/pointcloud", + "/initialpose3d", + "/localization/pose_twist_fusion_filter/pose", + "/perception/object_recognition/objects", + "/planning/mission_planning/route", + "/planning/scenario_planning/trajectory", + "/control/trajectory_follower/control_cmd", + "/control/vehicle_cmd", + "/vehicle/status/twist", + "/vehicle/status/steering", + "/system/emergency/control_cmd" + ] + + configs: + /map/vector_map: + module: "map" + timeout: 0.0 + warn_rate: 0.0 + type: "autoware_lanelet2_msgs/msg/MapBin" + transient_local: True + + /map/pointcloud_map: + module: "map" + timeout: 0.0 + warn_rate: 0.0 + type: "sensor_msgs/msg/PointCloud2" + transient_local: True + + /sensing/lidar/no_ground/pointcloud: + module: "sensing" + timeout: 1.0 + warn_rate: 5.0 + type: "sensor_msgs/msg/PointCloud2" + best_effort: True + + /initialpose3d: + module: "localization" + timeout: 0.0 + warn_rate: 0.0 + type: "geometry_msgs/msg/PoseWithCovarianceStamped" + + /localization/pose_twist_fusion_filter/pose: + module: "localization" + timeout: 1.0 + warn_rate: 5.0 + type: "geometry_msgs/msg/PoseStamped" + + # Can be both with feature array or without + # In prediction.launch.xml this is set to without + /perception/object_recognition/objects: + module: "perception" + timeout: 1.0 + warn_rate: 5.0 + type: "autoware_perception_msgs/msg/DynamicObjectArray" + # This topic could have two different types depending on the launch flags used. + # The implementation of subscriptions in ROS2 does not allow for multiple types + # to be defined for a topic. By default this is set to not use have features. + # type: ["autoware_perception_msgs/msg/DynamicObjectArray", "autoware_perception_msgs/msg/DynamicObjectWithFeatureArray"] + + /planning/mission_planning/route: + module: "planning" + timeout: 0.0 + warn_rate: 0.0 + type: "autoware_planning_msgs/msg/Route" + transient_local: True + + /planning/scenario_planning/trajectory: + module: "planning" + timeout: 1.0 + warn_rate: 5.0 + type: "autoware_planning_msgs/msg/Trajectory" + + /control/trajectory_follower/control_cmd: + module: "control" + timeout: 1.0 + warn_rate: 5.0 + type: "autoware_control_msgs/msg/ControlCommandStamped" + + /control/vehicle_cmd: + module: "control" + timeout: 1.0 + warn_rate: 5.0 + type: "autoware_vehicle_msgs/msg/VehicleCommand" + + /vehicle/status/twist: + module: "vehicle" + timeout: 1.0 + warn_rate: 5.0 + type: "geometry_msgs/msg/TwistStamped" + + /vehicle/status/steering: + module: "vehicle" + timeout: 1.0 + warn_rate: 5.0 + type: "autoware_vehicle_msgs/msg/Steering" + + /system/emergency/control_cmd: + module: "system" + timeout: 1.0 + warn_rate: 5.0 + type: "autoware_control_msgs/msg/ControlCommandStamped" + + # Param Config + ## names: string array + ## configs: top level + ### names used to declare parameter group + #### module: string + # param_configs: + # names: ["/vehicle_info"] + # configs: + # /vehicle_info: + # module: "vehicle" + + # TF Config + ## names: string array + ## configs: top level + ### names used to declare parameter group + #### module: string + #### from: string + #### to: string + #### timeout[s]: double (0: none) + tf_configs: + names: ["map_to_base_link"] + configs: + map_to_base_link: + module: "localization" + from: "map" + to: "base_link" + timeout: 1.0 diff --git a/system_launch/config/autoware_state_monitor.planning_simulation.param.yaml b/system_launch/config/autoware_state_monitor.planning_simulation.param.yaml new file mode 100644 index 0000000000..81d9d47b4e --- /dev/null +++ b/system_launch/config/autoware_state_monitor.planning_simulation.param.yaml @@ -0,0 +1,134 @@ +# Autoware State Monitor: Planning Simulator Parameters +/**: + ros__parameters: + # modules_names: string array + module_names: [ + "map", + "sensing", + "perception", + "localization", + "planning", + "control", + "vehicle", + "system" + ] + +# Topic Config + ## names: string array + ## configs: top level + ### names used to declare parameter group + #### module: string + #### timeout[s]: double (0: none) + #### warn_rate[hz]: double (0: none) + topic_configs: + names: [ + "/map/vector_map", + "/map/pointcloud_map", + "/perception/object_recognition/objects", + "/initialpose2d", + "/planning/mission_planning/route", + "/planning/scenario_planning/trajectory", + "/control/trajectory_follower/control_cmd", + "/control/vehicle_cmd", + "/vehicle/status/twist", + "/vehicle/status/steering", + "/system/emergency/control_cmd" + ] + + configs: + /map/vector_map: + module: "map" + timeout: 0.0 + warn_rate: 0.0 + type: "autoware_lanelet2_msgs/msg/MapBin" + transient_local: True + + /map/pointcloud_map: + module: "map" + timeout: 0.0 + warn_rate: 0.0 + type: "sensor_msgs/msg/PointCloud2" + transient_local: True + + /perception/object_recognition/objects: + module: "perception" + timeout: 1.0 + warn_rate: 5.0 + type: "autoware_perception_msgs/msg/DynamicObjectArray" + + /initialpose2d: + module: "localization" + timeout: 0.0 + warn_rate: 0.0 + type: "geometry_msgs/msg/PoseWithCovarianceStamped" + + /planning/mission_planning/route: + module: "planning" + timeout: 0.0 + warn_rate: 0.0 + type: "autoware_planning_msgs/msg/Route" + transient_local: True + + /planning/scenario_planning/trajectory: + module: "planning" + timeout: 1.0 + warn_rate: 5.0 + type: "autoware_planning_msgs/msg/Trajectory" + + /control/trajectory_follower/control_cmd: + module: "control" + timeout: 1.0 + warn_rate: 5.0 + type: "autoware_control_msgs/msg/ControlCommandStamped" + + /control/vehicle_cmd: + module: "control" + timeout: 1.0 + warn_rate: 5.0 + type: "autoware_vehicle_msgs/msg/VehicleCommand" + + /vehicle/status/twist: + module: "vehicle" + timeout: 1.0 + warn_rate: 5.0 + type: "geometry_msgs/msg/TwistStamped" + + /vehicle/status/steering: + module: "vehicle" + timeout: 1.0 + warn_rate: 5.0 + type: "autoware_vehicle_msgs/msg/Steering" + + /system/emergency/control_cmd: + module: "system" + timeout: 1.0 + warn_rate: 5.0 + type: "autoware_control_msgs/msg/ControlCommandStamped" + + # Param Config + ## names: string array + ## configs: top level + ### names used to declare parameter group + #### module: string + # param_configs: + # names: ["/vehicle_info"] + # configs: + # /vehicle_info: + # module: "vehicle" + + # TF Config + ## names: string array + ## configs: top level + ### names used to declare parameter group + #### module: string + #### from: string + #### to: string + #### timeout[s]: double (0: none) + tf_configs: + names: ["map_to_base_link"] + configs: + map_to_base_link: + module: "localization" + from: "map" + to: "base_link" + timeout: 1.0 diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml index a4b8648cf4..04c1f8f357 100644 --- a/system_launch/launch/system.launch.xml +++ b/system_launch/launch/system.launch.xml @@ -22,24 +22,24 @@ - + - + - + - + From f45f81111a873898e5cafb39731997943274b423 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Tue, 31 Aug 2021 20:09:45 +0900 Subject: [PATCH 079/349] Update acc parameter --- .../obstacle_stop_planner/adaptive_cruise_control.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml index 61b912ae01..4aedc646c7 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml @@ -7,8 +7,8 @@ consider_obj_velocity: true # consider forward vehicle velocity to ACC or not # general parameter for ACC - obstacle_velocity_thresh_to_start_acc: 1.5 # start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s] - obstacle_velocity_thresh_to_stop_acc: 1.0 # stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s] + obstacle_velocity_thresh_to_start_acc: 3.5 # start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s] + obstacle_velocity_thresh_to_stop_acc: 3.0 # stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s] emergency_stop_acceleration: -4.5 # supposed minimum acceleration (deceleration) in emergency stop [m/ss] emergency_stop_idling_time: 0.5 # supposed idling time to start emergency stop [s] min_dist_stop: 4.0 # minimum distance of emergency stop [m] From 4ab66d63990881427c4e9fa7021c1a2c6349092f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 2 Sep 2021 12:03:37 +0900 Subject: [PATCH 080/349] Fix/obstacle avoid revert some improvements (#381) * Revert "update ros param for .iv (#353)" This reverts commit f7f341ae2b76339e7301e5293918b828f53717d0. * Revert "add rosparam for vehicle center optimization (#362)" This reverts commit 78bbf70de51dc01b8892436102c6ea28dda73d5b. --- .../obstacle_avoidance_planner.param.yaml | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index ff885543f8..8150af7436 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -65,8 +65,7 @@ # trajectory param for mpt num_curvature_sampling_points: 5 # number of sampling points when calculating curvature delta_arc_length_for_mpt_points: 0.5 # delta arc length when generating mpt[m] - forward_fixing_mpt_min_distance: 10 # number of fixing points around ego vehicle - forward_fixing_mpt_time: 1.0 # forward fixing time with current velocity [s] + forward_fixing_mpt_distance: 10 # number of fixing points around ego vehicle # optimization param for mpt is_hard_fixing_terminal_point: false # hard fixing terminal point @@ -83,7 +82,6 @@ terminal_path_lat_error_weight: 1000.0 # weight for lateral error at path end point terminal_path_yaw_error_weight: 1000.0 # weight for yaw error at path end point zero_ff_steer_angle: 0.5 # threshold that feed-forward angle becomes zero - optimization_center_offset: 1.5 # replanning & trimming trajectory param outside algorithm min_delta_dist_for_replan: 10.0 # minimum delta dist thres for replan[m] From 92c9df30b82d71bd32090d641a3969c36d53dcb9 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 7 Sep 2021 19:51:33 +0900 Subject: [PATCH 081/349] update side shift param (#370) Signed-off-by: Takamasa Horibe --- .../side_shift/side_shift.param.yaml | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml index dabe370faf..79044041b4 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml @@ -1,9 +1,8 @@ /**: ros__parameters: side_shift: - min_fix_distance: 20.0 - start_avoid_sec: 4.0 - drivable_area_resolution: 0.1 - drivable_area_width: 100.0 - drivable_area_height: 50.0 - inside_outside_judge_margin: 0.3 + min_distance_to_start_shifting: 5.0 + time_to_start_shifting: 1.0 + shifting_lateral_jerk: 0.2 + min_shifting_distance: 5.0 + min_shifting_speed: 5.56 From 467f5fb10dbb726653bc448fc8113dad6eeced78 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 9 Sep 2021 17:46:33 +0900 Subject: [PATCH 082/349] Add vehicle status launch (#395) --- .../launch/include/external_api_adaptor.launch.py | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py index 6eca7b7553..98515fc064 100644 --- a/autoware_api_launch/launch/include/external_api_adaptor.launch.py +++ b/autoware_api_launch/launch/include/external_api_adaptor.launch.py @@ -39,6 +39,7 @@ def generate_launch_description(): _create_api_node('route', 'Route'), _create_api_node('service', 'Service'), _create_api_node('start', 'Start'), + _create_api_node('vehicle_status', 'VehicleStatus'), _create_api_node('velocity', 'Velocity'), _create_api_node('version', 'Version'), ] From beae1b33322bec1f5c8a296e9fbf5d6594d389a4 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon, 13 Sep 2021 01:57:35 +0900 Subject: [PATCH 083/349] Fix action develop branch (#130) Signed-off-by: wep21 --- .github/workflows/build_and_test.yml | 2 +- .github/workflows/sync-rc-develop.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml index 16e047639f..6635718c8f 100644 --- a/.github/workflows/build_and_test.yml +++ b/.github/workflows/build_and_test.yml @@ -13,7 +13,7 @@ jobs: matrix: branch: - main - - develop + - develop/ros2 container: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest steps: diff --git a/.github/workflows/sync-rc-develop.yml b/.github/workflows/sync-rc-develop.yml index 7d63b51760..122bdad1c4 100644 --- a/.github/workflows/sync-rc-develop.yml +++ b/.github/workflows/sync-rc-develop.yml @@ -13,7 +13,7 @@ on: required: true env: - BASE_BRANCH: develop + BASE_BRANCH: develop/ros2 jobs: sync-rc: From 12c60133e2d93eaf56bac9ebb626a476afe0b25f Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 15 Sep 2021 09:42:58 +0900 Subject: [PATCH 084/349] add yaml & load lane following params (#377) --- .../lane_following/lane_following.param.yaml | 7 +++++++ .../behavior_planning/behavior_planning.launch.py | 14 ++++++++++++++ .../behavior_planning/behavior_planning.launch.xml | 1 + 3 files changed, 22 insertions(+) create mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml new file mode 100644 index 0000000000..f685f8a657 --- /dev/null +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + lane_following: + expand_drivable_area: false + right_bound_offset: 0.5 + left_bound_offset: 0.5 + lane_change_prepare_duration: 2.0 diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 172a11e406..281d0bb462 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -69,6 +69,19 @@ def generate_launch_description(): with open(lane_change_param_path, 'r') as f: lane_change_param = yaml.safe_load(f)['/**']['ros__parameters'] + lane_following_param_path = os.path.join( + get_package_share_directory('planning_launch'), + 'config', + 'scenario_planning', + 'lane_driving', + 'behavior_planning', + 'behavior_path_planner', + 'lane_following', + 'lane_following.param.yaml', + ) + with open(lane_following_param_path, 'r') as f: + lane_following_param = yaml.safe_load(f)['/**']['ros__parameters'] + behavior_path_planner_param_path = os.path.join( get_package_share_directory('planning_launch'), 'config', @@ -113,6 +126,7 @@ def generate_launch_description(): side_shift_param, avoidance_param, lane_change_param, + lane_following_param, behavior_path_planner_param, { 'bt_tree_config_path': diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index 5fdb56f26b..d0c04d1320 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -19,6 +19,7 @@ + From 36d37c749986025ff3dce8d021cb929ae7178092 Mon Sep 17 00:00:00 2001 From: "autoware-iv-sync-ci[bot]" <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Date: Wed, 15 Sep 2021 18:35:20 +0900 Subject: [PATCH 085/349] sync rc develop (#133) * FIx backward fixing distance * Disable lane departure temporarily * Disable lidar temporarily * Enable multi thread in control container (#126) Signed-off-by: wep21 * Feature/change acc param (#131) * change acc param * add space * Enable avoidance without foa (#127) * Enable avoidance without foa Signed-off-by: wep21 * Update planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml Co-authored-by: Fumiya Watanabe Co-authored-by: Fumiya Watanabe * Revert "Disable lidar temporarily" This reverts commit 81359d412292b5396cef7aceb53909cb38cf1d95. Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: tkimura4 Co-authored-by: Fumiya Watanabe Co-authored-by: j4tfwm6z --- autoware_launch/launch/autoware.launch.xml | 1 + .../launch/logging_simulator.launch.xml | 1 + .../launch/planning_simulator.launch.xml | 1 + .../avoidance/avoidance.param.yaml | 2 +- .../obstacle_avoidance_planner.param.yaml | 2 +- .../adaptive_cruise_control.param.yaml | 10 +++--- .../behavior_planning.launch.py | 31 +++++++++++++++++-- .../behavior_planning.launch.xml | 3 ++ .../config/autoware_error_monitor.param.yaml | 2 +- 9 files changed, 42 insertions(+), 11 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 4eba829489..e696206201 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -60,6 +60,7 @@ + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index bbb669435c..0e3c367462 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -88,6 +88,7 @@ + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index b8377dbdea..1fe253cccb 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -63,6 +63,7 @@ + diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 7b5e6b96b8..e8000aea37 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -2,7 +2,7 @@ /**: ros__parameters: avoidance: - threshold_distance_object_is_on_center: 0.0 # [m] + # threshold_distance_object_is_on_center: 0.0 # [m] threshold_speed_object_is_stopped: 1.0 # [m/s] object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 2.0 # [m] diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 7a44aa5925..d6b3eaf08c 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -3,7 +3,7 @@ # trajectory total/fixing length trajectory_length: 300 # total trajectory length[m] forward_fixing_distance: 5.0 # forward fixing length from base_link[m] - backward_fixing_distance: 3.0 # backward fixing length from base_link[m] + backward_fixing_distance: 10.0 # backward fixing length from base_link[m] # clearance(distance) when generating trajectory clearance_from_road: 0.2 # clearance from road boundary[m] diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml index 4aedc646c7..654e291cd2 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml @@ -11,19 +11,19 @@ obstacle_velocity_thresh_to_stop_acc: 3.0 # stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s] emergency_stop_acceleration: -4.5 # supposed minimum acceleration (deceleration) in emergency stop [m/ss] emergency_stop_idling_time: 0.5 # supposed idling time to start emergency stop [s] - min_dist_stop: 4.0 # minimum distance of emergency stop [m] + min_dist_stop: 6.0 # minimum distance of emergency stop [m] max_standard_acceleration: 1.0 # supposed maximum acceleration in active cruise control [m/ss] min_standard_acceleration: -0.7 # supposed minimum acceleration (deceleration) in active cruise control standard_idling_time: 0.5 # supposed idling time to react object in active cruise control [s] - min_dist_standard: 4.0 # minimum distance in active cruise control [m] - obstacle_min_standard_acceleration: -1.5 # supposed minimum acceleration of forward obstacle [m/ss] - margin_rate_to_change_vel: 0.9 # margin to insert upper velocity [-] + min_dist_standard: 6.0 # minimum distance in active cruise control [m] + obstacle_min_standard_acceleration: -2.0 # supposed minimum acceleration of forward obstacle [m/ss] + margin_rate_to_change_vel: 0.7 # margin to insert upper velocity [-] # pid parameter for ACC p_coefficient_positive: 0.25 # coefficient P in PID control (used when target dist -current_dist >=0) [-] p_coefficient_negative: 0.3 # coefficient P in PID control (used when target dist -current_dist <0) [-] d_coefficient_positive: 0.15 # coefficient D in PID control (used when delta_dist >=0) [-] - d_coefficient_negative: 0.2 # coefficient D in PID control (used when delta_dist <0) [-] + d_coefficient_negative: 0.0 # coefficient D in PID control (used when delta_dist <0) [-] # parameter for object velocity estimation object_polygon_length_margin: 3.0 # The distance to extend the polygon length the object in pointcloud-object matching [m] diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 578129bd33..f656842864 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -23,6 +23,7 @@ from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import SetParameter from launch_ros.descriptions import ComposableNode from launch_ros.substitutions import FindPackageShare import yaml @@ -122,9 +123,7 @@ def generate_launch_description(): LaunchConfiguration('disuse_foa'), 'lane_change.use_all_predicted_path': LaunchConfiguration('disuse_foa'), 'lane_change.enable_blocked_by_obstacle': LaunchConfiguration('disuse_foa'), - 'bt_tree_config_path': - [FindPackageShare('behavior_path_planner'), - '/config/behavior_path_planner_tree_lane_change_only.xml'] + 'bt_tree_config_path': LaunchConfiguration('bt_tree_config_path') } ], extra_arguments=[ @@ -274,6 +273,20 @@ def generate_launch_description(): condition=IfCondition(LaunchConfiguration('use_multithread')), ) + set_bt_tree_config_path_without_foa = SetLaunchConfiguration( + 'bt_tree_config_path', + [FindPackageShare('behavior_path_planner'), + '/config/behavior_path_planner_tree.xml'], + condition=IfCondition(LaunchConfiguration('disuse_foa')), + ) + + set_bt_tree_config_path_with_foa = SetLaunchConfiguration( + 'bt_tree_config_path', + [FindPackageShare('behavior_path_planner'), + '/config/behavior_path_planner_tree_lane_change_only.xml'], + condition=UnlessCondition(LaunchConfiguration('disuse_foa')), + ) + return launch.LaunchDescription([ DeclareLaunchArgument( 'input_route_topic_name', @@ -292,6 +305,18 @@ def generate_launch_description(): ), set_container_executable, set_container_mt_executable, + SetParameter( + name='avoidance.threshold_distance_object_is_on_center', + value=1.0, + condition=IfCondition(LaunchConfiguration('disuse_foa')) + ), + SetParameter( + name='avoidance.threshold_distance_object_is_on_center', + value=0.0, + condition=UnlessCondition(LaunchConfiguration('disuse_foa')) + ), + set_bt_tree_config_path_without_foa, + set_bt_tree_config_path_with_foa, container, ExecuteProcess( cmd=['ros2', 'topic', 'pub', diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index 5e6265106e..5b8b868610 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -7,6 +7,9 @@ autoware_planning_msgs/msg/LaneChangeCommand 'command: true' -r 10" /> + + + diff --git a/system_launch/config/autoware_error_monitor.param.yaml b/system_launch/config/autoware_error_monitor.param.yaml index 9a2da14f90..ded3a14076 100644 --- a/system_launch/config/autoware_error_monitor.param.yaml +++ b/system_launch/config/autoware_error_monitor.param.yaml @@ -17,7 +17,7 @@ autonomous_driving: names: [ "/autoware/control/autonomous_driving/alive_monitoring", - "/autoware/control/autonomous_driving/lane_departure", + # "/autoware/control/autonomous_driving/lane_departure", # '/autoware/control/autonomous_driving/trajectory_deviation', # Unstable "/autoware/control/command_gate/alive_monitoring", "/autoware/localization/alive_monitoring", From 1efd95fc09dac0611e5e7d6b2dcf603841cd144b Mon Sep 17 00:00:00 2001 From: "autoware-iv-sync-ci[bot]" <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Date: Thu, 16 Sep 2021 22:23:59 +0900 Subject: [PATCH 086/349] sync rc develop (#136) * Disable lidar temporarily * Revert "Disable lidar temporarily" This reverts commit 81359d412292b5396cef7aceb53909cb38cf1d95. * Fix parameter for avoidance without foa (#134) * Feature/add controller emergency param (#135) * add controller_emergency_param * add joy_controller_emergency_param_in_remote_control * fix typo in autoware_error_monitor.param.yaml Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: j4tfwm6z Co-authored-by: Fumiya Watanabe Co-authored-by: shiorikawata <73450134+shiorikawata@users.noreply.github.com> --- .../lane_driving/behavior_planning/behavior_planning.launch.py | 2 +- system_launch/config/autoware_error_monitor.param.yaml | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index f656842864..9125124fa4 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -307,7 +307,7 @@ def generate_launch_description(): set_container_mt_executable, SetParameter( name='avoidance.threshold_distance_object_is_on_center', - value=1.0, + value=0.5, condition=IfCondition(LaunchConfiguration('disuse_foa')) ), SetParameter( diff --git a/system_launch/config/autoware_error_monitor.param.yaml b/system_launch/config/autoware_error_monitor.param.yaml index ded3a14076..4b9242a224 100644 --- a/system_launch/config/autoware_error_monitor.param.yaml +++ b/system_launch/config/autoware_error_monitor.param.yaml @@ -20,6 +20,7 @@ # "/autoware/control/autonomous_driving/lane_departure", # '/autoware/control/autonomous_driving/trajectory_deviation', # Unstable "/autoware/control/command_gate/alive_monitoring", + "/autoware/control/remote_control/alive_monitoring/joy_controller_connection", "/autoware/localization/alive_monitoring", "/autoware/localization/matching_score", "/autoware/localization/localization_accuracy", @@ -73,6 +74,7 @@ [ "/autoware/control/command_gate/alive_monitoring", "/autoware/control/remote_control/alive_monitoring", + "/autoware/control/remote_control/alive_monitoring/joy_controller_connection", "/autoware/system/alive_monitoring", "/autoware/system/emergency_stop_operation", "/autoware/vehicle/alive_monitoring", From fe0dc6d0f7ef687d2fca488605f8c384a2fd3b20 Mon Sep 17 00:00:00 2001 From: tkimura4 Date: Fri, 24 Sep 2021 17:52:04 +0900 Subject: [PATCH 087/349] update rviz config ( add shoulder road lanelets ) (#420) * update rviz config * Apply suggestions from code review * Apply suggestions from code review * Apply suggestions from code review --- autoware_launch/rviz/autoware.rviz | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 530f1b5d23..d043a70945 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -369,6 +369,10 @@ Visualization Manager: right_lane_bound: true road_lanelets: false stop_lines: true + shoulder_center_lane_line: false + shoulder_left_lane_bound: true + shoulder_right_lane_bound: true + shoulder_road_lanelets: false traffic_light: true traffic_light_id: false traffic_light_triangle: true From 5e8652fe1b8702394925dbc85237d765856e1525 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Mon, 27 Sep 2021 17:15:54 +0900 Subject: [PATCH 088/349] Add fail safe state API (#421) --- .../launch/include/external_api_adaptor.launch.py | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py index 98515fc064..85a33a6ac2 100644 --- a/autoware_api_launch/launch/include/external_api_adaptor.launch.py +++ b/autoware_api_launch/launch/include/external_api_adaptor.launch.py @@ -33,6 +33,7 @@ def generate_launch_description(): _create_api_node('door', 'Door'), _create_api_node('emergency', 'Emergency'), _create_api_node('engage', 'Engage'), + _create_api_node('fail_safe_state', 'FailSafeState'), _create_api_node('initial_pose', 'InitialPose'), _create_api_node('map', 'Map'), _create_api_node('operator', 'Operator'), From ad5fd1f8b64fc000b5dc24908f66da9195bf11fb Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Wed, 29 Sep 2021 13:10:02 +0900 Subject: [PATCH 089/349] delete environment name (#428) --- .../default/crop_box_filter_measurement_range.param.yaml | 9 --------- .../config/default/voxel_grid_filter.param.yaml | 5 ----- .../config/{default => }/ndt_scan_matcher.param.yaml | 0 .../launch/pose_estimator/pose_estimator.launch.xml | 3 +-- localization_launch/launch/util/util.launch.xml | 1 - 5 files changed, 1 insertion(+), 17 deletions(-) delete mode 100644 localization_launch/config/default/crop_box_filter_measurement_range.param.yaml delete mode 100644 localization_launch/config/default/voxel_grid_filter.param.yaml rename localization_launch/config/{default => }/ndt_scan_matcher.param.yaml (100%) diff --git a/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml b/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml deleted file mode 100644 index 03d969ba51..0000000000 --- a/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - min_x: -60.0 - max_x: 60.0 - min_y: -60.0 - max_y: 60.0 - min_z: -30.0 - max_z: 50.0 - negative: False diff --git a/localization_launch/config/default/voxel_grid_filter.param.yaml b/localization_launch/config/default/voxel_grid_filter.param.yaml deleted file mode 100644 index 51a7ee9d89..0000000000 --- a/localization_launch/config/default/voxel_grid_filter.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - voxel_size_x: 3.0 - voxel_size_y: 3.0 - voxel_size_z: 3.0 diff --git a/localization_launch/config/default/ndt_scan_matcher.param.yaml b/localization_launch/config/ndt_scan_matcher.param.yaml similarity index 100% rename from localization_launch/config/default/ndt_scan_matcher.param.yaml rename to localization_launch/config/ndt_scan_matcher.param.yaml diff --git a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml index 6eb082bbe4..c3f35464e4 100644 --- a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml +++ b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml @@ -1,6 +1,5 @@ - @@ -12,7 +11,7 @@ - + diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml index 79ae340ed1..6d2cc29549 100644 --- a/localization_launch/launch/util/util.launch.xml +++ b/localization_launch/launch/util/util.launch.xml @@ -1,6 +1,5 @@ - From 437d1d6f6a4c848318ba1c7035d8ec8febffd405 Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Wed, 29 Sep 2021 21:02:12 +0900 Subject: [PATCH 090/349] add detection by tracker (#418) add detection by tracker --- .../detection/detection.launch.xml | 4 +- .../lidar_based_detection.launch.xml | 52 +++++++++++++++++-- 2 files changed, 51 insertions(+), 5 deletions(-) diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml index 612be58c59..bdcbda3853 100644 --- a/perception_launch/launch/object_recognition/detection/detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/detection.launch.xml @@ -56,9 +56,9 @@ - + diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index bbf7696381..ec100fdb75 100644 --- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -1,6 +1,52 @@ - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From b99b700b577406a7e1f60d0f762f16f57fb02b7a Mon Sep 17 00:00:00 2001 From: kyoichi sugahara <81.s.kyo.19@gmail.com> Date: Sun, 26 Sep 2021 13:56:24 +0900 Subject: [PATCH 091/349] add yaml file and modify BT tree file path --- .../behavior_path_planner.param.yaml | 2 ++ .../pull_out/pull_out.yaml | 23 +++++++++++++++++++ .../pull_over/pull_over.yaml | 23 +++++++++++++++++++ 3 files changed, 48 insertions(+) create mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml create mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.yaml diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index b25707950e..ca019a9ea4 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -3,7 +3,9 @@ backward_path_length: 5.0 forward_path_length: 300.0 backward_length_buffer_for_end_of_lane: 5.0 + backward_length_buffer_for_end_of_pull_over: 5.0 minimum_lane_change_length: 12.0 + minimum_pull_over_length: 16.0 drivable_area_resolution: 0.1 drivable_area_width: 100.0 drivable_area_height: 50.0 diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml new file mode 100644 index 0000000000..f47d861d68 --- /dev/null +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml @@ -0,0 +1,23 @@ +pull_out: + min_stop_distance: 2.0 + stop_time: 0.0 + hysteresis_buffer_distance: 1.0 + pull_out_prepare_duration: 4.0 + pull_out_duration: 2.0 + pull_out_finish_judge_buffer: 1.0 + minimum_pull_out_velocity: 2.0 + prediction_duration: 30.0 + prediction_time_resolution: 0.5 + static_obstacle_velocity_thresh: 1.5 + maximum_deceleration: 1.0 + enable_abort_pull_out: false + enable_collision_check_at_prepare_phase: false + use_predicted_path_outside_lanelet: false + use_all_predicted_path: false + enable_blocked_by_obstacle: false + pull_out_search_distance: 30.0 + before_pull_out_straight_distance: 3.0 + margin_from_boundary: 0.5 + maximum_lateral_jerk: 2.0 + minimum_lateral_jerk: 0.5 + diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.yaml new file mode 100644 index 0000000000..5a314dbd53 --- /dev/null +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.yaml @@ -0,0 +1,23 @@ +pull_over: + min_stop_distance: 5.0 + stop_time: 2.0 + hysteresis_buffer_distance: 2.0 + pull_over_prepare_duration: 4.0 + pull_over_duration: 2.0 + pull_over_finish_judge_buffer: 3.0 + minimum_pull_over_velocity: 2.0 + prediction_duration: 30.0 + prediction_time_resolution: 0.5 + static_obstacle_velocity_thresh: 1.5 + maximum_deceleration: 1.0 + enable_abort_pull_over: false + enable_collision_check_at_prepare_phase: false + use_predicted_path_outside_lanelet: false + use_all_predicted_path: false + enable_blocked_by_obstacle: false + pull_over_search_distance: 30.0 + after_pull_over_straight_distance: 5.0 + before_pull_over_straight_distance: 5.0 + margin_from_boundary: 0.5 + maximum_lateral_jerk: 2.0 + minimum_lateral_jerk: 0.5 From 2360fe751b664eda01ff0822a97c3fded3d71c3a Mon Sep 17 00:00:00 2001 From: kyoichi sugahara <81.s.kyo.19@gmail.com> Date: Tue, 28 Sep 2021 19:05:14 +0900 Subject: [PATCH 092/349] modify parameter file --- .../pull_out/pull_out.yaml | 47 ++++++++++--------- 1 file changed, 25 insertions(+), 22 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml index f47d861d68..1a2c87cbfd 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml @@ -1,23 +1,26 @@ -pull_out: - min_stop_distance: 2.0 - stop_time: 0.0 - hysteresis_buffer_distance: 1.0 - pull_out_prepare_duration: 4.0 - pull_out_duration: 2.0 - pull_out_finish_judge_buffer: 1.0 - minimum_pull_out_velocity: 2.0 - prediction_duration: 30.0 - prediction_time_resolution: 0.5 - static_obstacle_velocity_thresh: 1.5 - maximum_deceleration: 1.0 - enable_abort_pull_out: false - enable_collision_check_at_prepare_phase: false - use_predicted_path_outside_lanelet: false - use_all_predicted_path: false - enable_blocked_by_obstacle: false - pull_out_search_distance: 30.0 - before_pull_out_straight_distance: 3.0 - margin_from_boundary: 0.5 - maximum_lateral_jerk: 2.0 - minimum_lateral_jerk: 0.5 +/**: + ros__parameters: + pull_out: + min_stop_distance: 2.0 + stop_time: 0.0 + hysteresis_buffer_distance: 1.0 + pull_out_prepare_duration: 4.0 + pull_out_duration: 2.0 + pull_out_finish_judge_buffer: 1.0 + minimum_pull_out_velocity: 2.0 + prediction_duration: 30.0 + prediction_time_resolution: 0.5 + static_obstacle_velocity_thresh: 1.5 + maximum_deceleration: 1.0 + enable_abort_pull_out: false + enable_collision_check_at_prepare_phase: false + use_predicted_path_outside_lanelet: false + use_all_predicted_path: false + enable_blocked_by_obstacle: false + pull_out_search_distance: 30.0 + before_pull_out_straight_distance: 3.0 + margin_from_boundary: 0.5 + maximum_lateral_jerk: 2.0 + minimum_lateral_jerk: 0.5 + deceleration_interval: 15.0 From 44e7a86678af3263ea665cb93925984ba209a600 Mon Sep 17 00:00:00 2001 From: kyoichi sugahara <81.s.kyo.19@gmail.com> Date: Tue, 28 Sep 2021 21:50:59 +0900 Subject: [PATCH 093/349] add parameter --- .../behavior_path_planner/pull_out/pull_out.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml index 1a2c87cbfd..bd3eb6bcca 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml @@ -18,7 +18,8 @@ use_all_predicted_path: false enable_blocked_by_obstacle: false pull_out_search_distance: 30.0 - before_pull_out_straight_distance: 3.0 + before_pull_out_straight_distance: 5.0 + after_pull_out_straight_distance: 5.0 margin_from_boundary: 0.5 maximum_lateral_jerk: 2.0 minimum_lateral_jerk: 0.5 From 2d0b612d5b31550a53ea492a8043d2a03b457566 Mon Sep 17 00:00:00 2001 From: kyoichi sugahara <81.s.kyo.19@gmail.com> Date: Wed, 29 Sep 2021 11:04:35 +0900 Subject: [PATCH 094/349] add use_dynamic_object flag in pull out param --- .../behavior_path_planner/pull_out/pull_out.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml index bd3eb6bcca..52b329a24a 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml @@ -16,6 +16,7 @@ enable_collision_check_at_prepare_phase: false use_predicted_path_outside_lanelet: false use_all_predicted_path: false + use_dynamic_object: false enable_blocked_by_obstacle: false pull_out_search_distance: 30.0 before_pull_out_straight_distance: 5.0 From 7ca5941cfa88986ba0d4b0fcbbbd26fa04dcec0a Mon Sep 17 00:00:00 2001 From: kyoichi sugahara <81.s.kyo.19@gmail.com> Date: Wed, 29 Sep 2021 18:43:47 +0900 Subject: [PATCH 095/349] delete unncesarry parameters --- .../behavior_path_planner/pull_out/pull_out.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml index 52b329a24a..1bf83a42a1 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml @@ -12,11 +12,10 @@ prediction_time_resolution: 0.5 static_obstacle_velocity_thresh: 1.5 maximum_deceleration: 1.0 - enable_abort_pull_out: false enable_collision_check_at_prepare_phase: false use_predicted_path_outside_lanelet: false use_all_predicted_path: false - use_dynamic_object: false + use_dynamic_object: true enable_blocked_by_obstacle: false pull_out_search_distance: 30.0 before_pull_out_straight_distance: 5.0 From 16f12284c57f1ef0e77db4899a951fa4287f426c Mon Sep 17 00:00:00 2001 From: kyoichi sugahara <81.s.kyo.19@gmail.com> Date: Wed, 29 Sep 2021 23:15:55 +0900 Subject: [PATCH 096/349] delete unnecessary param --- .../behavior_path_planner/pull_out/pull_out.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml index 1bf83a42a1..1d3ec31f43 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml @@ -20,7 +20,6 @@ pull_out_search_distance: 30.0 before_pull_out_straight_distance: 5.0 after_pull_out_straight_distance: 5.0 - margin_from_boundary: 0.5 maximum_lateral_jerk: 2.0 minimum_lateral_jerk: 0.5 deceleration_interval: 15.0 From d002fd2eb8faf5593ac50933aa85f31414137d5b Mon Sep 17 00:00:00 2001 From: kyoichi sugahara <81.s.kyo.19@gmail.com> Date: Thu, 30 Sep 2021 03:22:42 +0900 Subject: [PATCH 097/349] merge change for jpntaxi --- .../behavior_path_planner.param.yaml | 1 + .../{pull_out.yaml => pull_out.param.yaml} | 0 .../pull_over/pull_over.param.yaml | 25 +++++++++++++++ .../pull_over/pull_over.yaml | 23 ------------- .../behavior_planning.launch.py | 32 ++++++++++++++++++- 5 files changed, 57 insertions(+), 24 deletions(-) rename planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/{pull_out.yaml => pull_out.param.yaml} (100%) create mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml delete mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.yaml diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index ca019a9ea4..fcdcf5c78c 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -4,6 +4,7 @@ forward_path_length: 300.0 backward_length_buffer_for_end_of_lane: 5.0 backward_length_buffer_for_end_of_pull_over: 5.0 + backward_length_buffer_for_end_of_pull_out: 5.0 minimum_lane_change_length: 12.0 minimum_pull_over_length: 16.0 drivable_area_resolution: 0.1 diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml similarity index 100% rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.yaml rename to planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml new file mode 100644 index 0000000000..08ab028632 --- /dev/null +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml @@ -0,0 +1,25 @@ +/**: + ros__parameters: + pull_over: + min_stop_distance: 5.0 + stop_time: 2.0 + hysteresis_buffer_distance: 2.0 + pull_over_prepare_duration: 4.0 + pull_over_duration: 2.0 + pull_over_finish_judge_buffer: 3.0 + minimum_pull_over_velocity: 3.0 + prediction_duration: 30.0 + prediction_time_resolution: 0.5 + static_obstacle_velocity_thresh: 1.5 + maximum_deceleration: 1.0 + enable_collision_check_at_prepare_phase: false + use_predicted_path_outside_lanelet: false + use_all_predicted_path: false + enable_blocked_by_obstacle: false + pull_over_search_distance: 30.0 + after_pull_over_straight_distance: 5.0 + before_pull_over_straight_distance: 5.0 + margin_from_boundary: 0.5 + maximum_lateral_jerk: 2.0 + minimum_lateral_jerk: 0.5 + deceleration_interval: 15.0 diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.yaml deleted file mode 100644 index 5a314dbd53..0000000000 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.yaml +++ /dev/null @@ -1,23 +0,0 @@ -pull_over: - min_stop_distance: 5.0 - stop_time: 2.0 - hysteresis_buffer_distance: 2.0 - pull_over_prepare_duration: 4.0 - pull_over_duration: 2.0 - pull_over_finish_judge_buffer: 3.0 - minimum_pull_over_velocity: 2.0 - prediction_duration: 30.0 - prediction_time_resolution: 0.5 - static_obstacle_velocity_thresh: 1.5 - maximum_deceleration: 1.0 - enable_abort_pull_over: false - enable_collision_check_at_prepare_phase: false - use_predicted_path_outside_lanelet: false - use_all_predicted_path: false - enable_blocked_by_obstacle: false - pull_over_search_distance: 30.0 - after_pull_over_straight_distance: 5.0 - before_pull_over_straight_distance: 5.0 - margin_from_boundary: 0.5 - maximum_lateral_jerk: 2.0 - minimum_lateral_jerk: 0.5 diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 281d0bb462..e5d5d70b0b 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -82,6 +82,33 @@ def generate_launch_description(): with open(lane_following_param_path, 'r') as f: lane_following_param = yaml.safe_load(f)['/**']['ros__parameters'] + pull_over_param_path = os.path.join( + get_package_share_directory('planning_launch'), + 'config', + 'scenario_planning', + 'lane_driving', + 'behavior_planning', + 'behavior_path_planner', + 'pull_over', + 'pull_over.param.yaml', + ) + with open(pull_over_param_path, 'r') as f: + pull_over_param = yaml.safe_load(f)['/**']['ros__parameters'] + + pull_out_param_path = os.path.join( + get_package_share_directory('planning_launch'), + 'config', + 'scenario_planning', + 'lane_driving', + 'behavior_planning', + 'behavior_path_planner', + 'pull_out', + 'pull_out.param.yaml', + ) + with open(pull_out_param_path, 'r') as f: + pull_out_param = yaml.safe_load(f)['/**']['ros__parameters'] + + behavior_path_planner_param_path = os.path.join( get_package_share_directory('planning_launch'), 'config', @@ -94,6 +121,7 @@ def generate_launch_description(): with open(behavior_path_planner_param_path, 'r') as f: behavior_path_planner_param = yaml.safe_load(f)['/**']['ros__parameters'] + behavior_path_planner_component = ComposableNode( package='behavior_path_planner', plugin='behavior_path_planner::BehaviorPathPlannerNode', @@ -127,11 +155,13 @@ def generate_launch_description(): avoidance_param, lane_change_param, lane_following_param, + pull_over_param, + pull_out_param, behavior_path_planner_param, { 'bt_tree_config_path': [FindPackageShare('behavior_path_planner'), - '/config/behavior_path_planner_tree.xml'] + '/config/behavior_path_planner_tree_pull_out_.xml'] } ], extra_arguments=[ From 60959b1e71569f9ed01a331189ab234209fd845f Mon Sep 17 00:00:00 2001 From: kyoichi sugahara <81.s.kyo.19@gmail.com> Date: Thu, 30 Sep 2021 10:37:16 +0900 Subject: [PATCH 098/349] delete blank line --- .../lane_driving/behavior_planning/behavior_planning.launch.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index e5d5d70b0b..0e4a548900 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -108,7 +108,6 @@ def generate_launch_description(): with open(pull_out_param_path, 'r') as f: pull_out_param = yaml.safe_load(f)['/**']['ros__parameters'] - behavior_path_planner_param_path = os.path.join( get_package_share_directory('planning_launch'), 'config', @@ -121,7 +120,6 @@ def generate_launch_description(): with open(behavior_path_planner_param_path, 'r') as f: behavior_path_planner_param = yaml.safe_load(f)['/**']['ros__parameters'] - behavior_path_planner_component = ComposableNode( package='behavior_path_planner', plugin='behavior_path_planner::BehaviorPathPlannerNode', From 6bf717077beb62c26004be6a7dfdf53c1c2a891c Mon Sep 17 00:00:00 2001 From: kyoichi sugahara <81.s.kyo.19@gmail.com> Date: Thu, 30 Sep 2021 11:41:59 +0900 Subject: [PATCH 099/349] modify BT file name --- .../lane_driving/behavior_planning/behavior_planning.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 0e4a548900..da9cd38d5b 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -159,7 +159,7 @@ def generate_launch_description(): { 'bt_tree_config_path': [FindPackageShare('behavior_path_planner'), - '/config/behavior_path_planner_tree_pull_out_.xml'] + '/config/behavior_path_planner_tree_pull_out.xml'] } ], extra_arguments=[ From 43f1cc8dea96e261e40d636ed2ecaea7e3c09272 Mon Sep 17 00:00:00 2001 From: kyoichi sugahara <81.s.kyo.19@gmail.com> Date: Thu, 30 Sep 2021 19:04:50 +0900 Subject: [PATCH 100/349] modify launch file --- .../lane_driving/behavior_planning/behavior_planning.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index da9cd38d5b..b001675f93 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -159,7 +159,7 @@ def generate_launch_description(): { 'bt_tree_config_path': [FindPackageShare('behavior_path_planner'), - '/config/behavior_path_planner_tree_pull_out.xml'] + '/config/behavior_path_planner_tree.xml'] } ], extra_arguments=[ From 470ddde9c587aff67639e343044147d62bc8bba4 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Thu, 30 Sep 2021 19:51:02 +0900 Subject: [PATCH 101/349] Update behavior path planner launch files (#433) * update launch parameters for behavior_path_planner Signed-off-by: TakaHoribe * update param at experiment Signed-off-by: Takamasa Horibe * fix typo Signed-off-by: Takamasa Horibe * Fix indent Co-authored-by: TakaHoribe --- .../avoidance/avoidance.param.yaml | 37 ++++++++++++++----- .../behavior_planning.launch.py | 3 +- 2 files changed, 29 insertions(+), 11 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 7b5e6b96b8..36317a49f9 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -1,20 +1,37 @@ -# see AvoidanceParameters description in avoidance_module.hpp for description. +# see AvoidanceParameters description in avoidance_module_data.hpp for description. /**: ros__parameters: avoidance: + resample_interval_for_planning: 0.3 + resample_interval_for_output: 4.0 + detection_area_right_expand_dist: 0.0 + detection_area_left_expand_dist: 1.0 + threshold_distance_object_is_on_center: 0.0 # [m] threshold_speed_object_is_stopped: 1.0 # [m/s] object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 2.0 # [m] lateral_collision_margin: 2.0 # [m] - longitudinal_collision_margin: 3.0 # [m] - time_to_start_avoidance: 1.0 # [s] - min_distance_to_start_avoidance: 1.0 # [m] - time_avoiding: 7.0 # [s] - min_distance_avoiding: 50.0 # [m] - min_distance_avoidance_end_to_object: 5.0 # [m] - time_avoidance_end_to_object: 1.0 # [s] + prepare_time: 2.0 # [s] + min_prepare_distance: 1.0 # [m] + min_avoidance_distance: 10.0 # [m] + + min_nominal_avoidance_speed: 7.0 # [m/s] + min_sharp_avoidance_speed: 1.0 # [m/s] + + max_right_shift_length: 5.0 + max_left_shift_length: 5.0 + + nominal_lateral_jerk: 0.2 # [m/s3] + max_lateral_jerk: 1.0 # [m/s3] + + object_hold_max_count: 20 + + # for debug + publish_debug_marker: false + print_debug_info: false - nominal_lateral_jerk: 0.3 # [m/s3] - max_lateral_jerk: 2.0 # [m/s3] + # not enabled yet + longitudinal_collision_margin_min_distance: 0.0 # [m] + longitudinal_collision_margin_time: 0.0 diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index b001675f93..7a035f93a0 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -159,7 +159,8 @@ def generate_launch_description(): { 'bt_tree_config_path': [FindPackageShare('behavior_path_planner'), - '/config/behavior_path_planner_tree.xml'] + '/config/behavior_path_planner_tree.xml'], + 'planning_hz': 10.0, } ], extra_arguments=[ From a5809e0969a20f6cf55e481bfefef1fffaebf71e Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Sat, 2 Oct 2021 12:55:31 +0900 Subject: [PATCH 102/349] Use avoidance module --- .../lane_driving/behavior_planning/behavior_planning.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index ea09944814..db5da00aaa 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -326,7 +326,7 @@ def generate_launch_description(): set_bt_tree_config_path_with_foa = SetLaunchConfiguration( 'bt_tree_config_path', [FindPackageShare('behavior_path_planner'), - '/config/behavior_path_planner_tree_lane_change_only.xml'], + '/config/behavior_path_planner_tree.xml'], condition=UnlessCondition(LaunchConfiguration('disuse_foa')), ) From 69f974a6b9cbddb0314529a38ce56f888ba10a56 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Sat, 2 Oct 2021 20:36:44 +0900 Subject: [PATCH 103/349] Update error monitor config (#142) Signed-off-by: wep21 --- system_launch/config/autoware_error_monitor.param.yaml | 9 +++++++-- ...toware_error_monitor.planning_simulation.param.yaml | 10 ++++++++-- 2 files changed, 15 insertions(+), 4 deletions(-) diff --git a/system_launch/config/autoware_error_monitor.param.yaml b/system_launch/config/autoware_error_monitor.param.yaml index 4b9242a224..518daa06e1 100644 --- a/system_launch/config/autoware_error_monitor.param.yaml +++ b/system_launch/config/autoware_error_monitor.param.yaml @@ -28,6 +28,7 @@ "/autoware/map/map_version", "/autoware/perception/alive_monitoring", "/autoware/planning/alive_monitoring", + "/autoware/planning/trajectory_monitoring", "/autoware/sensing/alive_monitoring", "/autoware/sensing/camera", "/autoware/sensing/gnss", @@ -50,7 +51,7 @@ "/autoware/system/resource_monitoring/gpu_thermal_throttling", "/autoware/vehicle/alive_monitoring", "/autoware/vehicle/vehicle_errors", - "/autoware/vehicle/obstacle_crush", + "/autoware/vehicle/obstacle_crash", ] diag_level: /autoware/localization/matching_score: { sf_at: "warn", lf_at: "error", spf_at: "none" } @@ -68,6 +69,10 @@ /autoware/system/resource_monitoring/gpu_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } /autoware/system/resource_monitoring/gpu_memory_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } /autoware/system/resource_monitoring/gpu_thermal_throttling: { sf_at: "warn", lf_at: "error", spf_at: "none" } + auto_recovery: + /autoware/vehicle/vehicle_interface_connection: false + /autoware/vehicle/vehicle_errors: false + /autoware/vehicle/obstacle_crash: false remote_control: names: @@ -79,5 +84,5 @@ "/autoware/system/emergency_stop_operation", "/autoware/vehicle/alive_monitoring", "/autoware/vehicle/vehicle_errors", - "/autoware/vehicle/obstacle_crush", + "/autoware/vehicle/obstacle_crash", ] diff --git a/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml b/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml index 3e5dca4934..13ed6271ac 100644 --- a/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml +++ b/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml @@ -27,6 +27,7 @@ "/autoware/map/map_version", "/autoware/perception/alive_monitoring", "/autoware/planning/alive_monitoring", + "/autoware/planning/trajectory_monitoring", "/autoware/sensing/alive_monitoring", "/autoware/sensing/camera", "/autoware/sensing/gnss", @@ -48,8 +49,9 @@ # '/autoware/system/resource_monitoring/gpu_memory_usage', # Require GPU # '/autoware/system/resource_monitoring/gpu_thermal_throttling', # Require GPU "/autoware/vehicle/alive_monitoring", + "/autoware/vehicle/vehicle_interface_connection", "/autoware/vehicle/vehicle_errors", - "/autoware/vehicle/obstacle_crush", + "/autoware/vehicle/obstacle_crash", ] diag_level: /autoware/localization/matching_score: { sf_at: "warn", lf_at: "error", spf_at: "none" } @@ -67,6 +69,10 @@ # /autoware/system/resource_monitoring/gpu_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation # /autoware/system/resource_monitoring/gpu_memory_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation # /autoware/system/resource_monitoring/gpu_thermal_throttling: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation + auto_recovery: + /autoware/vehicle/vehicle_interface_connection: false + /autoware/vehicle/vehicle_errors: false + /autoware/vehicle/obstacle_crash: false remote_control: names: @@ -77,5 +83,5 @@ "/autoware/system/emergency_stop_operation", "/autoware/vehicle/alive_monitoring", "/autoware/vehicle/vehicle_errors", - "/autoware/vehicle/obstacle_crush", + "/autoware/vehicle/obstacle_crash", ] From f93603eb3cd5f1286e5025a34006fe5936cd4b47 Mon Sep 17 00:00:00 2001 From: taikitanaka Date: Sat, 2 Oct 2021 21:10:45 +0900 Subject: [PATCH 104/349] add not soptping area launch --- .../behavior_planning/behavior_planning.launch.py | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 7a035f93a0..05ad702b99 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -233,6 +233,14 @@ def generate_launch_description(): with open(occlusion_spot_param_path, 'r') as f: occlusion_spot_param = yaml.safe_load(f)['/**']['ros__parameters'] + no_stopping_area_param_path = os.path.join( + get_package_share_directory('behavior_velocity_planner'), + 'config', + 'no_stopping_area.param.yaml', + ) + with open(no_stopping_area_param_path, 'r') as f: + no_stopping_area_param = yaml.safe_load(f)['/**']['ros__parameters'] + behavior_velocity_planner_component = ComposableNode( package='behavior_velocity_planner', plugin='behavior_velocity_planner::BehaviorVelocityPlannerNode', @@ -268,6 +276,7 @@ def generate_launch_description(): 'launch_detection_area': True, 'launch_virtual_traffic_light': True, 'launch_occlusion_spot': True, + 'launch_no_stopping_area': True, 'forward_path_length': 1000.0, 'backward_path_length': 5.0, 'max_accel': -2.8, @@ -280,7 +289,8 @@ def generate_launch_description(): stop_line_param, traffic_light_param, virtual_traffic_light_param, - occlusion_spot_param + occlusion_spot_param, + no_stopping_area_param ], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') From ce4382725a719ce24038ea0e1a0f0dcf2615b04c Mon Sep 17 00:00:00 2001 From: taikitanaka Date: Sat, 2 Oct 2021 21:10:45 +0900 Subject: [PATCH 105/349] add rviz marker --- autoware_launch/rviz/autoware.rviz | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index d043a70945..85a8a62a97 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1047,6 +1047,23 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: NoStoppingArea + Namespaces: + no_stopping_area_correspondence: false + no_stopping_id: false + no_stopping_area_polygon: false + factor_text: true + obstacles: false + stop_virtual_wall: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area + Value: true - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: true From 3048913bc25a09cdd27ea75071a1281da923af13 Mon Sep 17 00:00:00 2001 From: taikitanaka Date: Sat, 2 Oct 2021 21:10:45 +0900 Subject: [PATCH 106/349] need to revert this before merge --- .../lane_driving/behavior_planning/behavior_planning.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 05ad702b99..5c076c2740 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -343,6 +343,6 @@ def generate_launch_description(): cmd=['ros2', 'topic', 'pub', '/planning/scenario_planning/lane_driving/behavior_planning/' 'behavior_path_planner/path_change_approval', - 'autoware_planning_msgs/msg/Approval', '{approval: true}', + 'autoware_planning_msgs/msg/Approval', '{approval: false}', '-r', '10']), ]) From 50859797e26fd9a87cdaa5898ed1e8062ae53e99 Mon Sep 17 00:00:00 2001 From: Kenji Miyake Date: Mon, 4 Oct 2021 12:39:57 +0900 Subject: [PATCH 107/349] Fix for pre-commit Signed-off-by: Kenji Miyake --- autoware_launch/rviz/autoware.rviz | 2 +- .../behavior_path_planner/pull_out/pull_out.param.yaml | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index d043a70945..ea88549023 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1114,7 +1114,7 @@ Visualization Manager: slow_down_end_virtual_wall: false slow_down_end_factor_text: false slow_down_end: false - stop_virtual_wall: true + stop_virtual_wall: true stop_factor_text: true slow_down_virtual_wall: true slow_down_factor_text: true diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml index 1d3ec31f43..434545674d 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml @@ -23,4 +23,3 @@ maximum_lateral_jerk: 2.0 minimum_lateral_jerk: 0.5 deceleration_interval: 15.0 - From 9532965bbf7a669a1e78a06443111ee63d606457 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 5 Oct 2021 21:33:43 +0900 Subject: [PATCH 108/349] change threshold_distance_object_is_on_center to 1.0 (#441) Signed-off-by: TakaHoribe --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 36317a49f9..d52d0ac962 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -7,7 +7,7 @@ detection_area_right_expand_dist: 0.0 detection_area_left_expand_dist: 1.0 - threshold_distance_object_is_on_center: 0.0 # [m] + threshold_distance_object_is_on_center: 1.0 # [m] threshold_speed_object_is_stopped: 1.0 # [m/s] object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 2.0 # [m] From 22a3b5c6ee74dcf99986fdcd2a77fe86cada48c8 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Fri, 8 Oct 2021 14:38:29 +0900 Subject: [PATCH 109/349] Update sync-rc.yml --- .github/workflows/sync-rc.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/sync-rc.yml b/.github/workflows/sync-rc.yml index a45496720d..17af281d93 100644 --- a/.github/workflows/sync-rc.yml +++ b/.github/workflows/sync-rc.yml @@ -50,7 +50,7 @@ jobs: target_branch="$1" main_base=$(git merge-base "${target_branch}" origin/main) - develop_base=$(git merge-base "${target_branch}" origin/develop) + develop_base=$(git merge-base "${target_branch}" origin/develop/ros2) return $(test "${main_base}" = "${develop_base}") } @@ -58,7 +58,7 @@ jobs: if is_main_base "origin/${{ env.SYNC_TARGET_BRANCH }}"; then base_branch=main else - base_branch=develop + base_branch=develop/ros2 fi echo "BASE_BRANCH=${base_branch}" >> $GITHUB_ENV From 1011fa5fd5a6a15a7d661cd6d29820a27c26e1eb Mon Sep 17 00:00:00 2001 From: "autoware-iv-sync-ci[bot]" <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Date: Fri, 8 Oct 2021 14:48:12 +0900 Subject: [PATCH 110/349] Change planning and control parameters for vehicle 4 (#149) (#150) Co-authored-by: Fumiya Watanabe --- control_launch/config/mpc_follower/4/mpc_follower.param.yaml | 2 +- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/control_launch/config/mpc_follower/4/mpc_follower.param.yaml b/control_launch/config/mpc_follower/4/mpc_follower.param.yaml index aa1be508d7..0df8beb62d 100644 --- a/control_launch/config/mpc_follower/4/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/4/mpc_follower.param.yaml @@ -19,7 +19,7 @@ qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index c61e8a91f3..871e538fd2 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -11,7 +11,7 @@ threshold_speed_object_is_stopped: 1.0 # [m/s] object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 2.0 # [m] - lateral_collision_margin: 2.0 # [m] + lateral_collision_margin: 1.8 # [m] prepare_time: 2.0 # [s] min_prepare_distance: 1.0 # [m] From e1f8cc59171fc4d35ebbcb56cc35733bfc15a7cc Mon Sep 17 00:00:00 2001 From: taikitanaka Date: Mon, 11 Oct 2021 16:44:11 +0900 Subject: [PATCH 111/349] minor change for marker --- autoware_launch/rviz/autoware.rviz | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 85a8a62a97..9d726beaed 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1052,10 +1052,11 @@ Visualization Manager: Name: NoStoppingArea Namespaces: no_stopping_area_correspondence: false - no_stopping_id: false + no_stopping_area_id: false no_stopping_area_polygon: false - factor_text: true - obstacles: false + stuck_points_detection_area: false + stuck_points: false + stop_factor_text: true stop_virtual_wall: true Topic: Depth: 5 From 686f71bcd95cb9a97bfea10907246646e1e78603 Mon Sep 17 00:00:00 2001 From: "autoware-iv-sync-ci[bot]" <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Date: Mon, 11 Oct 2021 18:28:50 +0900 Subject: [PATCH 112/349] change mpc follower param (#151) (#152) Co-authored-by: shiorikawata <73450134+shiorikawata@users.noreply.github.com> --- control_launch/config/mpc_follower/1/mpc_follower.param.yaml | 2 +- control_launch/config/mpc_follower/10/mpc_follower.param.yaml | 2 +- control_launch/config/mpc_follower/2/mpc_follower.param.yaml | 2 +- control_launch/config/mpc_follower/3/mpc_follower.param.yaml | 2 +- control_launch/config/mpc_follower/5/mpc_follower.param.yaml | 2 +- control_launch/config/mpc_follower/6/mpc_follower.param.yaml | 2 +- control_launch/config/mpc_follower/7/mpc_follower.param.yaml | 2 +- control_launch/config/mpc_follower/9/mpc_follower.param.yaml | 2 +- .../config/mpc_follower/default/mpc_follower.param.yaml | 2 +- 9 files changed, 9 insertions(+), 9 deletions(-) diff --git a/control_launch/config/mpc_follower/1/mpc_follower.param.yaml b/control_launch/config/mpc_follower/1/mpc_follower.param.yaml index b4d011ad45..c243070d9e 100644 --- a/control_launch/config/mpc_follower/1/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/1/mpc_follower.param.yaml @@ -18,7 +18,7 @@ qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R diff --git a/control_launch/config/mpc_follower/10/mpc_follower.param.yaml b/control_launch/config/mpc_follower/10/mpc_follower.param.yaml index c62a1efd09..2ae8c9e01c 100644 --- a/control_launch/config/mpc_follower/10/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/10/mpc_follower.param.yaml @@ -19,7 +19,7 @@ qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R diff --git a/control_launch/config/mpc_follower/2/mpc_follower.param.yaml b/control_launch/config/mpc_follower/2/mpc_follower.param.yaml index c62a1efd09..2ae8c9e01c 100644 --- a/control_launch/config/mpc_follower/2/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/2/mpc_follower.param.yaml @@ -19,7 +19,7 @@ qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R diff --git a/control_launch/config/mpc_follower/3/mpc_follower.param.yaml b/control_launch/config/mpc_follower/3/mpc_follower.param.yaml index c62a1efd09..2ae8c9e01c 100644 --- a/control_launch/config/mpc_follower/3/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/3/mpc_follower.param.yaml @@ -19,7 +19,7 @@ qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R diff --git a/control_launch/config/mpc_follower/5/mpc_follower.param.yaml b/control_launch/config/mpc_follower/5/mpc_follower.param.yaml index c62a1efd09..2ae8c9e01c 100644 --- a/control_launch/config/mpc_follower/5/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/5/mpc_follower.param.yaml @@ -19,7 +19,7 @@ qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R diff --git a/control_launch/config/mpc_follower/6/mpc_follower.param.yaml b/control_launch/config/mpc_follower/6/mpc_follower.param.yaml index c62a1efd09..2ae8c9e01c 100644 --- a/control_launch/config/mpc_follower/6/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/6/mpc_follower.param.yaml @@ -19,7 +19,7 @@ qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R diff --git a/control_launch/config/mpc_follower/7/mpc_follower.param.yaml b/control_launch/config/mpc_follower/7/mpc_follower.param.yaml index 57b5572f76..4b4eb7a547 100644 --- a/control_launch/config/mpc_follower/7/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/7/mpc_follower.param.yaml @@ -19,7 +19,7 @@ qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R diff --git a/control_launch/config/mpc_follower/9/mpc_follower.param.yaml b/control_launch/config/mpc_follower/9/mpc_follower.param.yaml index c62a1efd09..2ae8c9e01c 100644 --- a/control_launch/config/mpc_follower/9/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/9/mpc_follower.param.yaml @@ -19,7 +19,7 @@ qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R diff --git a/control_launch/config/mpc_follower/default/mpc_follower.param.yaml b/control_launch/config/mpc_follower/default/mpc_follower.param.yaml index c62a1efd09..2ae8c9e01c 100644 --- a/control_launch/config/mpc_follower/default/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/default/mpc_follower.param.yaml @@ -19,7 +19,7 @@ qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.05 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R From 60d4372444fe606bd5d73a9fe23d7f7a910a6165 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Tue, 12 Oct 2021 13:37:31 +0900 Subject: [PATCH 113/349] Add option to select lidar detection model (#450) Signed-off-by: wep21 --- ...ra_lidar_fusion_based_detection.launch.xml | 14 ++++++++-- .../detection/detection.launch.xml | 3 +++ .../lidar_based_detection.launch.xml | 26 ++++++++++++++++--- 3 files changed, 38 insertions(+), 5 deletions(-) diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index 926351b853..19c765ef5d 100644 --- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -18,6 +18,7 @@ + @@ -43,12 +44,14 @@ + + diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index ec100fdb75..2017a4de1f 100644 --- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -1,8 +1,9 @@ + - + @@ -18,7 +19,7 @@ - + @@ -32,10 +33,29 @@ + + + + + + + + + + + + + + + + + + + - + From 3d7fb0b97fa52b3751013641ae89456883874898 Mon Sep 17 00:00:00 2001 From: tkimura4 Date: Tue, 12 Oct 2021 20:27:47 +0900 Subject: [PATCH 114/349] delete optimizer (#456) --- .../motion_velocity_optimizer.param.yaml | 42 ------------------- planning_launch/package.xml | 2 +- 2 files changed, 1 insertion(+), 43 deletions(-) delete mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.param.yaml diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.param.yaml deleted file mode 100644 index f67d93e3ae..0000000000 --- a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.param.yaml +++ /dev/null @@ -1,42 +0,0 @@ -/**: - ros__parameters: - max_velocity: 20.0 # max velocity limit [m/s] - max_accel: 1.0 # max acceleration limit [m/ss] - min_decel: -1.0 # min deceleration limit [m/ss] - - # curve parameters - max_lateral_accel: 0.5 # max lateral acceleration limit [m/ss] - min_curve_velocity: 2.74 # min velocity at lateral acceleration 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 - - # engage & replan parameters - replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] - engage_velocity: 0.25 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.1 # engage acceleration [m/ss] (use this acceleration when engagement) - engage_exit_ratio: 0.5 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. - stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] - - # stop velocity - stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] - stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. - - extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] - extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] - delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] - - max_trajectory_length: 200.0 # max trajectory length for resampling [m] - min_trajectory_length: 30.0 # min trajectory length for resampling [m] - resample_time: 10.0 # resample total time [s] - resample_dt: 0.1 # resample time interval [s] - min_trajectory_interval_distance: 0.1 # resample points-interval length [m] - - # default weights - # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 - # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 - - pseudo_jerk_weight: 200.0 # weight for "smoothness" cost - over_v_weight: 100000.0 # weight for "overspeed limit" cost - over_a_weight: 5000.0 # weight for "overaccel limit" cost - - algorithm_type: "Linf" # Option : L2, Linf diff --git a/planning_launch/package.xml b/planning_launch/package.xml index 7260c959c5..e26d10aec6 100644 --- a/planning_launch/package.xml +++ b/planning_launch/package.xml @@ -15,7 +15,7 @@ freespace_planner lane_change_planner mission_planner - motion_velocity_optimizer + motion_velocity_smoother obstacle_avoidance_planner obstacle_stop_planner scenario_selector From a17edb7e524f4d30e1796567ae10749e8466b10a Mon Sep 17 00:00:00 2001 From: "autoware-iv-sync-ci[bot]" <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Date: Wed, 13 Oct 2021 09:43:24 +0900 Subject: [PATCH 115/349] add params for acceleration prevention (#454) (#457) Signed-off-by: Takamasa Horibe Co-authored-by: Takamasa Horibe --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index d52d0ac962..bfe310b737 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -28,6 +28,10 @@ object_hold_max_count: 20 + # For prevention of large acceleration while avoidance + min_avoidance_speed_for_acc_prevention: 3.0 # [m/s] + max_avoidance_acceleration: 0.5 # [m/ss] + # for debug publish_debug_marker: false print_debug_info: false From 734bb2dd6a888afd38765d83e7b5780052524014 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 15 Oct 2021 18:28:11 +0900 Subject: [PATCH 116/349] Feature/use external velocity limit selector (#460) * use external velocity limit selector * add common planning params * update yaml params --- .../scenario_planning/common/common.param.yaml | 15 +++++++++++++++ .../motion_velocity_smoother.param.yaml | 4 ---- .../scenario_planning.launch.xml | 13 +++++++++++-- planning_launch/package.xml | 1 + 4 files changed, 27 insertions(+), 6 deletions(-) create mode 100644 planning_launch/config/scenario_planning/common/common.param.yaml diff --git a/planning_launch/config/scenario_planning/common/common.param.yaml b/planning_launch/config/scenario_planning/common/common.param.yaml new file mode 100644 index 0000000000..a23570a5fc --- /dev/null +++ b/planning_launch/config/scenario_planning/common/common.param.yaml @@ -0,0 +1,15 @@ +/**: + ros__parameters: + # constraints param for normal driving + normal: + min_acc: -0.5 # min deceleration [m/ss] + max_acc: 1.0 # max acceleration [m/ss] + min_jerk: -0.5 # min jerk [m/sss] + max_jerk: 1.0 # max jerk [m/sss] + + # constraints to be observed + limit: + min_acc: -2.5 # min deceleration limit [m/ss] + max_acc: 1.0 # max acceleration limit [m/ss] + min_jerk: -1.5 # min jerk limit [m/sss] + max_jerk: 1.5 # max jerk limit [m/sss] diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 4231eb1ef8..db13e491b1 100644 --- a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -2,10 +2,6 @@ ros__parameters: # motion state constraints max_velocity: 20.0 # max velocity limit [m/s] - max_accel: 1.0 # max acceleration limit [m/ss] - min_decel: -0.5 # min deceleration limit [m/ss] - max_jerk: 1.0 # default maximum jerk limit - min_jerk: -0.5 # default minimum jerk limit # external velocity limit parameter margin_to_insert_external_velocity_limit: 0.3 # margin distance to insert external velocity limit [m] diff --git a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml index 639cc9b6b1..1fbb0ba4dd 100644 --- a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml @@ -1,4 +1,6 @@ + + @@ -14,15 +16,22 @@ + + + + + + + - + + - diff --git a/planning_launch/package.xml b/planning_launch/package.xml index e26d10aec6..36f5ab20d9 100644 --- a/planning_launch/package.xml +++ b/planning_launch/package.xml @@ -12,6 +12,7 @@ behavior_velocity_planner costmap_generator + external_velocity_limit_selector freespace_planner lane_change_planner mission_planner From 3141a59f4e0f2c14fc0e894feacf0df637141e77 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 18 Oct 2021 22:56:54 +0900 Subject: [PATCH 117/349] Feature/add slow down params (#448) * add/update slow down params * topic remap * update topic name --- .../obstacle_stop_planner.param.yaml | 20 +++++++++++++++++-- .../motion_planning/motion_planning.launch.py | 4 ++++ 2 files changed, 22 insertions(+), 2 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index db3b3dcaea..a0fff6bd64 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -8,8 +8,24 @@ expand_stop_range: 0.0 # margin of vehicle footprint [m] slow_down_planner: - slow_down_forward_margin: 5.0 # margin distance from slow down point to vehicle front [m] - slow_down_backward_margin: 5.0 # margin distance from slow down point to vehicle rear [m] + # slow down planner parameters + forward_margin: 5.0 # margin distance from slow down point to vehicle front [m] + backward_margin: 0.0 # margin distance from slow down point to vehicle rear [m] expand_slow_down_range: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m] max_slow_down_vel: 1.38 # max slow down velocity [m/s] min_slow_down_vel: 0.28 # min slow down velocity [m/s] + + # slow down constraint parameters + consider_constraints: False # set "True", if no decel plan found under jerk/dec constrains, relax target slow down vel + forward_margin_min: 1.0 # min margin for relaxing slow down margin [m/s] + forward_margin_span: -0.1 # fineness param for relaxing slow down margin [m/s] + jerk_min_slow_down: -0.6 # min slow down jerk constraint [m/sss] + jerk_span: -0.01 # fineness param for planning deceleration jerk [m/sss] + slow_down_vel: 1.38 # target slow down velocity [m/s] + + # smoother parameters + jerk_start: -0.1 # init jerk used for deceleration planning [m/sss] + jerk_min: -1.5 # min jerk limit [m/sss] + jerk_min_mild_stop: -0.3 # min jerk limit for mild stop [m/sss] + dec_min: -2.5 # min deceleration limit [m/ss] + dec_min_mild_stop: -1.0 # min deceleration limit for mild stop [m/ss] diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index 5abfdbfc62..4d5d73b254 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -145,6 +145,10 @@ def generate_launch_description(): '/planning/scenario_planning/status/stop_reason'), ('~/output/stop_reasons', '/planning/scenario_planning/status/stop_reasons'), + ('~/output/max_velocity', + '/planning/scenario_planning/max_velocity_candidates'), + ('~/output/velocity_limit_clear_command', + '/planning/scenario_planning/clear_velocity_limit'), ('~/output/trajectory', '/planning/scenario_planning/lane_driving/trajectory'), ('~/input/pointcloud', '/sensing/lidar/no_ground/pointcloud'), From c259ba279e8772de02a1002d70018306212d9f23 Mon Sep 17 00:00:00 2001 From: "autoware-iv-sync-ci[bot]" <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Date: Tue, 19 Oct 2021 12:09:49 +0900 Subject: [PATCH 118/349] sync rc rc/v0.23.0.0 (#165) * Add option to select lidar detection model (#450) (#155) Signed-off-by: wep21 * Fix avoidance param (#158) * disable oclusion spot (#159) * add imu to state_monitor (#161) * Add respawn for imu (#164) Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Fumiya Watanabe Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tkimura4 Co-authored-by: wep21 --- .../behavior_planning/behavior_planning.launch.py | 2 +- system_launch/config/autoware_state_monitor.param.yaml | 7 +++++++ 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index db5da00aaa..868eb60942 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -273,7 +273,7 @@ def generate_launch_description(): 'launch_blind_spot': True, 'launch_detection_area': True, 'launch_virtual_traffic_light': True, - 'launch_occlusion_spot': True, + 'launch_occlusion_spot': False, 'forward_path_length': 1000.0, 'backward_path_length': 5.0, 'max_accel': -2.8, diff --git a/system_launch/config/autoware_state_monitor.param.yaml b/system_launch/config/autoware_state_monitor.param.yaml index b5a1adb11e..2988284029 100644 --- a/system_launch/config/autoware_state_monitor.param.yaml +++ b/system_launch/config/autoware_state_monitor.param.yaml @@ -25,6 +25,7 @@ "/map/vector_map", "/map/pointcloud_map", "/sensing/lidar/no_ground/pointcloud", + "/sensing/imu/imu_data", "/initialpose3d", "/localization/pose_twist_fusion_filter/pose", "/perception/object_recognition/objects", @@ -59,6 +60,12 @@ type: "sensor_msgs/msg/PointCloud2" best_effort: True + /sensing/imu/imu_data: + module: "sensing" + timeout: 1.0 + warn_rate: 10.0 + type: "sensor_msgs/msg/Imu" + /initialpose3d: module: "localization" timeout: 0.0 From 9b7f22ca43e5d77fdafb79c67edda5de2346c8b2 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 19 Oct 2021 15:34:46 +0900 Subject: [PATCH 119/349] Fix/use common param (#465) --- .../obstacle_stop_planner.param.yaml | 8 +------- .../launch/scenario_planning/lane_driving.launch.xml | 2 ++ .../motion_planning/motion_planning.launch.py | 12 ++++++++++++ .../motion_planning/motion_planning.launch.xml | 12 +++++++++--- .../scenario_planning/scenario_planning.launch.xml | 1 + 5 files changed, 25 insertions(+), 10 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index a0fff6bd64..82a7720334 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -21,11 +21,5 @@ forward_margin_span: -0.1 # fineness param for relaxing slow down margin [m/s] jerk_min_slow_down: -0.6 # min slow down jerk constraint [m/sss] jerk_span: -0.01 # fineness param for planning deceleration jerk [m/sss] - slow_down_vel: 1.38 # target slow down velocity [m/s] - - # smoother parameters jerk_start: -0.1 # init jerk used for deceleration planning [m/sss] - jerk_min: -1.5 # min jerk limit [m/sss] - jerk_min_mild_stop: -0.3 # min jerk limit for mild stop [m/sss] - dec_min: -2.5 # min deceleration limit [m/ss] - dec_min_mild_stop: -1.0 # min deceleration limit for mild stop [m/ss] + slow_down_vel: 1.38 # target slow down velocity [m/s] diff --git a/planning_launch/launch/scenario_planning/lane_driving.launch.xml b/planning_launch/launch/scenario_planning/lane_driving.launch.xml index 26ed39dde9..e5d4d4c6b8 100644 --- a/planning_launch/launch/scenario_planning/lane_driving.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving.launch.xml @@ -1,4 +1,6 @@ + + diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index 4d5d73b254..d3a3f30493 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -28,6 +28,17 @@ def generate_launch_description(): + # planning common param path + common_param_path = os.path.join( + get_package_share_directory('planning_launch'), + 'config', + 'scenario_planning', + 'common', + 'common.param.yaml', + ) + with open(common_param_path, 'r') as f: + common_param = yaml.safe_load(f)['/**']['ros__parameters'] + # obstacle avoidance planner obstacle_avoidance_planner_param_path = os.path.join( get_package_share_directory('planning_launch'), @@ -157,6 +168,7 @@ def generate_launch_description(): ('~/input/trajectory', 'surround_obstacle_checker/trajectory'), ], parameters=[ + common_param, obstacle_stop_planner_param, obstacle_stop_planner_acc_param, {'enable_slow_down': False} diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index 05892f5a25..4e0ee98c72 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -1,4 +1,7 @@ + + + @@ -33,12 +36,15 @@ + + + + + + - - - diff --git a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml index 1fbb0ba4dd..808cff0110 100644 --- a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml @@ -38,6 +38,7 @@ + From b76b2b40f7076b3230a63d6b94e9007587381459 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Wed, 27 Oct 2021 18:27:55 +0900 Subject: [PATCH 120/349] remove unused param (#477) Signed-off-by: Takamasa Horibe --- control_launch/config/mpc_follower/mpc_follower.param.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/control_launch/config/mpc_follower/mpc_follower.param.yaml b/control_launch/config/mpc_follower/mpc_follower.param.yaml index e11651495e..1304ede364 100644 --- a/control_launch/config/mpc_follower/mpc_follower.param.yaml +++ b/control_launch/config/mpc_follower/mpc_follower.param.yaml @@ -54,4 +54,3 @@ # stop state stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 From 1b5f74b94601310e6dad37959016845489dadc61 Mon Sep 17 00:00:00 2001 From: taikitanaka Date: Thu, 28 Oct 2021 21:30:35 +0900 Subject: [PATCH 121/349] update rviz marker --- autoware_launch/rviz/autoware.rviz | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 9d726beaed..3f581a3d50 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1054,7 +1054,8 @@ Visualization Manager: no_stopping_area_correspondence: false no_stopping_area_id: false no_stopping_area_polygon: false - stuck_points_detection_area: false + stuck_vehicle_detect_area: false + stop_line_detect_area: false stuck_points: false stop_factor_text: true stop_virtual_wall: true From 7a8d92acc59c36dba1f541205444c861e7c6c80d Mon Sep 17 00:00:00 2001 From: taikitanaka Date: Thu, 28 Oct 2021 21:31:46 +0900 Subject: [PATCH 122/349] Revert "need to revert this before merge" This reverts commit 3048913bc25a09cdd27ea75071a1281da923af13. --- .../lane_driving/behavior_planning/behavior_planning.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 5c076c2740..05ad702b99 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -343,6 +343,6 @@ def generate_launch_description(): cmd=['ros2', 'topic', 'pub', '/planning/scenario_planning/lane_driving/behavior_planning/' 'behavior_path_planner/path_change_approval', - 'autoware_planning_msgs/msg/Approval', '{approval: false}', + 'autoware_planning_msgs/msg/Approval', '{approval: true}', '-r', '10']), ]) From d4cff543af493b761d6ceb2ff4e6870d9124549e Mon Sep 17 00:00:00 2001 From: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Date: Fri, 29 Oct 2021 17:51:55 +0900 Subject: [PATCH 123/349] Apply diagnostics tree improvement (#153) --- .../config/autoware_error_monitor.param.yaml | 95 +++++++------------ ...ror_monitor.planning_simulation.param.yaml | 94 +++++++----------- 2 files changed, 66 insertions(+), 123 deletions(-) diff --git a/system_launch/config/autoware_error_monitor.param.yaml b/system_launch/config/autoware_error_monitor.param.yaml index 518daa06e1..4049b4c62e 100644 --- a/system_launch/config/autoware_error_monitor.param.yaml +++ b/system_launch/config/autoware_error_monitor.param.yaml @@ -16,73 +16,44 @@ required_modules: autonomous_driving: names: [ - "/autoware/control/autonomous_driving/alive_monitoring", - # "/autoware/control/autonomous_driving/lane_departure", - # '/autoware/control/autonomous_driving/trajectory_deviation', # Unstable - "/autoware/control/command_gate/alive_monitoring", - "/autoware/control/remote_control/alive_monitoring/joy_controller_connection", - "/autoware/localization/alive_monitoring", - "/autoware/localization/matching_score", - "/autoware/localization/localization_accuracy", - "/autoware/map/alive_monitoring", - "/autoware/map/map_version", - "/autoware/perception/alive_monitoring", - "/autoware/planning/alive_monitoring", - "/autoware/planning/trajectory_monitoring", - "/autoware/sensing/alive_monitoring", - "/autoware/sensing/camera", - "/autoware/sensing/gnss", - "/autoware/sensing/imu", - "/autoware/sensing/lidar", - "/autoware/system/alive_monitoring", + "/autoware/control/autonomous_driving/node_alive_monitoring", + # "/autoware/control/autonomous_driving/performance_monitoring/lane_departure", # tmp + "/autoware/control/control_command_gate/node_alive_monitoring", + "/autoware/control/external_control/local_external_control/device_connection", + + "/autoware/localization/node_alive_monitoring", + "/autoware/localization/performance_monitoring/matching_score", + "/autoware/localization/performance_monitoring/localization_accuracy", + + "/autoware/map/node_alive_monitoring", + "/autoware/map/map_validation", + + "/autoware/perception/node_alive_monitoring", + + "/autoware/planning/node_alive_monitoring", + "/autoware/planning/performance_monitoring/trajectory_validation", + + "/autoware/sensing/node_alive_monitoring", + + "/autoware/system/node_alive_monitoring", "/autoware/system/emergency_stop_operation", - "/autoware/system/logging", - "/autoware/system/resource_monitoring/cpu_temperature", - "/autoware/system/resource_monitoring/cpu_usage", - "/autoware/system/resource_monitoring/cpu_thermal_throttling", - "/autoware/system/resource_monitoring/hdd_temperature", - "/autoware/system/resource_monitoring/hdd_usage", - "/autoware/system/resource_monitoring/memory_usage", - "/autoware/system/resource_monitoring/network_usage", - "/autoware/system/resource_monitoring/ntp_offset", - "/autoware/system/resource_monitoring/gpu_temperature", - "/autoware/system/resource_monitoring/gpu_usage", - "/autoware/system/resource_monitoring/gpu_memory_usage", - "/autoware/system/resource_monitoring/gpu_thermal_throttling", - "/autoware/vehicle/alive_monitoring", - "/autoware/vehicle/vehicle_errors", - "/autoware/vehicle/obstacle_crash", + "/autoware/system/resource_monitoring", + + "/autoware/vehicle/node_alive_monitoring", ] diag_level: - /autoware/localization/matching_score: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/sensing/gnss: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/logging: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/system/resource_monitoring/cpu_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/resource_monitoring/cpu_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/resource_monitoring/cpu_thermal_throttling: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/resource_monitoring/hdd_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/resource_monitoring/hdd_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/resource_monitoring/memory_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/resource_monitoring/network_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/resource_monitoring/ntp_offset: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/system/resource_monitoring/gpu_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/resource_monitoring/gpu_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/resource_monitoring/gpu_memory_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/resource_monitoring/gpu_thermal_throttling: { sf_at: "warn", lf_at: "error", spf_at: "none" } - auto_recovery: - /autoware/vehicle/vehicle_interface_connection: false - /autoware/vehicle/vehicle_errors: false - /autoware/vehicle/obstacle_crash: false + /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/system/debug_data_logger: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } - remote_control: + external_control: names: [ - "/autoware/control/command_gate/alive_monitoring", - "/autoware/control/remote_control/alive_monitoring", - "/autoware/control/remote_control/alive_monitoring/joy_controller_connection", - "/autoware/system/alive_monitoring", + "/autoware/control/control_command_gate/node_alive_monitoring", + "/autoware/control/external_control/external_command_selector/node_alive_monitoring", + + "/autoware/system/node_alive_monitoring", "/autoware/system/emergency_stop_operation", - "/autoware/vehicle/alive_monitoring", - "/autoware/vehicle/vehicle_errors", - "/autoware/vehicle/obstacle_crash", + + "/autoware/vehicle/node_alive_monitoring", ] diff --git a/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml b/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml index 13ed6271ac..f4023728d7 100644 --- a/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml +++ b/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml @@ -16,72 +16,44 @@ required_modules: autonomous_driving: names: [ - "/autoware/control/autonomous_driving/alive_monitoring", - "/autoware/control/autonomous_driving/lane_departure", - # '/autoware/control/autonomous_driving/trajectory_deviation', # Unstable - "/autoware/control/command_gate/alive_monitoring", - "/autoware/localization/alive_monitoring", - "/autoware/localization/matching_score", - "/autoware/localization/localization_accuracy", - "/autoware/map/alive_monitoring", - "/autoware/map/map_version", - "/autoware/perception/alive_monitoring", - "/autoware/planning/alive_monitoring", - "/autoware/planning/trajectory_monitoring", - "/autoware/sensing/alive_monitoring", - "/autoware/sensing/camera", - "/autoware/sensing/gnss", - "/autoware/sensing/imu", - "/autoware/sensing/lidar", - "/autoware/system/alive_monitoring", + "/autoware/control/autonomous_driving/node_alive_monitoring", + # "/autoware/control/autonomous_driving/performance_monitoring/lane_departure", # tmp + "/autoware/control/control_command_gate/node_alive_monitoring", + "/autoware/control/external_control/local_external_control/device_connection", + + "/autoware/localization/node_alive_monitoring", + # "/autoware/localization/performance_monitoring/matching_score", + # "/autoware/localization/performance_monitoring/localization_accuracy", + + "/autoware/map/node_alive_monitoring", + # "/autoware/map/map_validation", + + "/autoware/perception/node_alive_monitoring", + + "/autoware/planning/node_alive_monitoring", + "/autoware/planning/performance_monitoring/trajectory_validation", + + "/autoware/sensing/node_alive_monitoring", + + "/autoware/system/node_alive_monitoring", "/autoware/system/emergency_stop_operation", - "/autoware/system/logging", - # '/autoware/system/resource_monitoring/cpu_temperature', # Not working in containers - # '/autoware/system/resource_monitoring/cpu_usage', # No need to watch in simulation - # '/autoware/system/resource_monitoring/cpu_thermal_throttling', # Require setup - # '/autoware/system/resource_monitoring/hdd_temperature', # Require setup - # '/autoware/system/resource_monitoring/hdd_usage', # Not working in containers - # '/autoware/system/resource_monitoring/memory_usage', # No need to watch in simulation - # '/autoware/system/resource_monitoring/network_usage', # No need to watch in simulation - # '/autoware/system/resource_monitoring/ntp_offset', # No need to watch in simulation - # '/autoware/system/resource_monitoring/gpu_temperature', # Require GPU - # '/autoware/system/resource_monitoring/gpu_usage', # Require GPU - # '/autoware/system/resource_monitoring/gpu_memory_usage', # Require GPU - # '/autoware/system/resource_monitoring/gpu_thermal_throttling', # Require GPU - "/autoware/vehicle/alive_monitoring", - "/autoware/vehicle/vehicle_interface_connection", - "/autoware/vehicle/vehicle_errors", - "/autoware/vehicle/obstacle_crash", + # "/autoware/system/resource_monitoring", # To avoid errors in containers + + "/autoware/vehicle/node_alive_monitoring", ] diag_level: - /autoware/localization/matching_score: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/sensing/gnss: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/logging: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/system/resource_monitoring/cpu_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } # Not working in VMs - # /autoware/system/resource_monitoring/cpu_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation - # /autoware/system/resource_monitoring/cpu_thermal_throttling: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation - # /autoware/system/resource_monitoring/hdd_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation - # /autoware/system/resource_monitoring/hdd_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation - # /autoware/system/resource_monitoring/memory_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation - # /autoware/system/resource_monitoring/network_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation - # /autoware/system/resource_monitoring/ntp_offset: { sf_at: "warn", lf_at: "none", spf_at: "none" } # No need to watch in simulation - # /autoware/system/resource_monitoring/gpu_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation - # /autoware/system/resource_monitoring/gpu_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation - # /autoware/system/resource_monitoring/gpu_memory_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation - # /autoware/system/resource_monitoring/gpu_thermal_throttling: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation - auto_recovery: - /autoware/vehicle/vehicle_interface_connection: false - /autoware/vehicle/vehicle_errors: false - /autoware/vehicle/obstacle_crash: false + /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/system/debug_data_logger: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } - remote_control: + external_control: names: [ - "/autoware/control/command_gate/alive_monitoring", - "/autoware/control/remote_control/alive_monitoring", - "/autoware/system/alive_monitoring", + "/autoware/control/control_command_gate/node_alive_monitoring", + "/autoware/control/external_control/external_command_selector/node_alive_monitoring", + + "/autoware/system/node_alive_monitoring", "/autoware/system/emergency_stop_operation", - "/autoware/vehicle/alive_monitoring", - "/autoware/vehicle/vehicle_errors", - "/autoware/vehicle/obstacle_crash", + + "/autoware/vehicle/node_alive_monitoring", ] From 27438a23655e2185069000c5807b66348cf6c03b Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Fri, 29 Oct 2021 22:47:28 +0900 Subject: [PATCH 124/349] Change autoware_error_monitor config format (#173) Signed-off-by: Kenji Miyake --- .../config/autoware_error_monitor.param.yaml | 55 ++++++++----------- ...ror_monitor.planning_simulation.param.yaml | 55 ++++++++----------- 2 files changed, 48 insertions(+), 62 deletions(-) diff --git a/system_launch/config/autoware_error_monitor.param.yaml b/system_launch/config/autoware_error_monitor.param.yaml index 4049b4c62e..9bb31371a4 100644 --- a/system_launch/config/autoware_error_monitor.param.yaml +++ b/system_launch/config/autoware_error_monitor.param.yaml @@ -3,6 +3,7 @@ # sf_at: diag level where it becomes Safe Fault # lf_at: diag level where it becomes Latent Fault # spf_at: diag level where it becomes Single Point Fault +# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. # # Note: # empty-value for sf_at, lf_at and spf_at is "none" @@ -10,50 +11,42 @@ # sf_at: "none" # lf_at: "warn" # spf_at: "error" +# auto_recovery: "true" --- /**: ros__parameters: required_modules: autonomous_driving: - names: [ - "/autoware/control/autonomous_driving/node_alive_monitoring", - # "/autoware/control/autonomous_driving/performance_monitoring/lane_departure", # tmp - "/autoware/control/control_command_gate/node_alive_monitoring", - "/autoware/control/external_control/local_external_control/device_connection", + /autoware/control/autonomous_driving/node_alive_monitoring: default + # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp + /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/external_control/local_external_control/device_connection: default - "/autoware/localization/node_alive_monitoring", - "/autoware/localization/performance_monitoring/matching_score", - "/autoware/localization/performance_monitoring/localization_accuracy", + /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 - "/autoware/map/node_alive_monitoring", - "/autoware/map/map_validation", + /autoware/map/node_alive_monitoring: default + /autoware/map/map_validation: default - "/autoware/perception/node_alive_monitoring", + /autoware/perception/node_alive_monitoring: default - "/autoware/planning/node_alive_monitoring", - "/autoware/planning/performance_monitoring/trajectory_validation", + /autoware/planning/node_alive_monitoring: default + /autoware/planning/performance_monitoring/trajectory_validation: default - "/autoware/sensing/node_alive_monitoring", + /autoware/sensing/node_alive_monitoring: default - "/autoware/system/node_alive_monitoring", - "/autoware/system/emergency_stop_operation", - "/autoware/system/resource_monitoring", + /autoware/system/node_alive_monitoring: default + /autoware/system/emergency_stop_operation: default + /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } - "/autoware/vehicle/node_alive_monitoring", - ] - diag_level: - /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/system/debug_data_logger: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/vehicle/node_alive_monitoring: default external_control: - names: - [ - "/autoware/control/control_command_gate/node_alive_monitoring", - "/autoware/control/external_control/external_command_selector/node_alive_monitoring", + /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - "/autoware/system/node_alive_monitoring", - "/autoware/system/emergency_stop_operation", + /autoware/system/node_alive_monitoring: default + /autoware/system/emergency_stop_operation: default - "/autoware/vehicle/node_alive_monitoring", - ] + /autoware/vehicle/node_alive_monitoring: default diff --git a/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml b/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml index f4023728d7..55adc21107 100644 --- a/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml +++ b/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml @@ -3,6 +3,7 @@ # sf_at: diag level where it becomes Safe Fault # lf_at: diag level where it becomes Latent Fault # spf_at: diag level where it becomes Single Point Fault +# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. # # Note: # empty-value for sf_at, lf_at and spf_at is "none" @@ -10,50 +11,42 @@ # sf_at: "none" # lf_at: "warn" # spf_at: "error" +# auto_recovery: "true" --- /**: ros__parameters: required_modules: autonomous_driving: - names: [ - "/autoware/control/autonomous_driving/node_alive_monitoring", - # "/autoware/control/autonomous_driving/performance_monitoring/lane_departure", # tmp - "/autoware/control/control_command_gate/node_alive_monitoring", - "/autoware/control/external_control/local_external_control/device_connection", + /autoware/control/autonomous_driving/node_alive_monitoring: default + # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp + /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/external_control/local_external_control/device_connection: default - "/autoware/localization/node_alive_monitoring", - # "/autoware/localization/performance_monitoring/matching_score", - # "/autoware/localization/performance_monitoring/localization_accuracy", + /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 - "/autoware/map/node_alive_monitoring", - # "/autoware/map/map_validation", + /autoware/map/node_alive_monitoring: default + # /autoware/map/map_validation: default - "/autoware/perception/node_alive_monitoring", + /autoware/perception/node_alive_monitoring: default - "/autoware/planning/node_alive_monitoring", - "/autoware/planning/performance_monitoring/trajectory_validation", + /autoware/planning/node_alive_monitoring: default + /autoware/planning/performance_monitoring/trajectory_validation: default - "/autoware/sensing/node_alive_monitoring", + /autoware/sensing/node_alive_monitoring: default - "/autoware/system/node_alive_monitoring", - "/autoware/system/emergency_stop_operation", - # "/autoware/system/resource_monitoring", # To avoid errors in containers + /autoware/system/node_alive_monitoring: default + /autoware/system/emergency_stop_operation: default + # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } - "/autoware/vehicle/node_alive_monitoring", - ] - diag_level: - /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/system/debug_data_logger: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/vehicle/node_alive_monitoring: default external_control: - names: - [ - "/autoware/control/control_command_gate/node_alive_monitoring", - "/autoware/control/external_control/external_command_selector/node_alive_monitoring", + /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - "/autoware/system/node_alive_monitoring", - "/autoware/system/emergency_stop_operation", + /autoware/system/node_alive_monitoring: default + /autoware/system/emergency_stop_operation: default - "/autoware/vehicle/node_alive_monitoring", - ] + /autoware/vehicle/node_alive_monitoring: default From f68de665ab9b6811d067c71301e82209979e70ba Mon Sep 17 00:00:00 2001 From: wep21 Date: Tue, 16 Nov 2021 18:17:47 +0900 Subject: [PATCH 125/349] Revert "Disable traffic light detection and classifier" This reverts commit 0cce2e78737dbeec1c0161047cd5177e8cade19d. --- .../launch/traffic_light_recognition/traffic_light.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml index dcd631119a..d86a8ccf19 100644 --- a/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml +++ b/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml @@ -20,12 +20,12 @@ - + From 123918913aa176aa2c5165e05935c779fe4cff67 Mon Sep 17 00:00:00 2001 From: wep21 Date: Tue, 16 Nov 2021 18:18:52 +0900 Subject: [PATCH 126/349] Disable traffic light recognition Signed-off-by: wep21 --- perception_launch/launch/perception.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml index 952f73764e..b8485dc3d3 100644 --- a/perception_launch/launch/perception.launch.xml +++ b/perception_launch/launch/perception.launch.xml @@ -78,10 +78,10 @@ - + From a230a38590bd271ff9ee7c4dd5cdc71a33e23690 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Mon, 22 Nov 2021 16:26:14 +0900 Subject: [PATCH 127/349] fix autoware_state_monitor param --- .../config/autoware_state_monitor.param.yaml | 30 +++++++++---------- ...ate_monitor.planning_simulation.param.yaml | 30 +++++++++---------- 2 files changed, 30 insertions(+), 30 deletions(-) diff --git a/system_launch/config/autoware_state_monitor.param.yaml b/system_launch/config/autoware_state_monitor.param.yaml index 2988284029..f5750d15f6 100644 --- a/system_launch/config/autoware_state_monitor.param.yaml +++ b/system_launch/config/autoware_state_monitor.param.yaml @@ -32,9 +32,9 @@ "/planning/mission_planning/route", "/planning/scenario_planning/trajectory", "/control/trajectory_follower/control_cmd", - "/control/vehicle_cmd", - "/vehicle/status/twist", - "/vehicle/status/steering", + "/control/command/control_cmd", + "/vehicle/status/velocity_status", + "/vehicle/status/steering_status", "/system/emergency/control_cmd" ] @@ -43,7 +43,7 @@ module: "map" timeout: 0.0 warn_rate: 0.0 - type: "autoware_lanelet2_msgs/msg/MapBin" + type: "autoware_auto_mapping_msgs/msg/HADMapBin" transient_local: True /map/pointcloud_map: @@ -84,7 +84,7 @@ module: "perception" timeout: 1.0 warn_rate: 5.0 - type: "autoware_perception_msgs/msg/DynamicObjectArray" + type: "autoware_auto_perception_msgs/msg/PredictedObjects" # This topic could have two different types depending on the launch flags used. # The implementation of subscriptions in ROS2 does not allow for multiple types # to be defined for a topic. By default this is set to not use have features. @@ -94,44 +94,44 @@ module: "planning" timeout: 0.0 warn_rate: 0.0 - type: "autoware_planning_msgs/msg/Route" + type: "autoware_auto_planning_msgs/msg/HADMapRoute" transient_local: True /planning/scenario_planning/trajectory: module: "planning" timeout: 1.0 warn_rate: 5.0 - type: "autoware_planning_msgs/msg/Trajectory" + type: "autoware_auto_planning_msgs/msg/Trajectory" /control/trajectory_follower/control_cmd: module: "control" timeout: 1.0 warn_rate: 5.0 - type: "autoware_control_msgs/msg/ControlCommandStamped" + type: "autoware_auto_control_msgs/msg/AckermannControlCommand" - /control/vehicle_cmd: + /control/command/control_cmd: module: "control" timeout: 1.0 warn_rate: 5.0 - type: "autoware_vehicle_msgs/msg/VehicleCommand" + type: "autoware_auto_control_msgs/msg/AckermannControlCommand" - /vehicle/status/twist: + /vehicle/status/velocity_status: module: "vehicle" timeout: 1.0 warn_rate: 5.0 - type: "geometry_msgs/msg/TwistStamped" + type: "autoware_auto_vehicle_msgs/msg/VelocityReport" - /vehicle/status/steering: + /vehicle/status/steering_status: module: "vehicle" timeout: 1.0 warn_rate: 5.0 - type: "autoware_vehicle_msgs/msg/Steering" + type: "autoware_auto_vehicle_msgs/msg/SteeringReport" /system/emergency/control_cmd: module: "system" timeout: 1.0 warn_rate: 5.0 - type: "autoware_control_msgs/msg/ControlCommandStamped" + type: "autoware_auto_control_msgs/msg/AckermannControlCommand" # Param Config ## names: string array diff --git a/system_launch/config/autoware_state_monitor.planning_simulation.param.yaml b/system_launch/config/autoware_state_monitor.planning_simulation.param.yaml index 81d9d47b4e..41928923a0 100644 --- a/system_launch/config/autoware_state_monitor.planning_simulation.param.yaml +++ b/system_launch/config/autoware_state_monitor.planning_simulation.param.yaml @@ -29,9 +29,9 @@ "/planning/mission_planning/route", "/planning/scenario_planning/trajectory", "/control/trajectory_follower/control_cmd", - "/control/vehicle_cmd", - "/vehicle/status/twist", - "/vehicle/status/steering", + "/control/command/control_cmd", + "/vehicle/status/velocity_status", + "/vehicle/status/steering_status", "/system/emergency/control_cmd" ] @@ -40,7 +40,7 @@ module: "map" timeout: 0.0 warn_rate: 0.0 - type: "autoware_lanelet2_msgs/msg/MapBin" + type: "autoware_auto_mapping_msgs/msg/HADMapBin" transient_local: True /map/pointcloud_map: @@ -54,7 +54,7 @@ module: "perception" timeout: 1.0 warn_rate: 5.0 - type: "autoware_perception_msgs/msg/DynamicObjectArray" + type: "autoware_auto_perception_msgs/msg/PredictedObjects" /initialpose2d: module: "localization" @@ -66,44 +66,44 @@ module: "planning" timeout: 0.0 warn_rate: 0.0 - type: "autoware_planning_msgs/msg/Route" + type: "autoware_auto_planning_msgs/msg/HADMapRoute" transient_local: True /planning/scenario_planning/trajectory: module: "planning" timeout: 1.0 warn_rate: 5.0 - type: "autoware_planning_msgs/msg/Trajectory" + type: "autoware_auto_planning_msgs/msg/Trajectory" /control/trajectory_follower/control_cmd: module: "control" timeout: 1.0 warn_rate: 5.0 - type: "autoware_control_msgs/msg/ControlCommandStamped" + type: "autoware_auto_control_msgs/msg/AckermannControlCommand" - /control/vehicle_cmd: + /control/command/control_cmd: module: "control" timeout: 1.0 warn_rate: 5.0 - type: "autoware_vehicle_msgs/msg/VehicleCommand" + type: "autoware_auto_control_msgs/msg/AckermannControlCommand" - /vehicle/status/twist: + /vehicle/status/velocity_status: module: "vehicle" timeout: 1.0 warn_rate: 5.0 - type: "geometry_msgs/msg/TwistStamped" + type: "autoware_auto_vehicle_msgs/msg/VelocityReport" - /vehicle/status/steering: + /vehicle/status/steering_status: module: "vehicle" timeout: 1.0 warn_rate: 5.0 - type: "autoware_vehicle_msgs/msg/Steering" + type: "autoware_auto_vehicle_msgs/msg/SteeringReport" /system/emergency/control_cmd: module: "system" timeout: 1.0 warn_rate: 5.0 - type: "autoware_control_msgs/msg/ControlCommandStamped" + type: "autoware_auto_control_msgs/msg/AckermannControlCommand" # Param Config ## names: string array From 942c51984c7c76b00ffcfd10e09a89ed5afeb76f Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Mon, 22 Nov 2021 16:26:21 +0900 Subject: [PATCH 128/349] fix control_launch --- control_launch/launch/control.launch.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 87f19c0119..9a37b0b088 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -272,7 +272,7 @@ def add_launch_arg(name: str, default_value=None, description=None): FindPackageShare("control_launch"), "/config/trajectory_follower/", EnvironmentVariable(name="VEHICLE_ID", default_value="default"), - "lateral_controller.param.yaml", + "/lateral_controller.param.yaml", ], "path to the parameter file of lateral controller", ) @@ -280,7 +280,9 @@ def add_launch_arg(name: str, default_value=None, description=None): "lon_controller_param_path", [ FindPackageShare("control_launch"), - "/config/trajectory_follower/longitudinal_controller.param.yaml", + "/config/trajectory_follower/", + EnvironmentVariable(name="VEHICLE_ID", default_value="default"), + "/longitudinal_controller.param.yaml", ], "path to the parameter file of longitudinal controller", ) @@ -288,9 +290,7 @@ def add_launch_arg(name: str, default_value=None, description=None): "latlon_muxer_param_path", [ FindPackageShare("control_launch"), - "/config/trajectory_follower/", - EnvironmentVariable(name="VEHICLE_ID", default_value="default"), - "latlon_muxer.param.yaml", + "/config/trajectory_follower/latlon_muxer.param.yaml", ], "path to the parameter file of latlon muxer", ) From 717f7625c0eb8765465a83ecb8f10ccdc957749a Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Mon, 22 Nov 2021 18:03:26 +0900 Subject: [PATCH 129/349] fix param file in control_launch --- .../trajectory_follower/10/lateral_controller.param.yaml | 5 ++--- .../10/longitudinal_controller.param.yaml | 2 ++ .../trajectory_follower/2/lateral_controller.param.yaml | 5 ++--- .../trajectory_follower/2/longitudinal_controller.param.yaml | 2 ++ .../trajectory_follower/3/lateral_controller.param.yaml | 5 ++--- .../trajectory_follower/3/longitudinal_controller.param.yaml | 2 ++ .../trajectory_follower/4/lateral_controller.param.yaml | 5 ++--- .../trajectory_follower/4/longitudinal_controller.param.yaml | 2 ++ .../trajectory_follower/5/lateral_controller.param.yaml | 5 ++--- .../trajectory_follower/5/longitudinal_controller.param.yaml | 2 ++ .../trajectory_follower/6/lateral_controller.param.yaml | 5 ++--- .../trajectory_follower/6/longitudinal_controller.param.yaml | 2 ++ .../trajectory_follower/7/lateral_controller.param.yaml | 5 ++--- .../trajectory_follower/7/longitudinal_controller.param.yaml | 2 ++ .../trajectory_follower/9/lateral_controller.param.yaml | 5 ++--- .../trajectory_follower/9/longitudinal_controller.param.yaml | 2 ++ .../default/lateral_controller.param.yaml | 5 ++--- .../default/longitudinal_controller.param.yaml | 2 ++ 18 files changed, 36 insertions(+), 27 deletions(-) diff --git a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml index 50c6c5cc0b..d2928e02dd 100644 --- a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml @@ -4,7 +4,6 @@ # -- system -- ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value @@ -12,7 +11,8 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) @@ -57,7 +57,6 @@ # stop state stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml index 3f833342ad..abcd4458f0 100644 --- a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -31,6 +31,8 @@ min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 # smooth stop state smooth_stop_max_strong_acc: -0.5 diff --git a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml index 50c6c5cc0b..d2928e02dd 100644 --- a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml @@ -4,7 +4,6 @@ # -- system -- ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value @@ -12,7 +11,8 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) @@ -57,7 +57,6 @@ # stop state stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml index 3f833342ad..abcd4458f0 100644 --- a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -31,6 +31,8 @@ min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 # smooth stop state smooth_stop_max_strong_acc: -0.5 diff --git a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml index 50c6c5cc0b..d2928e02dd 100644 --- a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml @@ -4,7 +4,6 @@ # -- system -- ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value @@ -12,7 +11,8 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) @@ -57,7 +57,6 @@ # stop state stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index 3f833342ad..abcd4458f0 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -31,6 +31,8 @@ min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 # smooth stop state smooth_stop_max_strong_acc: -0.5 diff --git a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml index 50c6c5cc0b..d2928e02dd 100644 --- a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml @@ -4,7 +4,6 @@ # -- system -- ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value @@ -12,7 +11,8 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) @@ -57,7 +57,6 @@ # stop state stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml index 3f833342ad..abcd4458f0 100644 --- a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -31,6 +31,8 @@ min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 # smooth stop state smooth_stop_max_strong_acc: -0.5 diff --git a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml index 50c6c5cc0b..d2928e02dd 100644 --- a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml @@ -4,7 +4,6 @@ # -- system -- ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value @@ -12,7 +11,8 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) @@ -57,7 +57,6 @@ # stop state stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml index 3f833342ad..abcd4458f0 100644 --- a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -31,6 +31,8 @@ min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 # smooth stop state smooth_stop_max_strong_acc: -0.5 diff --git a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml index 50c6c5cc0b..d2928e02dd 100644 --- a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml @@ -4,7 +4,6 @@ # -- system -- ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value @@ -12,7 +11,8 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) @@ -57,7 +57,6 @@ # stop state stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml index 3f833342ad..abcd4458f0 100644 --- a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -31,6 +31,8 @@ min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 # smooth stop state smooth_stop_max_strong_acc: -0.5 diff --git a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml index 50c6c5cc0b..d2928e02dd 100644 --- a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml @@ -4,7 +4,6 @@ # -- system -- ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value @@ -12,7 +11,8 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) @@ -57,7 +57,6 @@ # stop state stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml index 3f833342ad..abcd4458f0 100644 --- a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -31,6 +31,8 @@ min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 # smooth stop state smooth_stop_max_strong_acc: -0.5 diff --git a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml index 50c6c5cc0b..d2928e02dd 100644 --- a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml @@ -4,7 +4,6 @@ # -- system -- ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value @@ -12,7 +11,8 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) @@ -57,7 +57,6 @@ # stop state stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml index 3f833342ad..abcd4458f0 100644 --- a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml @@ -31,6 +31,8 @@ min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 # smooth stop state smooth_stop_max_strong_acc: -0.5 diff --git a/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml index 50c6c5cc0b..d2928e02dd 100644 --- a/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml @@ -4,7 +4,6 @@ # -- system -- ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value @@ -12,7 +11,8 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) @@ -57,7 +57,6 @@ # stop state stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml index 3f833342ad..abcd4458f0 100644 --- a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml @@ -31,6 +31,8 @@ min_d_effort: 0.0 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 # smooth stop state smooth_stop_max_strong_acc: -0.5 From 889ba284b7f466a50b21f5a22ead8c3807809e64 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Mon, 22 Nov 2021 18:36:53 +0900 Subject: [PATCH 130/349] sync control parameter with rc/v0.23.1.0 --- .../1/lateral_controller.param.yaml | 22 ++++++------- .../1/longitudinal_controller.param.yaml | 30 ++++++++--------- .../10/lateral_controller.param.yaml | 22 ++++++------- .../10/longitudinal_controller.param.yaml | 26 +++++++-------- .../2/lateral_controller.param.yaml | 22 ++++++------- .../2/longitudinal_controller.param.yaml | 26 +++++++-------- .../3/lateral_controller.param.yaml | 22 ++++++------- .../3/longitudinal_controller.param.yaml | 24 +++++++------- .../4/lateral_controller.param.yaml | 22 ++++++------- .../4/longitudinal_controller.param.yaml | 32 +++++++++---------- .../5/lateral_controller.param.yaml | 22 ++++++------- .../5/longitudinal_controller.param.yaml | 26 +++++++-------- .../6/lateral_controller.param.yaml | 22 ++++++------- .../6/longitudinal_controller.param.yaml | 32 +++++++++---------- .../7/lateral_controller.param.yaml | 22 ++++++------- .../7/longitudinal_controller.param.yaml | 26 +++++++-------- .../9/lateral_controller.param.yaml | 22 ++++++------- .../9/longitudinal_controller.param.yaml | 20 ++++++------ .../default/lateral_controller.param.yaml | 22 ++++++------- .../longitudinal_controller.param.yaml | 26 +++++++-------- 20 files changed, 244 insertions(+), 244 deletions(-) diff --git a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml index d2928e02dd..6c525bc426 100644 --- a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml @@ -11,30 +11,30 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.50 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.0 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero @@ -43,15 +43,15 @@ # -- 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 + input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 20.0 # steering angle limit [deg] - steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] - acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 # stop state diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml index abcd4458f0..dfe7663643 100644 --- a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml @@ -1,43 +1,43 @@ /**: ros__parameters: control_rate: 30.0 - delay_compensation_time: 0.17 + delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: true - enable_slope_compensation: false + enable_slope_compensation: true # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 stopping_state_stop_dist: 0.49 - stopped_state_entry_vel: 0.1 + stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7 + emergency_state_traj_rot_dev: 0.7854 # drive state - kp: 1.0 - ki: 0.1 + kp: 2.0 + ki: 0.01 kd: 0.0 max_out: 1.0 - min_out: -1.0 - max_p_effort: 1.0 - min_p_effort: -1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 - max_d_effort: 0.0 - min_d_effort: 0.0 + max_d_effort: 0.3 + min_d_effort: -0.3 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 enable_brake_keeping_before_stop: false brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -1.0 - smooth_stop_weak_acc: -0.3 + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 2.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml index d2928e02dd..ad65d1779b 100644 --- a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml @@ -11,30 +11,30 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.0 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero @@ -43,15 +43,15 @@ # -- 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 + input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 20.0 # steering angle limit [deg] - steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] - acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 # stop state diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml index abcd4458f0..c09adae36f 100644 --- a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -1,30 +1,30 @@ /**: ros__parameters: control_rate: 30.0 - delay_compensation_time: 0.17 + delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: true - enable_slope_compensation: false + enable_slope_compensation: true # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 stopping_state_stop_dist: 0.49 - stopped_state_entry_vel: 0.1 + stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7 + emergency_state_traj_rot_dev: 0.7854 # drive state - kp: 1.0 - ki: 0.1 + kp: 2.0 + ki: 0.02 kd: 0.0 max_out: 1.0 - min_out: -1.0 - max_p_effort: 1.0 - min_p_effort: -1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 max_d_effort: 0.0 @@ -35,9 +35,9 @@ brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -1.0 - smooth_stop_weak_acc: -0.3 + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 2.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml index d2928e02dd..ad65d1779b 100644 --- a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml @@ -11,30 +11,30 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.0 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero @@ -43,15 +43,15 @@ # -- 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 + input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 20.0 # steering angle limit [deg] - steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] - acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 # stop state diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml index abcd4458f0..c09adae36f 100644 --- a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -1,30 +1,30 @@ /**: ros__parameters: control_rate: 30.0 - delay_compensation_time: 0.17 + delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: true - enable_slope_compensation: false + enable_slope_compensation: true # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 stopping_state_stop_dist: 0.49 - stopped_state_entry_vel: 0.1 + stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7 + emergency_state_traj_rot_dev: 0.7854 # drive state - kp: 1.0 - ki: 0.1 + kp: 2.0 + ki: 0.02 kd: 0.0 max_out: 1.0 - min_out: -1.0 - max_p_effort: 1.0 - min_p_effort: -1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 max_d_effort: 0.0 @@ -35,9 +35,9 @@ brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -1.0 - smooth_stop_weak_acc: -0.3 + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 2.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml index d2928e02dd..ad65d1779b 100644 --- a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml @@ -11,30 +11,30 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.0 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero @@ -43,15 +43,15 @@ # -- 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 + input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 20.0 # steering angle limit [deg] - steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] - acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 # stop state diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index abcd4458f0..966f4deaea 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -1,30 +1,30 @@ /**: ros__parameters: control_rate: 30.0 - delay_compensation_time: 0.17 + delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: true - enable_slope_compensation: false + enable_slope_compensation: true # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 stopping_state_stop_dist: 0.49 - stopped_state_entry_vel: 0.1 + stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7 + emergency_state_traj_rot_dev: 0.7854 # drive state kp: 1.0 - ki: 0.1 + ki: 0.02 kd: 0.0 max_out: 1.0 - min_out: -1.0 - max_p_effort: 1.0 - min_p_effort: -1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 max_d_effort: 0.0 @@ -35,9 +35,9 @@ brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -1.0 - smooth_stop_weak_acc: -0.3 + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 2.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml index d2928e02dd..ad65d1779b 100644 --- a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml @@ -11,30 +11,30 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.0 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero @@ -43,15 +43,15 @@ # -- 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 + input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 20.0 # steering angle limit [deg] - steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] - acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 # stop state diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml index abcd4458f0..b4d4065d63 100644 --- a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -1,43 +1,43 @@ /**: ros__parameters: control_rate: 30.0 - delay_compensation_time: 0.17 + delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: true - enable_slope_compensation: false + enable_slope_compensation: true # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 stopping_state_stop_dist: 0.49 - stopped_state_entry_vel: 0.1 + stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7 + emergency_state_traj_rot_dev: 0.7854 # drive state - kp: 1.0 - ki: 0.1 - kd: 0.0 + kp: 2.0 + ki: 0.02 + kd: 0.1 max_out: 1.0 - min_out: -1.0 - max_p_effort: 1.0 - min_p_effort: -1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 - max_d_effort: 0.0 - min_d_effort: 0.0 + max_d_effort: 0.3 + min_d_effort: -0.3 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 enable_brake_keeping_before_stop: false brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -1.0 - smooth_stop_weak_acc: -0.3 + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 2.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml index d2928e02dd..ad65d1779b 100644 --- a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml @@ -11,30 +11,30 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.0 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero @@ -43,15 +43,15 @@ # -- 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 + input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 20.0 # steering angle limit [deg] - steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] - acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 # stop state diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml index abcd4458f0..c09adae36f 100644 --- a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -1,30 +1,30 @@ /**: ros__parameters: control_rate: 30.0 - delay_compensation_time: 0.17 + delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: true - enable_slope_compensation: false + enable_slope_compensation: true # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 stopping_state_stop_dist: 0.49 - stopped_state_entry_vel: 0.1 + stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7 + emergency_state_traj_rot_dev: 0.7854 # drive state - kp: 1.0 - ki: 0.1 + kp: 2.0 + ki: 0.02 kd: 0.0 max_out: 1.0 - min_out: -1.0 - max_p_effort: 1.0 - min_p_effort: -1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 max_d_effort: 0.0 @@ -35,9 +35,9 @@ brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -1.0 - smooth_stop_weak_acc: -0.3 + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 2.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml index d2928e02dd..ad65d1779b 100644 --- a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml @@ -11,30 +11,30 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.0 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero @@ -43,15 +43,15 @@ # -- 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 + input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 20.0 # steering angle limit [deg] - steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] - acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 # stop state diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml index abcd4458f0..09d080af14 100644 --- a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -1,43 +1,43 @@ /**: ros__parameters: control_rate: 30.0 - delay_compensation_time: 0.17 + delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: true - enable_slope_compensation: false + enable_slope_compensation: true # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 stopping_state_stop_dist: 0.49 - stopped_state_entry_vel: 0.1 + stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7 + emergency_state_traj_rot_dev: 0.7854 # drive state - kp: 1.0 - ki: 0.1 - kd: 0.0 + kp: 2.0 + ki: 0.01 + kd: 0.1 max_out: 1.0 - min_out: -1.0 - max_p_effort: 1.0 - min_p_effort: -1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 - max_d_effort: 0.0 - min_d_effort: 0.0 + max_d_effort: 0.3 + min_d_effort: -0.3 lpf_vel_error_gain: 0.9 current_vel_threshold_pid_integration: 0.5 enable_brake_keeping_before_stop: false brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -1.0 - smooth_stop_weak_acc: -0.3 + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 2.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml index d2928e02dd..ad65d1779b 100644 --- a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml @@ -11,30 +11,30 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.0 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero @@ -43,15 +43,15 @@ # -- 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 + input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 20.0 # steering angle limit [deg] - steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] - acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 # stop state diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml index abcd4458f0..c09adae36f 100644 --- a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -1,30 +1,30 @@ /**: ros__parameters: control_rate: 30.0 - delay_compensation_time: 0.17 + delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: true - enable_slope_compensation: false + enable_slope_compensation: true # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 stopping_state_stop_dist: 0.49 - stopped_state_entry_vel: 0.1 + stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7 + emergency_state_traj_rot_dev: 0.7854 # drive state - kp: 1.0 - ki: 0.1 + kp: 2.0 + ki: 0.02 kd: 0.0 max_out: 1.0 - min_out: -1.0 - max_p_effort: 1.0 - min_p_effort: -1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 max_d_effort: 0.0 @@ -35,9 +35,9 @@ brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -1.0 - smooth_stop_weak_acc: -0.3 + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 2.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml index d2928e02dd..ad65d1779b 100644 --- a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml @@ -11,30 +11,30 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.0 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero @@ -43,15 +43,15 @@ # -- 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 + input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 20.0 # steering angle limit [deg] - steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] - acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 # stop state diff --git a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml index abcd4458f0..ccb91b24a4 100644 --- a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml @@ -1,30 +1,30 @@ /**: ros__parameters: control_rate: 30.0 - delay_compensation_time: 0.17 + delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: true - enable_slope_compensation: false + enable_slope_compensation: true # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 stopping_state_stop_dist: 0.49 - stopped_state_entry_vel: 0.1 + stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7 + emergency_state_traj_rot_dev: 0.7854 # drive state kp: 1.0 ki: 0.1 kd: 0.0 max_out: 1.0 - min_out: -1.0 + min_out: -5.0 max_p_effort: 1.0 - min_p_effort: -1.0 + min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 max_d_effort: 0.0 @@ -35,9 +35,9 @@ brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -1.0 - smooth_stop_weak_acc: -0.3 + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 2.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml index d2928e02dd..ad65d1779b 100644 --- a/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml @@ -11,30 +11,30 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.0 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero @@ -43,15 +43,15 @@ # -- 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 + input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 20.0 # steering angle limit [deg] - steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] - acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 # stop state diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml index abcd4458f0..c09adae36f 100644 --- a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml @@ -1,30 +1,30 @@ /**: ros__parameters: control_rate: 30.0 - delay_compensation_time: 0.17 + delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: true - enable_slope_compensation: false + enable_slope_compensation: true # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 stopping_state_stop_dist: 0.49 - stopped_state_entry_vel: 0.1 + stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7 + emergency_state_traj_rot_dev: 0.7854 # drive state - kp: 1.0 - ki: 0.1 + kp: 2.0 + ki: 0.02 kd: 0.0 max_out: 1.0 - min_out: -1.0 - max_p_effort: 1.0 - min_p_effort: -1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 max_d_effort: 0.0 @@ -35,9 +35,9 @@ brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -1.0 - smooth_stop_weak_acc: -0.3 + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 2.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch From a60b9d54477fa4b4b29205c2c547956bd7e47f7c Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Mon, 22 Nov 2021 18:39:12 +0900 Subject: [PATCH 131/349] remove unused parameter files --- .../mpc_follower/1/mpc_follower.param.yaml | 56 --------------- .../mpc_follower/10/mpc_follower.param.yaml | 58 ---------------- .../mpc_follower/2/mpc_follower.param.yaml | 58 ---------------- .../mpc_follower/3/mpc_follower.param.yaml | 58 ---------------- .../mpc_follower/4/mpc_follower.param.yaml | 58 ---------------- .../mpc_follower/5/mpc_follower.param.yaml | 58 ---------------- .../mpc_follower/6/mpc_follower.param.yaml | 58 ---------------- .../mpc_follower/7/mpc_follower.param.yaml | 58 ---------------- .../mpc_follower/9/mpc_follower.param.yaml | 58 ---------------- .../default/mpc_follower.param.yaml | 58 ---------------- .../pure_pursuit/pure_pursuit.param.yaml | 9 --- .../1/velocity_controller.param.yaml | 68 ------------------- .../10/velocity_controller.param.yaml | 68 ------------------- .../2/velocity_controller.param.yaml | 68 ------------------- .../3/velocity_controller.param.yaml | 68 ------------------- .../4/velocity_controller.param.yaml | 68 ------------------- .../5/velocity_controller.param.yaml | 68 ------------------- .../6/velocity_controller.param.yaml | 68 ------------------- .../7/velocity_controller.param.yaml | 68 ------------------- .../9/velocity_controller.param.yaml | 68 ------------------- .../default/velocity_controller.param.yaml | 68 ------------------- .../1/motion_velocity_optimizer.param.yaml | 42 ------------ .../10/motion_velocity_optimizer.param.yaml | 42 ------------ .../2/motion_velocity_optimizer.param.yaml | 42 ------------ .../3/motion_velocity_optimizer.param.yaml | 42 ------------ .../4/motion_velocity_optimizer.param.yaml | 42 ------------ .../5/motion_velocity_optimizer.param.yaml | 42 ------------ .../6/motion_velocity_optimizer.param.yaml | 42 ------------ .../7/motion_velocity_optimizer.param.yaml | 42 ------------ .../9/motion_velocity_optimizer.param.yaml | 42 ------------ .../motion_velocity_optimizer.param.yaml | 42 ------------ 31 files changed, 1687 deletions(-) delete mode 100644 control_launch/config/mpc_follower/1/mpc_follower.param.yaml delete mode 100644 control_launch/config/mpc_follower/10/mpc_follower.param.yaml delete mode 100644 control_launch/config/mpc_follower/2/mpc_follower.param.yaml delete mode 100644 control_launch/config/mpc_follower/3/mpc_follower.param.yaml delete mode 100644 control_launch/config/mpc_follower/4/mpc_follower.param.yaml delete mode 100644 control_launch/config/mpc_follower/5/mpc_follower.param.yaml delete mode 100644 control_launch/config/mpc_follower/6/mpc_follower.param.yaml delete mode 100644 control_launch/config/mpc_follower/7/mpc_follower.param.yaml delete mode 100644 control_launch/config/mpc_follower/9/mpc_follower.param.yaml delete mode 100644 control_launch/config/mpc_follower/default/mpc_follower.param.yaml delete mode 100644 control_launch/config/pure_pursuit/pure_pursuit.param.yaml delete mode 100644 control_launch/config/velocity_controller/1/velocity_controller.param.yaml delete mode 100644 control_launch/config/velocity_controller/10/velocity_controller.param.yaml delete mode 100644 control_launch/config/velocity_controller/2/velocity_controller.param.yaml delete mode 100644 control_launch/config/velocity_controller/3/velocity_controller.param.yaml delete mode 100644 control_launch/config/velocity_controller/4/velocity_controller.param.yaml delete mode 100644 control_launch/config/velocity_controller/5/velocity_controller.param.yaml delete mode 100644 control_launch/config/velocity_controller/6/velocity_controller.param.yaml delete mode 100644 control_launch/config/velocity_controller/7/velocity_controller.param.yaml delete mode 100644 control_launch/config/velocity_controller/9/velocity_controller.param.yaml delete mode 100644 control_launch/config/velocity_controller/default/velocity_controller.param.yaml delete mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/1/motion_velocity_optimizer.param.yaml delete mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/10/motion_velocity_optimizer.param.yaml delete mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/2/motion_velocity_optimizer.param.yaml delete mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/3/motion_velocity_optimizer.param.yaml delete mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/4/motion_velocity_optimizer.param.yaml delete mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/5/motion_velocity_optimizer.param.yaml delete mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/6/motion_velocity_optimizer.param.yaml delete mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/7/motion_velocity_optimizer.param.yaml delete mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/9/motion_velocity_optimizer.param.yaml delete mode 100644 planning_launch/config/scenario_planning/common/motion_velocity_optimizer/default/motion_velocity_optimizer.param.yaml diff --git a/control_launch/config/mpc_follower/1/mpc_follower.param.yaml b/control_launch/config/mpc_follower/1/mpc_follower.param.yaml deleted file mode 100644 index 132d003913..0000000000 --- a/control_launch/config/mpc_follower/1/mpc_follower.param.yaml +++ /dev/null @@ -1,56 +0,0 @@ -/**: - ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] - traj_resample_dist: 0.1 # path resampling interval [m] - use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) - admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value - admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value - - # -- path smoothing -- - enable_path_smoothing: true # flag for path smoothing - path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) - curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) - - # -- mpc optimization -- - qpoases_max_iter: 500 # max iteration number for quadratic programming - qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp - mpc_prediction_horizon: 50 # prediction horizon step - mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q - mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q - mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R - mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R - mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R - mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point - mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point - mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) - mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability - mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability - mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero - - # -- vehicle model -- - vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics - input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] - acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] - velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] - - # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] - - # stop state - stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 diff --git a/control_launch/config/mpc_follower/10/mpc_follower.param.yaml b/control_launch/config/mpc_follower/10/mpc_follower.param.yaml deleted file mode 100644 index 2ae8c9e01c..0000000000 --- a/control_launch/config/mpc_follower/10/mpc_follower.param.yaml +++ /dev/null @@ -1,58 +0,0 @@ -/**: - ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] - traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling - use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) - admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value - admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value - - # -- path smoothing -- - enable_path_smoothing: true # flag for path smoothing - path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) - curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) - - # -- mpc optimization -- - qpoases_max_iter: 500 # max iteration number for quadratic programming - qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp - mpc_prediction_horizon: 50 # prediction horizon step - mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q - mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q - mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R - mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R - mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R - mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point - mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point - mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) - mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability - mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability - mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero - - # -- vehicle model -- - vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics - input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] - acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] - velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] - - # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] - - # stop state - stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/2/mpc_follower.param.yaml b/control_launch/config/mpc_follower/2/mpc_follower.param.yaml deleted file mode 100644 index 2ae8c9e01c..0000000000 --- a/control_launch/config/mpc_follower/2/mpc_follower.param.yaml +++ /dev/null @@ -1,58 +0,0 @@ -/**: - ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] - traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling - use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) - admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value - admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value - - # -- path smoothing -- - enable_path_smoothing: true # flag for path smoothing - path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) - curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) - - # -- mpc optimization -- - qpoases_max_iter: 500 # max iteration number for quadratic programming - qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp - mpc_prediction_horizon: 50 # prediction horizon step - mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q - mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q - mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R - mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R - mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R - mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point - mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point - mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) - mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability - mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability - mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero - - # -- vehicle model -- - vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics - input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] - acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] - velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] - - # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] - - # stop state - stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/3/mpc_follower.param.yaml b/control_launch/config/mpc_follower/3/mpc_follower.param.yaml deleted file mode 100644 index 2ae8c9e01c..0000000000 --- a/control_launch/config/mpc_follower/3/mpc_follower.param.yaml +++ /dev/null @@ -1,58 +0,0 @@ -/**: - ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] - traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling - use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) - admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value - admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value - - # -- path smoothing -- - enable_path_smoothing: true # flag for path smoothing - path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) - curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) - - # -- mpc optimization -- - qpoases_max_iter: 500 # max iteration number for quadratic programming - qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp - mpc_prediction_horizon: 50 # prediction horizon step - mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q - mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q - mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R - mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R - mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R - mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point - mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point - mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) - mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability - mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability - mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero - - # -- vehicle model -- - vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics - input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] - acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] - velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] - - # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] - - # stop state - stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/4/mpc_follower.param.yaml b/control_launch/config/mpc_follower/4/mpc_follower.param.yaml deleted file mode 100644 index 0df8beb62d..0000000000 --- a/control_launch/config/mpc_follower/4/mpc_follower.param.yaml +++ /dev/null @@ -1,58 +0,0 @@ -/**: - ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] - traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling - use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) - admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value - admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value - - # -- path smoothing -- - enable_path_smoothing: true # flag for path smoothing - path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) - curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) - - # -- mpc optimization -- - qpoases_max_iter: 500 # max iteration number for quadratic programming - qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp - mpc_prediction_horizon: 50 # prediction horizon step - mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q - mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q - mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R - mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R - mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R - mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point - mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 2.50 # steering error * velocity weight in matrix R in low curvature point - mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) - mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability - mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability - mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero - - # -- vehicle model -- - vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics - input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] - acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] - velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] - - # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] - - # stop state - stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/5/mpc_follower.param.yaml b/control_launch/config/mpc_follower/5/mpc_follower.param.yaml deleted file mode 100644 index 2ae8c9e01c..0000000000 --- a/control_launch/config/mpc_follower/5/mpc_follower.param.yaml +++ /dev/null @@ -1,58 +0,0 @@ -/**: - ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] - traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling - use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) - admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value - admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value - - # -- path smoothing -- - enable_path_smoothing: true # flag for path smoothing - path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) - curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) - - # -- mpc optimization -- - qpoases_max_iter: 500 # max iteration number for quadratic programming - qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp - mpc_prediction_horizon: 50 # prediction horizon step - mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q - mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q - mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R - mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R - mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R - mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point - mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point - mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) - mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability - mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability - mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero - - # -- vehicle model -- - vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics - input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] - acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] - velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] - - # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] - - # stop state - stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/6/mpc_follower.param.yaml b/control_launch/config/mpc_follower/6/mpc_follower.param.yaml deleted file mode 100644 index 2ae8c9e01c..0000000000 --- a/control_launch/config/mpc_follower/6/mpc_follower.param.yaml +++ /dev/null @@ -1,58 +0,0 @@ -/**: - ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] - traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling - use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) - admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value - admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value - - # -- path smoothing -- - enable_path_smoothing: true # flag for path smoothing - path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) - curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) - - # -- mpc optimization -- - qpoases_max_iter: 500 # max iteration number for quadratic programming - qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp - mpc_prediction_horizon: 50 # prediction horizon step - mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q - mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q - mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R - mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R - mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R - mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point - mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point - mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) - mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability - mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability - mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero - - # -- vehicle model -- - vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics - input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] - acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] - velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] - - # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] - - # stop state - stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/7/mpc_follower.param.yaml b/control_launch/config/mpc_follower/7/mpc_follower.param.yaml deleted file mode 100644 index 4b4eb7a547..0000000000 --- a/control_launch/config/mpc_follower/7/mpc_follower.param.yaml +++ /dev/null @@ -1,58 +0,0 @@ -/**: - ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] - traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling - use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) - admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value - admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value - - # -- path smoothing -- - enable_path_smoothing: true # flag for path smoothing - path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) - curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) - - # -- mpc optimization -- - qpoases_max_iter: 500 # max iteration number for quadratic programming - qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp - mpc_prediction_horizon: 50 # prediction horizon step - mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q - mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q - mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R - mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R - mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R - mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point - mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point - mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) - mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability - mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability - mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero - - # -- vehicle model -- - vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics - input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] - acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] - velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] - - # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] - - # stop state - stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/9/mpc_follower.param.yaml b/control_launch/config/mpc_follower/9/mpc_follower.param.yaml deleted file mode 100644 index 2ae8c9e01c..0000000000 --- a/control_launch/config/mpc_follower/9/mpc_follower.param.yaml +++ /dev/null @@ -1,58 +0,0 @@ -/**: - ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] - traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling - use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) - admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value - admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value - - # -- path smoothing -- - enable_path_smoothing: true # flag for path smoothing - path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) - curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) - - # -- mpc optimization -- - qpoases_max_iter: 500 # max iteration number for quadratic programming - qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp - mpc_prediction_horizon: 50 # prediction horizon step - mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q - mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q - mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R - mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R - mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R - mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point - mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point - mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) - mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability - mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability - mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero - - # -- vehicle model -- - vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics - input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] - acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] - velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] - - # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] - - # stop state - stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/mpc_follower/default/mpc_follower.param.yaml b/control_launch/config/mpc_follower/default/mpc_follower.param.yaml deleted file mode 100644 index 2ae8c9e01c..0000000000 --- a/control_launch/config/mpc_follower/default/mpc_follower.param.yaml +++ /dev/null @@ -1,58 +0,0 @@ -/**: - ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] - traj_resample_dist: 0.1 # path resampling interval [m] - enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling - use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) - admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value - admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value - - # -- path smoothing -- - enable_path_smoothing: true # flag for path smoothing - path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) - curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) - - # -- mpc optimization -- - qpoases_max_iter: 500 # max iteration number for quadratic programming - qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp - mpc_prediction_horizon: 50 # prediction horizon step - mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q - mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q - mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R - mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R - mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R - mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point - mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point - mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low curvature" parameter (0: do not use low curvature parameter) - mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability - mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability - mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero - - # -- vehicle model -- - vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics - input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] - acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] - velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] - - # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] - - # stop state - stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 - stop_state_keep_stopping_dist: 0.5 diff --git a/control_launch/config/pure_pursuit/pure_pursuit.param.yaml b/control_launch/config/pure_pursuit/pure_pursuit.param.yaml deleted file mode 100644 index acbb3a85a3..0000000000 --- a/control_launch/config/pure_pursuit/pure_pursuit.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - # -- system -- - control_period: 0.033 - - # --algorithm -- - lookahead_distance_ratio: 2.2 - min_lookahead_distance: 2.5 - reverse_min_lookahead_distance: 7.0 diff --git a/control_launch/config/velocity_controller/1/velocity_controller.param.yaml b/control_launch/config/velocity_controller/1/velocity_controller.param.yaml deleted file mode 100644 index 753c7ee792..0000000000 --- a/control_launch/config/velocity_controller/1/velocity_controller.param.yaml +++ /dev/null @@ -1,68 +0,0 @@ -/**: - ros__parameters: - # delay compensation - delay_compensation_time: 0.4 - - # slope compensation - enable_slope_compensation: true - - # state transition - drive_state_stop_dist: 0.5 - stopping_state_stop_dist: 0.5 - stopped_state_entry_vel: 0.01 - stopped_state_entry_acc: 0.1 - emergency_state_overshoot_stop_dist: 1.5 - emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7854 - - # drive state - kp: 2.0 - ki: 0.01 - kd: 0.1 - max_out: 1.0 - min_out: -5.0 - max_p_effort: 0.5 - min_p_effort: -5.0 - max_i_effort: 0.3 - min_i_effort: -0.3 - max_d_effort: 0.3 - min_d_effort: -0.3 - lpf_vel_error_gain: 0.9 - current_vel_threshold_pid_integration: 0.5 - - # smooth stop state - smooth_stop_max_strong_acc: -0.8 - smooth_stop_min_strong_acc: -1.3 - smooth_stop_weak_acc: -0.6 - smooth_stop_weak_stop_acc: -0.8 - smooth_stop_strong_stop_acc: -3.4 - smooth_stop_min_fast_vel: 0.5 - smooth_stop_min_running_vel: 0.01 - smooth_stop_min_running_acc: 0.01 - smooth_stop_weak_stop_time: 0.8 - smooth_stop_weak_stop_dist: -0.3 - smooth_stop_strong_stop_dist: -0.5 - - # stopped state - stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 - - # emergency state - emergency_vel: 0.0 - emergency_acc: -5.0 - emergency_jerk: -3.0 - - # acceleration limit - max_acc: 3.0 - min_acc: -5.0 - - # jerk limit - max_jerk: 3.5 - min_jerk: -5.0 - - # pitch - use_trajectory_for_pitch_calculation: false - lpf_pitch_gain: 0.95 - max_pitch_rad: 0.1 - min_pitch_rad: -0.1 diff --git a/control_launch/config/velocity_controller/10/velocity_controller.param.yaml b/control_launch/config/velocity_controller/10/velocity_controller.param.yaml deleted file mode 100644 index e32610ffd8..0000000000 --- a/control_launch/config/velocity_controller/10/velocity_controller.param.yaml +++ /dev/null @@ -1,68 +0,0 @@ -/**: - ros__parameters: - # delay compensation - delay_compensation_time: 0.4 - - # slope compensation - enable_slope_compensation: true - - # state transition - drive_state_stop_dist: 0.5 - stopping_state_stop_dist: 0.5 - stopped_state_entry_vel: 0.01 - stopped_state_entry_acc: 0.1 - emergency_state_overshoot_stop_dist: 1.5 - emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7854 - - # drive state - kp: 2.0 - ki: 0.02 - kd: 0.0 - max_out: 1.0 - min_out: -5.0 - max_p_effort: 0.5 - min_p_effort: -5.0 - max_i_effort: 0.3 - min_i_effort: -0.3 - max_d_effort: 0.0 - min_d_effort: 0.0 - lpf_vel_error_gain: 0.9 - current_vel_threshold_pid_integration: 0.5 - - # smooth stop state - smooth_stop_max_strong_acc: -0.8 - smooth_stop_min_strong_acc: -1.3 - smooth_stop_weak_acc: -0.6 - smooth_stop_weak_stop_acc: -0.8 - smooth_stop_strong_stop_acc: -3.4 - smooth_stop_min_fast_vel: 0.5 - smooth_stop_min_running_vel: 0.01 - smooth_stop_min_running_acc: 0.01 - smooth_stop_weak_stop_time: 0.8 - smooth_stop_weak_stop_dist: -0.3 - smooth_stop_strong_stop_dist: -0.5 - - # stopped state - stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 - - # emergency state - emergency_vel: 0.0 - emergency_acc: -5.0 - emergency_jerk: -3.0 - - # acceleration limit - max_acc: 3.0 - min_acc: -5.0 - - # jerk limit - max_jerk: 3.5 - min_jerk: -5.0 - - # pitch - use_trajectory_for_pitch_calculation: false - lpf_pitch_gain: 0.95 - max_pitch_rad: 0.1 - min_pitch_rad: -0.1 diff --git a/control_launch/config/velocity_controller/2/velocity_controller.param.yaml b/control_launch/config/velocity_controller/2/velocity_controller.param.yaml deleted file mode 100644 index e32610ffd8..0000000000 --- a/control_launch/config/velocity_controller/2/velocity_controller.param.yaml +++ /dev/null @@ -1,68 +0,0 @@ -/**: - ros__parameters: - # delay compensation - delay_compensation_time: 0.4 - - # slope compensation - enable_slope_compensation: true - - # state transition - drive_state_stop_dist: 0.5 - stopping_state_stop_dist: 0.5 - stopped_state_entry_vel: 0.01 - stopped_state_entry_acc: 0.1 - emergency_state_overshoot_stop_dist: 1.5 - emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7854 - - # drive state - kp: 2.0 - ki: 0.02 - kd: 0.0 - max_out: 1.0 - min_out: -5.0 - max_p_effort: 0.5 - min_p_effort: -5.0 - max_i_effort: 0.3 - min_i_effort: -0.3 - max_d_effort: 0.0 - min_d_effort: 0.0 - lpf_vel_error_gain: 0.9 - current_vel_threshold_pid_integration: 0.5 - - # smooth stop state - smooth_stop_max_strong_acc: -0.8 - smooth_stop_min_strong_acc: -1.3 - smooth_stop_weak_acc: -0.6 - smooth_stop_weak_stop_acc: -0.8 - smooth_stop_strong_stop_acc: -3.4 - smooth_stop_min_fast_vel: 0.5 - smooth_stop_min_running_vel: 0.01 - smooth_stop_min_running_acc: 0.01 - smooth_stop_weak_stop_time: 0.8 - smooth_stop_weak_stop_dist: -0.3 - smooth_stop_strong_stop_dist: -0.5 - - # stopped state - stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 - - # emergency state - emergency_vel: 0.0 - emergency_acc: -5.0 - emergency_jerk: -3.0 - - # acceleration limit - max_acc: 3.0 - min_acc: -5.0 - - # jerk limit - max_jerk: 3.5 - min_jerk: -5.0 - - # pitch - use_trajectory_for_pitch_calculation: false - lpf_pitch_gain: 0.95 - max_pitch_rad: 0.1 - min_pitch_rad: -0.1 diff --git a/control_launch/config/velocity_controller/3/velocity_controller.param.yaml b/control_launch/config/velocity_controller/3/velocity_controller.param.yaml deleted file mode 100644 index 0fc93513fe..0000000000 --- a/control_launch/config/velocity_controller/3/velocity_controller.param.yaml +++ /dev/null @@ -1,68 +0,0 @@ -/**: - ros__parameters: - # delay compensation - delay_compensation_time: 0.4 - - # slope compensation - enable_slope_compensation: true - - # state transition - drive_state_stop_dist: 0.5 - stopping_state_stop_dist: 0.5 - stopped_state_entry_vel: 0.01 - stopped_state_entry_acc: 0.1 - emergency_state_overshoot_stop_dist: 1.5 - emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7854 - - # drive state - kp: 1.0 - ki: 0.02 - kd: 0.0 - max_out: 1.0 - min_out: -5.0 - max_p_effort: 0.5 - min_p_effort: -5.0 - max_i_effort: 0.3 - min_i_effort: -0.3 - max_d_effort: 0.0 - min_d_effort: 0.0 - lpf_vel_error_gain: 0.9 - current_vel_threshold_pid_integration: 0.5 - - # smooth stop state - smooth_stop_max_strong_acc: -0.8 - smooth_stop_min_strong_acc: -1.3 - smooth_stop_weak_acc: -0.6 - smooth_stop_weak_stop_acc: -0.8 - smooth_stop_strong_stop_acc: -3.4 - smooth_stop_min_fast_vel: 0.5 - smooth_stop_min_running_vel: 0.01 - smooth_stop_min_running_acc: 0.01 - smooth_stop_weak_stop_time: 0.8 - smooth_stop_weak_stop_dist: -0.3 - smooth_stop_strong_stop_dist: -0.5 - - # stopped state - stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 - - # emergency state - emergency_vel: 0.0 - emergency_acc: -5.0 - emergency_jerk: -3.0 - - # acceleration limit - max_acc: 3.0 - min_acc: -5.0 - - # jerk limit - max_jerk: 3.5 - min_jerk: -5.0 - - # pitch - use_trajectory_for_pitch_calculation: false - lpf_pitch_gain: 0.95 - max_pitch_rad: 0.1 - min_pitch_rad: -0.1 diff --git a/control_launch/config/velocity_controller/4/velocity_controller.param.yaml b/control_launch/config/velocity_controller/4/velocity_controller.param.yaml deleted file mode 100644 index 1ba27b7392..0000000000 --- a/control_launch/config/velocity_controller/4/velocity_controller.param.yaml +++ /dev/null @@ -1,68 +0,0 @@ -/**: - ros__parameters: - # delay compensation - delay_compensation_time: 0.4 - - # slope compensation - enable_slope_compensation: true - - # state transition - drive_state_stop_dist: 0.5 - stopping_state_stop_dist: 0.5 - stopped_state_entry_vel: 0.01 - stopped_state_entry_acc: 0.1 - emergency_state_overshoot_stop_dist: 1.5 - emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7854 - - # drive state - kp: 2.0 - ki: 0.02 - kd: 0.1 - max_out: 1.0 - min_out: -5.0 - max_p_effort: 0.5 - min_p_effort: -5.0 - max_i_effort: 0.3 - min_i_effort: -0.3 - max_d_effort: 0.3 - min_d_effort: -0.3 - lpf_vel_error_gain: 0.9 - current_vel_threshold_pid_integration: 0.5 - - # smooth stop state - smooth_stop_max_strong_acc: -0.8 - smooth_stop_min_strong_acc: -1.3 - smooth_stop_weak_acc: -0.6 - smooth_stop_weak_stop_acc: -0.8 - smooth_stop_strong_stop_acc: -3.4 - smooth_stop_min_fast_vel: 0.5 - smooth_stop_min_running_vel: 0.01 - smooth_stop_min_running_acc: 0.01 - smooth_stop_weak_stop_time: 0.8 - smooth_stop_weak_stop_dist: -0.3 - smooth_stop_strong_stop_dist: -0.5 - - # stopped state - stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 - - # emergency state - emergency_vel: 0.0 - emergency_acc: -5.0 - emergency_jerk: -3.0 - - # acceleration limit - max_acc: 3.0 - min_acc: -5.0 - - # jerk limit - max_jerk: 3.5 - min_jerk: -5.0 - - # pitch - use_trajectory_for_pitch_calculation: false - lpf_pitch_gain: 0.95 - max_pitch_rad: 0.1 - min_pitch_rad: -0.1 diff --git a/control_launch/config/velocity_controller/5/velocity_controller.param.yaml b/control_launch/config/velocity_controller/5/velocity_controller.param.yaml deleted file mode 100644 index e32610ffd8..0000000000 --- a/control_launch/config/velocity_controller/5/velocity_controller.param.yaml +++ /dev/null @@ -1,68 +0,0 @@ -/**: - ros__parameters: - # delay compensation - delay_compensation_time: 0.4 - - # slope compensation - enable_slope_compensation: true - - # state transition - drive_state_stop_dist: 0.5 - stopping_state_stop_dist: 0.5 - stopped_state_entry_vel: 0.01 - stopped_state_entry_acc: 0.1 - emergency_state_overshoot_stop_dist: 1.5 - emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7854 - - # drive state - kp: 2.0 - ki: 0.02 - kd: 0.0 - max_out: 1.0 - min_out: -5.0 - max_p_effort: 0.5 - min_p_effort: -5.0 - max_i_effort: 0.3 - min_i_effort: -0.3 - max_d_effort: 0.0 - min_d_effort: 0.0 - lpf_vel_error_gain: 0.9 - current_vel_threshold_pid_integration: 0.5 - - # smooth stop state - smooth_stop_max_strong_acc: -0.8 - smooth_stop_min_strong_acc: -1.3 - smooth_stop_weak_acc: -0.6 - smooth_stop_weak_stop_acc: -0.8 - smooth_stop_strong_stop_acc: -3.4 - smooth_stop_min_fast_vel: 0.5 - smooth_stop_min_running_vel: 0.01 - smooth_stop_min_running_acc: 0.01 - smooth_stop_weak_stop_time: 0.8 - smooth_stop_weak_stop_dist: -0.3 - smooth_stop_strong_stop_dist: -0.5 - - # stopped state - stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 - - # emergency state - emergency_vel: 0.0 - emergency_acc: -5.0 - emergency_jerk: -3.0 - - # acceleration limit - max_acc: 3.0 - min_acc: -5.0 - - # jerk limit - max_jerk: 3.5 - min_jerk: -5.0 - - # pitch - use_trajectory_for_pitch_calculation: false - lpf_pitch_gain: 0.95 - max_pitch_rad: 0.1 - min_pitch_rad: -0.1 diff --git a/control_launch/config/velocity_controller/6/velocity_controller.param.yaml b/control_launch/config/velocity_controller/6/velocity_controller.param.yaml deleted file mode 100644 index 753c7ee792..0000000000 --- a/control_launch/config/velocity_controller/6/velocity_controller.param.yaml +++ /dev/null @@ -1,68 +0,0 @@ -/**: - ros__parameters: - # delay compensation - delay_compensation_time: 0.4 - - # slope compensation - enable_slope_compensation: true - - # state transition - drive_state_stop_dist: 0.5 - stopping_state_stop_dist: 0.5 - stopped_state_entry_vel: 0.01 - stopped_state_entry_acc: 0.1 - emergency_state_overshoot_stop_dist: 1.5 - emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7854 - - # drive state - kp: 2.0 - ki: 0.01 - kd: 0.1 - max_out: 1.0 - min_out: -5.0 - max_p_effort: 0.5 - min_p_effort: -5.0 - max_i_effort: 0.3 - min_i_effort: -0.3 - max_d_effort: 0.3 - min_d_effort: -0.3 - lpf_vel_error_gain: 0.9 - current_vel_threshold_pid_integration: 0.5 - - # smooth stop state - smooth_stop_max_strong_acc: -0.8 - smooth_stop_min_strong_acc: -1.3 - smooth_stop_weak_acc: -0.6 - smooth_stop_weak_stop_acc: -0.8 - smooth_stop_strong_stop_acc: -3.4 - smooth_stop_min_fast_vel: 0.5 - smooth_stop_min_running_vel: 0.01 - smooth_stop_min_running_acc: 0.01 - smooth_stop_weak_stop_time: 0.8 - smooth_stop_weak_stop_dist: -0.3 - smooth_stop_strong_stop_dist: -0.5 - - # stopped state - stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 - - # emergency state - emergency_vel: 0.0 - emergency_acc: -5.0 - emergency_jerk: -3.0 - - # acceleration limit - max_acc: 3.0 - min_acc: -5.0 - - # jerk limit - max_jerk: 3.5 - min_jerk: -5.0 - - # pitch - use_trajectory_for_pitch_calculation: false - lpf_pitch_gain: 0.95 - max_pitch_rad: 0.1 - min_pitch_rad: -0.1 diff --git a/control_launch/config/velocity_controller/7/velocity_controller.param.yaml b/control_launch/config/velocity_controller/7/velocity_controller.param.yaml deleted file mode 100644 index e32610ffd8..0000000000 --- a/control_launch/config/velocity_controller/7/velocity_controller.param.yaml +++ /dev/null @@ -1,68 +0,0 @@ -/**: - ros__parameters: - # delay compensation - delay_compensation_time: 0.4 - - # slope compensation - enable_slope_compensation: true - - # state transition - drive_state_stop_dist: 0.5 - stopping_state_stop_dist: 0.5 - stopped_state_entry_vel: 0.01 - stopped_state_entry_acc: 0.1 - emergency_state_overshoot_stop_dist: 1.5 - emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7854 - - # drive state - kp: 2.0 - ki: 0.02 - kd: 0.0 - max_out: 1.0 - min_out: -5.0 - max_p_effort: 0.5 - min_p_effort: -5.0 - max_i_effort: 0.3 - min_i_effort: -0.3 - max_d_effort: 0.0 - min_d_effort: 0.0 - lpf_vel_error_gain: 0.9 - current_vel_threshold_pid_integration: 0.5 - - # smooth stop state - smooth_stop_max_strong_acc: -0.8 - smooth_stop_min_strong_acc: -1.3 - smooth_stop_weak_acc: -0.6 - smooth_stop_weak_stop_acc: -0.8 - smooth_stop_strong_stop_acc: -3.4 - smooth_stop_min_fast_vel: 0.5 - smooth_stop_min_running_vel: 0.01 - smooth_stop_min_running_acc: 0.01 - smooth_stop_weak_stop_time: 0.8 - smooth_stop_weak_stop_dist: -0.3 - smooth_stop_strong_stop_dist: -0.5 - - # stopped state - stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 - - # emergency state - emergency_vel: 0.0 - emergency_acc: -5.0 - emergency_jerk: -3.0 - - # acceleration limit - max_acc: 3.0 - min_acc: -5.0 - - # jerk limit - max_jerk: 3.5 - min_jerk: -5.0 - - # pitch - use_trajectory_for_pitch_calculation: false - lpf_pitch_gain: 0.95 - max_pitch_rad: 0.1 - min_pitch_rad: -0.1 diff --git a/control_launch/config/velocity_controller/9/velocity_controller.param.yaml b/control_launch/config/velocity_controller/9/velocity_controller.param.yaml deleted file mode 100644 index c1ecb22591..0000000000 --- a/control_launch/config/velocity_controller/9/velocity_controller.param.yaml +++ /dev/null @@ -1,68 +0,0 @@ -/**: - ros__parameters: - # delay compensation - delay_compensation_time: 0.4 - - # slope compensation - enable_slope_compensation: true - - # state transition - drive_state_stop_dist: 0.5 - stopping_state_stop_dist: 0.5 - stopped_state_entry_vel: 0.01 - stopped_state_entry_acc: 0.1 - emergency_state_overshoot_stop_dist: 1.5 - emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7854 - - # drive state - kp: 1.0 - ki: 0.1 - kd: 0.0 - max_out: 1.0 - min_out: -1.0 - max_p_effort: 1.0 - min_p_effort: -1.0 - max_i_effort: 0.3 - min_i_effort: -0.3 - max_d_effort: 0.0 - min_d_effort: 0.0 - lpf_vel_error_gain: 0.9 - current_vel_threshold_pid_integration: 0.5 - - # smooth stop state - smooth_stop_max_strong_acc: -0.8 - smooth_stop_min_strong_acc: -1.3 - smooth_stop_weak_acc: -0.6 - smooth_stop_weak_stop_acc: -0.8 - smooth_stop_strong_stop_acc: -3.4 - smooth_stop_min_fast_vel: 0.5 - smooth_stop_min_running_vel: 0.01 - smooth_stop_min_running_acc: 0.01 - smooth_stop_weak_stop_time: 0.8 - smooth_stop_weak_stop_dist: -0.3 - smooth_stop_strong_stop_dist: -0.5 - - # stopped state - stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 - - # emergency state - emergency_vel: 0.0 - emergency_acc: -5.0 - emergency_jerk: -3.0 - - # acceleration limit - max_acc: 3.0 - min_acc: -5.0 - - # jerk limit - max_jerk: 3.5 - min_jerk: -5.0 - - # pitch - use_trajectory_for_pitch_calculation: false - lpf_pitch_gain: 0.95 - max_pitch_rad: 0.1 - min_pitch_rad: -0.1 diff --git a/control_launch/config/velocity_controller/default/velocity_controller.param.yaml b/control_launch/config/velocity_controller/default/velocity_controller.param.yaml deleted file mode 100644 index e32610ffd8..0000000000 --- a/control_launch/config/velocity_controller/default/velocity_controller.param.yaml +++ /dev/null @@ -1,68 +0,0 @@ -/**: - ros__parameters: - # delay compensation - delay_compensation_time: 0.4 - - # slope compensation - enable_slope_compensation: true - - # state transition - drive_state_stop_dist: 0.5 - stopping_state_stop_dist: 0.5 - stopped_state_entry_vel: 0.01 - stopped_state_entry_acc: 0.1 - emergency_state_overshoot_stop_dist: 1.5 - emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7854 - - # drive state - kp: 2.0 - ki: 0.02 - kd: 0.0 - max_out: 1.0 - min_out: -5.0 - max_p_effort: 0.5 - min_p_effort: -5.0 - max_i_effort: 0.3 - min_i_effort: -0.3 - max_d_effort: 0.0 - min_d_effort: 0.0 - lpf_vel_error_gain: 0.9 - current_vel_threshold_pid_integration: 0.5 - - # smooth stop state - smooth_stop_max_strong_acc: -0.8 - smooth_stop_min_strong_acc: -1.3 - smooth_stop_weak_acc: -0.6 - smooth_stop_weak_stop_acc: -0.8 - smooth_stop_strong_stop_acc: -3.4 - smooth_stop_min_fast_vel: 0.5 - smooth_stop_min_running_vel: 0.01 - smooth_stop_min_running_acc: 0.01 - smooth_stop_weak_stop_time: 0.8 - smooth_stop_weak_stop_dist: -0.3 - smooth_stop_strong_stop_dist: -0.5 - - # stopped state - stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 - - # emergency state - emergency_vel: 0.0 - emergency_acc: -5.0 - emergency_jerk: -3.0 - - # acceleration limit - max_acc: 3.0 - min_acc: -5.0 - - # jerk limit - max_jerk: 3.5 - min_jerk: -5.0 - - # pitch - use_trajectory_for_pitch_calculation: false - lpf_pitch_gain: 0.95 - max_pitch_rad: 0.1 - min_pitch_rad: -0.1 diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/1/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/1/motion_velocity_optimizer.param.yaml deleted file mode 100644 index 6582989eca..0000000000 --- a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/1/motion_velocity_optimizer.param.yaml +++ /dev/null @@ -1,42 +0,0 @@ -/**: - ros__parameters: - max_velocity: 20.0 # max velocity limit [m/s] - max_accel: 1.0 # max acceleration limit [m/ss] - min_decel: -0.5 # min deceleration limit [m/ss] - - # curve parameters - max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] - min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 - - # engage & replan parameters - replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] - engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) - engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. - stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] - - # stop velocity - stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] - stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. - - extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] - extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] - delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] - - max_trajectory_length: 200.0 # max trajectory length for resampling [m] - min_trajectory_length: 30.0 # min trajectory length for resampling [m] - resample_time: 15.0 # resample total time [s] - resample_dt: 0.1 # resample time interval [s] - min_trajectory_interval_distance: 0.1 # resample points-interval length [m] - - # default weights - # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 - # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 - - pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost - over_v_weight: 100000.0 # weight for "overspeed limit" cost - over_a_weight: 5000.0 # weight for "overaccel limit" cost - - algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/10/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/10/motion_velocity_optimizer.param.yaml deleted file mode 100644 index 6582989eca..0000000000 --- a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/10/motion_velocity_optimizer.param.yaml +++ /dev/null @@ -1,42 +0,0 @@ -/**: - ros__parameters: - max_velocity: 20.0 # max velocity limit [m/s] - max_accel: 1.0 # max acceleration limit [m/ss] - min_decel: -0.5 # min deceleration limit [m/ss] - - # curve parameters - max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] - min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 - - # engage & replan parameters - replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] - engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) - engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. - stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] - - # stop velocity - stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] - stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. - - extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] - extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] - delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] - - max_trajectory_length: 200.0 # max trajectory length for resampling [m] - min_trajectory_length: 30.0 # min trajectory length for resampling [m] - resample_time: 15.0 # resample total time [s] - resample_dt: 0.1 # resample time interval [s] - min_trajectory_interval_distance: 0.1 # resample points-interval length [m] - - # default weights - # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 - # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 - - pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost - over_v_weight: 100000.0 # weight for "overspeed limit" cost - over_a_weight: 5000.0 # weight for "overaccel limit" cost - - algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/2/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/2/motion_velocity_optimizer.param.yaml deleted file mode 100644 index 6582989eca..0000000000 --- a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/2/motion_velocity_optimizer.param.yaml +++ /dev/null @@ -1,42 +0,0 @@ -/**: - ros__parameters: - max_velocity: 20.0 # max velocity limit [m/s] - max_accel: 1.0 # max acceleration limit [m/ss] - min_decel: -0.5 # min deceleration limit [m/ss] - - # curve parameters - max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] - min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 - - # engage & replan parameters - replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] - engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) - engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. - stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] - - # stop velocity - stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] - stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. - - extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] - extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] - delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] - - max_trajectory_length: 200.0 # max trajectory length for resampling [m] - min_trajectory_length: 30.0 # min trajectory length for resampling [m] - resample_time: 15.0 # resample total time [s] - resample_dt: 0.1 # resample time interval [s] - min_trajectory_interval_distance: 0.1 # resample points-interval length [m] - - # default weights - # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 - # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 - - pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost - over_v_weight: 100000.0 # weight for "overspeed limit" cost - over_a_weight: 5000.0 # weight for "overaccel limit" cost - - algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/3/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/3/motion_velocity_optimizer.param.yaml deleted file mode 100644 index 6582989eca..0000000000 --- a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/3/motion_velocity_optimizer.param.yaml +++ /dev/null @@ -1,42 +0,0 @@ -/**: - ros__parameters: - max_velocity: 20.0 # max velocity limit [m/s] - max_accel: 1.0 # max acceleration limit [m/ss] - min_decel: -0.5 # min deceleration limit [m/ss] - - # curve parameters - max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] - min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 - - # engage & replan parameters - replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] - engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) - engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. - stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] - - # stop velocity - stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] - stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. - - extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] - extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] - delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] - - max_trajectory_length: 200.0 # max trajectory length for resampling [m] - min_trajectory_length: 30.0 # min trajectory length for resampling [m] - resample_time: 15.0 # resample total time [s] - resample_dt: 0.1 # resample time interval [s] - min_trajectory_interval_distance: 0.1 # resample points-interval length [m] - - # default weights - # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 - # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 - - pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost - over_v_weight: 100000.0 # weight for "overspeed limit" cost - over_a_weight: 5000.0 # weight for "overaccel limit" cost - - algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/4/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/4/motion_velocity_optimizer.param.yaml deleted file mode 100644 index 6582989eca..0000000000 --- a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/4/motion_velocity_optimizer.param.yaml +++ /dev/null @@ -1,42 +0,0 @@ -/**: - ros__parameters: - max_velocity: 20.0 # max velocity limit [m/s] - max_accel: 1.0 # max acceleration limit [m/ss] - min_decel: -0.5 # min deceleration limit [m/ss] - - # curve parameters - max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] - min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 - - # engage & replan parameters - replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] - engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) - engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. - stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] - - # stop velocity - stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] - stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. - - extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] - extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] - delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] - - max_trajectory_length: 200.0 # max trajectory length for resampling [m] - min_trajectory_length: 30.0 # min trajectory length for resampling [m] - resample_time: 15.0 # resample total time [s] - resample_dt: 0.1 # resample time interval [s] - min_trajectory_interval_distance: 0.1 # resample points-interval length [m] - - # default weights - # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 - # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 - - pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost - over_v_weight: 100000.0 # weight for "overspeed limit" cost - over_a_weight: 5000.0 # weight for "overaccel limit" cost - - algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/5/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/5/motion_velocity_optimizer.param.yaml deleted file mode 100644 index 6582989eca..0000000000 --- a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/5/motion_velocity_optimizer.param.yaml +++ /dev/null @@ -1,42 +0,0 @@ -/**: - ros__parameters: - max_velocity: 20.0 # max velocity limit [m/s] - max_accel: 1.0 # max acceleration limit [m/ss] - min_decel: -0.5 # min deceleration limit [m/ss] - - # curve parameters - max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] - min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 - - # engage & replan parameters - replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] - engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) - engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. - stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] - - # stop velocity - stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] - stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. - - extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] - extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] - delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] - - max_trajectory_length: 200.0 # max trajectory length for resampling [m] - min_trajectory_length: 30.0 # min trajectory length for resampling [m] - resample_time: 15.0 # resample total time [s] - resample_dt: 0.1 # resample time interval [s] - min_trajectory_interval_distance: 0.1 # resample points-interval length [m] - - # default weights - # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 - # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 - - pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost - over_v_weight: 100000.0 # weight for "overspeed limit" cost - over_a_weight: 5000.0 # weight for "overaccel limit" cost - - algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/6/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/6/motion_velocity_optimizer.param.yaml deleted file mode 100644 index 6582989eca..0000000000 --- a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/6/motion_velocity_optimizer.param.yaml +++ /dev/null @@ -1,42 +0,0 @@ -/**: - ros__parameters: - max_velocity: 20.0 # max velocity limit [m/s] - max_accel: 1.0 # max acceleration limit [m/ss] - min_decel: -0.5 # min deceleration limit [m/ss] - - # curve parameters - max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] - min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 - - # engage & replan parameters - replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] - engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) - engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. - stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] - - # stop velocity - stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] - stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. - - extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] - extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] - delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] - - max_trajectory_length: 200.0 # max trajectory length for resampling [m] - min_trajectory_length: 30.0 # min trajectory length for resampling [m] - resample_time: 15.0 # resample total time [s] - resample_dt: 0.1 # resample time interval [s] - min_trajectory_interval_distance: 0.1 # resample points-interval length [m] - - # default weights - # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 - # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 - - pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost - over_v_weight: 100000.0 # weight for "overspeed limit" cost - over_a_weight: 5000.0 # weight for "overaccel limit" cost - - algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/7/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/7/motion_velocity_optimizer.param.yaml deleted file mode 100644 index 6582989eca..0000000000 --- a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/7/motion_velocity_optimizer.param.yaml +++ /dev/null @@ -1,42 +0,0 @@ -/**: - ros__parameters: - max_velocity: 20.0 # max velocity limit [m/s] - max_accel: 1.0 # max acceleration limit [m/ss] - min_decel: -0.5 # min deceleration limit [m/ss] - - # curve parameters - max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] - min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 - - # engage & replan parameters - replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] - engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) - engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. - stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] - - # stop velocity - stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] - stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. - - extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] - extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] - delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] - - max_trajectory_length: 200.0 # max trajectory length for resampling [m] - min_trajectory_length: 30.0 # min trajectory length for resampling [m] - resample_time: 15.0 # resample total time [s] - resample_dt: 0.1 # resample time interval [s] - min_trajectory_interval_distance: 0.1 # resample points-interval length [m] - - # default weights - # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 - # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 - - pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost - over_v_weight: 100000.0 # weight for "overspeed limit" cost - over_a_weight: 5000.0 # weight for "overaccel limit" cost - - algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/9/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/9/motion_velocity_optimizer.param.yaml deleted file mode 100644 index 6582989eca..0000000000 --- a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/9/motion_velocity_optimizer.param.yaml +++ /dev/null @@ -1,42 +0,0 @@ -/**: - ros__parameters: - max_velocity: 20.0 # max velocity limit [m/s] - max_accel: 1.0 # max acceleration limit [m/ss] - min_decel: -0.5 # min deceleration limit [m/ss] - - # curve parameters - max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] - min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 - - # engage & replan parameters - replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] - engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) - engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. - stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] - - # stop velocity - stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] - stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. - - extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] - extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] - delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] - - max_trajectory_length: 200.0 # max trajectory length for resampling [m] - min_trajectory_length: 30.0 # min trajectory length for resampling [m] - resample_time: 15.0 # resample total time [s] - resample_dt: 0.1 # resample time interval [s] - min_trajectory_interval_distance: 0.1 # resample points-interval length [m] - - # default weights - # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 - # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 - - pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost - over_v_weight: 100000.0 # weight for "overspeed limit" cost - over_a_weight: 5000.0 # weight for "overaccel limit" cost - - algorithm_type: "L2" # Option : L2, Linf diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/default/motion_velocity_optimizer.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/default/motion_velocity_optimizer.param.yaml deleted file mode 100644 index 6582989eca..0000000000 --- a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/default/motion_velocity_optimizer.param.yaml +++ /dev/null @@ -1,42 +0,0 @@ -/**: - ros__parameters: - max_velocity: 20.0 # max velocity limit [m/s] - max_accel: 1.0 # max acceleration limit [m/ss] - min_decel: -0.5 # min deceleration limit [m/ss] - - # curve parameters - max_lateral_accel: 0.80 # max lateral acceleration limit [m/ss] - min_curve_velocity: 4.17 # min velocity at lateral acceleration 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 - - # engage & replan parameters - replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] - engage_velocity: 1.00 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.2 # engage acceleration [m/ss] (use this acceleration when engagement) - engage_exit_ratio: 0.1 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. - stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] - - # stop velocity - stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] - stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. - - extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] - extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] - delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] - - max_trajectory_length: 200.0 # max trajectory length for resampling [m] - min_trajectory_length: 30.0 # min trajectory length for resampling [m] - resample_time: 15.0 # resample total time [s] - resample_dt: 0.1 # resample time interval [s] - min_trajectory_interval_distance: 0.1 # resample points-interval length [m] - - # default weights - # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 - # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 - - pseudo_jerk_weight: 3000.0 # weight for "smoothness" cost - over_v_weight: 100000.0 # weight for "overspeed limit" cost - over_a_weight: 5000.0 # weight for "overaccel limit" cost - - algorithm_type: "L2" # Option : L2, Linf From 0e8041ef10c910ffb1bbc832b71d00532502f759 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Mon, 22 Nov 2021 19:05:37 +0900 Subject: [PATCH 132/349] fix type of trajectory relay node --- .../lane_driving/motion_planning/motion_planning.launch.py | 2 +- .../lane_driving/motion_planning/motion_planning.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index fb4fc0e160..8360b6352d 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -112,7 +112,7 @@ def generate_launch_description(): { "input_topic": "obstacle_avoidance_planner/trajectory", "output_topic": "surround_obstacle_checker/trajectory", - "type": "autoware_planning_msgs/msg/Trajectory", + "type": "autoware_auto_planning_msgs/msg/Trajectory", } ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index 99e57fe883..ac19fc2b7a 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -30,7 +30,7 @@ - + From 67344480ec18df8d88e10bc256d1fdd4f07780c7 Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Wed, 24 Nov 2021 17:22:09 +0900 Subject: [PATCH 133/349] disable virtual traffic light (#179) --- .../lane_driving/behavior_planning/behavior_planning.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index cbafed0419..7c824fa9b8 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -293,7 +293,7 @@ def generate_launch_description(): "launch_intersection": True, "launch_blind_spot": True, "launch_detection_area": True, - "launch_virtual_traffic_light": True, + "launch_virtual_traffic_light": False, "launch_occlusion_spot": False, "launch_no_stopping_area": True, "forward_path_length": 1000.0, From a9d8589615eabc1605d16c0effa4c79fd61252e6 Mon Sep 17 00:00:00 2001 From: RyuYamamoto Date: Wed, 24 Nov 2021 17:48:53 +0900 Subject: [PATCH 134/349] porting localization (#121) * porting localization * fixed odometry in ekf * fixed vehicle twist topic name --- .../pose_twist_fusion_filter.launch.xml | 11 ++++------- .../launch/twist_estimator/twist_estimator.launch.xml | 7 +++++-- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml index ba2ee548d8..be07542d16 100644 --- a/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml +++ b/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml @@ -2,15 +2,13 @@ - - - + - + @@ -25,9 +23,8 @@ - + - - + diff --git a/localization_launch/launch/twist_estimator/twist_estimator.launch.xml b/localization_launch/launch/twist_estimator/twist_estimator.launch.xml index 7bd78ae533..76d0a73dbc 100644 --- a/localization_launch/launch/twist_estimator/twist_estimator.launch.xml +++ b/localization_launch/launch/twist_estimator/twist_estimator.launch.xml @@ -1,8 +1,11 @@ + + + + - - + From 35c1c754579e0ea2c4253ef3f52c1a0b91984931 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Thu, 25 Nov 2021 16:41:29 +0900 Subject: [PATCH 135/349] fix logging sim --- autoware_launch/launch/logging_simulator.launch.xml | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 3ab74c484b..06fe8ecafa 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -19,7 +19,7 @@ - + @@ -110,10 +110,4 @@ - - - - - - From 7b7c91ec4d1d2f092938da6d7cb41edb443d48c8 Mon Sep 17 00:00:00 2001 From: j4tfwm6z Date: Thu, 25 Nov 2021 17:08:20 +0900 Subject: [PATCH 136/349] Fix no ground topic name in state monitor config Signed-off-by: j4tfwm6z --- .../config/autoware_state_monitor.param.yaml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/system_launch/config/autoware_state_monitor.param.yaml b/system_launch/config/autoware_state_monitor.param.yaml index f5750d15f6..e4f8a07e33 100644 --- a/system_launch/config/autoware_state_monitor.param.yaml +++ b/system_launch/config/autoware_state_monitor.param.yaml @@ -24,11 +24,11 @@ names: [ "/map/vector_map", "/map/pointcloud_map", - "/sensing/lidar/no_ground/pointcloud", "/sensing/imu/imu_data", "/initialpose3d", "/localization/pose_twist_fusion_filter/pose", "/perception/object_recognition/objects", + "/perception/object_segmentation/pointcloud", "/planning/mission_planning/route", "/planning/scenario_planning/trajectory", "/control/trajectory_follower/control_cmd", @@ -53,13 +53,6 @@ type: "sensor_msgs/msg/PointCloud2" transient_local: True - /sensing/lidar/no_ground/pointcloud: - module: "sensing" - timeout: 1.0 - warn_rate: 5.0 - type: "sensor_msgs/msg/PointCloud2" - best_effort: True - /sensing/imu/imu_data: module: "sensing" timeout: 1.0 @@ -90,6 +83,13 @@ # to be defined for a topic. By default this is set to not use have features. # type: ["autoware_perception_msgs/msg/DynamicObjectArray", "autoware_perception_msgs/msg/DynamicObjectWithFeatureArray"] + /perception/object_segmentation/pointcloud: + module: "perception" + timeout: 1.0 + warn_rate: 5.0 + type: "sensor_msgs/msg/PointCloud2" + best_effort: True + /planning/mission_planning/route: module: "planning" timeout: 0.0 From 495aa20f2969d68d4ae1482d3e9a6e5008787ff9 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 29 Nov 2021 15:55:47 +0900 Subject: [PATCH 137/349] Add sync with use-autoware-auto-msgs action Signed-off-by: wep21 --- .../sync-upstream-use-autoware-auto-msgs.yml | 66 +++++++++++++++++++ 1 file changed, 66 insertions(+) create mode 100644 .github/workflows/sync-upstream-use-autoware-auto-msgs.yml diff --git a/.github/workflows/sync-upstream-use-autoware-auto-msgs.yml b/.github/workflows/sync-upstream-use-autoware-auto-msgs.yml new file mode 100644 index 0000000000..8e99eb45ae --- /dev/null +++ b/.github/workflows/sync-upstream-use-autoware-auto-msgs.yml @@ -0,0 +1,66 @@ +name: sync upstream use autoware auto msgs + +on: + schedule: + - cron: "0 19 * * *" # run at 4 AM JST + workflow_dispatch: + +env: + UPSTREAM_REPO: https://github.com/tier4/AutowareArchitectureProposal_launcher.git + BASE_BRANCH: use-autoware-auto-msgs + SYNC_TARGET_BRANCH: use-autoware-auto-msgs + SYNC_BRANCH: sync-upstream-use-autoware-auto-msgs + +jobs: + sync-upstream: + runs-on: ubuntu-20.04 + + steps: + - name: Checkout repository + uses: actions/checkout@v2 + with: + ref: ${{ env.BASE_BRANCH }} + fetch-depth: 0 + + - name: Generate token + uses: tibdex/github-app-token@v1 + id: generate-token + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.APP_PRIVATE_KEY }} + + - name: Set git config for private repositories + run: | + git config --local --unset-all http.https://github.com/.extraheader || true + git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com' + - name: Fetch upstream + run: | + git remote add upstream "${{ env.UPSTREAM_REPO }}" + git fetch -pPtf --all + # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH" + - name: Reset to sync target branch + run: | + git reset --hard upstream/${{ env.SYNC_TARGET_BRANCH }} + - name: Create PR + id: create_pr + uses: peter-evans/create-pull-request@v3 + with: + token: ${{ steps.generate-token.outputs.token }} + commit-message: sync upstream use autoware auto msgs + committer: GitHub + author: GitHub + signoff: false + base: ${{ env.BASE_BRANCH }} + branch: ${{ env.SYNC_BRANCH }} + delete-branch: true + title: sync upstream use autoware auto msgs + body: | + sync upstream use autoware auto msgs + labels: | + sync-upstream-use-autoware-auto-msgs + draft: false + + - name: Check outputs + run: | + echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}" + echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}" From 748007033cf0cdfffbd5a2d19b07dbcb46aa70ed Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 29 Nov 2021 16:11:14 +0900 Subject: [PATCH 138/349] Bump streetsidesoftware/cspell-action from 1.3.4 to 1.3.5 (#178) Bumps [streetsidesoftware/cspell-action](https://github.com/streetsidesoftware/cspell-action) from 1.3.4 to 1.3.5. - [Release notes](https://github.com/streetsidesoftware/cspell-action/releases) - [Changelog](https://github.com/streetsidesoftware/cspell-action/blob/main/CHANGELOG.md) - [Commits](https://github.com/streetsidesoftware/cspell-action/compare/v1.3.4...v1.3.5) --- updated-dependencies: - dependency-name: streetsidesoftware/cspell-action dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/spell_check_pr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/spell_check_pr.yml b/.github/workflows/spell_check_pr.yml index f3ae13deea..cf9e65d4a0 100644 --- a/.github/workflows/spell_check_pr.yml +++ b/.github/workflows/spell_check_pr.yml @@ -16,6 +16,6 @@ jobs: --output .github/workflows/.cspell.json \ https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/cspell/.cspell.json - - uses: streetsidesoftware/cspell-action@v1.3.4 + - uses: streetsidesoftware/cspell-action@v1.3.5 with: config: ".github/workflows/.cspell.json" From 3deedd252facdd0e1c1c281239d564ff9c567315 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 29 Nov 2021 16:38:32 +0900 Subject: [PATCH 139/349] Add auto merge setting into action Signed-off-by: wep21 --- .../workflows/sync-upstream-use-autoware-auto-msgs.yml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/.github/workflows/sync-upstream-use-autoware-auto-msgs.yml b/.github/workflows/sync-upstream-use-autoware-auto-msgs.yml index 8e99eb45ae..ee5640c8d2 100644 --- a/.github/workflows/sync-upstream-use-autoware-auto-msgs.yml +++ b/.github/workflows/sync-upstream-use-autoware-auto-msgs.yml @@ -64,3 +64,11 @@ jobs: run: | echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}" echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}" + + - name: Enable Auto-merge + if: steps.create_pr.outputs.pull-request-operation == 'created' + uses: peter-evans/enable-pull-request-automerge@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }} + merge-method: merge From b424e1915dc0d1b4ed1cc17f7fa93bca11757d12 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 1 Dec 2021 15:33:48 +0900 Subject: [PATCH 140/349] update param (#187) * update mpc param (https://github.com/tier4/autoware_launcher.jpntaxi/pull/162) * enable path smoothing --- .../trajectory_follower/1/lateral_controller.param.yaml | 4 ++-- .../trajectory_follower/10/lateral_controller.param.yaml | 4 ++-- .../trajectory_follower/2/lateral_controller.param.yaml | 4 ++-- .../trajectory_follower/3/lateral_controller.param.yaml | 4 ++-- .../trajectory_follower/4/lateral_controller.param.yaml | 4 ++-- .../trajectory_follower/5/lateral_controller.param.yaml | 2 +- .../trajectory_follower/6/lateral_controller.param.yaml | 4 ++-- .../trajectory_follower/7/lateral_controller.param.yaml | 4 ++-- .../trajectory_follower/9/lateral_controller.param.yaml | 4 ++-- .../trajectory_follower/default/lateral_controller.param.yaml | 4 ++-- 10 files changed, 19 insertions(+), 19 deletions(-) diff --git a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml index 6c525bc426..82175f2b1a 100644 --- a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml @@ -9,7 +9,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing + enable_path_smoothing: true # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) @@ -56,7 +56,7 @@ # stop state stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 + stop_state_entry_target_speed: 0.2 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml index ad65d1779b..68cbabedae 100644 --- a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml @@ -9,7 +9,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing + enable_path_smoothing: true # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) @@ -56,7 +56,7 @@ # stop state stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 + stop_state_entry_target_speed: 0.2 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml index ad65d1779b..68cbabedae 100644 --- a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml @@ -9,7 +9,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing + enable_path_smoothing: true # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) @@ -56,7 +56,7 @@ # stop state stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 + stop_state_entry_target_speed: 0.2 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml index ad65d1779b..68cbabedae 100644 --- a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml @@ -9,7 +9,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing + enable_path_smoothing: true # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) @@ -56,7 +56,7 @@ # stop state stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 + stop_state_entry_target_speed: 0.2 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml index ad65d1779b..68cbabedae 100644 --- a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml @@ -9,7 +9,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing + enable_path_smoothing: true # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) @@ -56,7 +56,7 @@ # stop state stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 + stop_state_entry_target_speed: 0.2 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml index ad65d1779b..f669bbc090 100644 --- a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml @@ -56,7 +56,7 @@ # stop state stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 + stop_state_entry_target_speed: 0.2 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml index ad65d1779b..68cbabedae 100644 --- a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml @@ -9,7 +9,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing + enable_path_smoothing: true # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) @@ -56,7 +56,7 @@ # stop state stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 + stop_state_entry_target_speed: 0.2 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml index ad65d1779b..68cbabedae 100644 --- a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml @@ -9,7 +9,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing + enable_path_smoothing: true # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) @@ -56,7 +56,7 @@ # stop state stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 + stop_state_entry_target_speed: 0.2 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml index ad65d1779b..68cbabedae 100644 --- a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml @@ -9,7 +9,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing + enable_path_smoothing: true # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) @@ -56,7 +56,7 @@ # stop state stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 + stop_state_entry_target_speed: 0.2 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml index ad65d1779b..68cbabedae 100644 --- a/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml @@ -9,7 +9,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing + enable_path_smoothing: true # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) @@ -56,7 +56,7 @@ # stop state stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 + stop_state_entry_target_speed: 0.2 # vehicle parameters vehicle: From 640762f05ea9bd9aa01f27e65117df62bfb6dfb5 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Wed, 1 Dec 2021 15:47:55 +0900 Subject: [PATCH 141/349] Fix obstacle pointcloud topic name (#188) --- system_launch/config/autoware_state_monitor.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system_launch/config/autoware_state_monitor.param.yaml b/system_launch/config/autoware_state_monitor.param.yaml index e4f8a07e33..9147929ec2 100644 --- a/system_launch/config/autoware_state_monitor.param.yaml +++ b/system_launch/config/autoware_state_monitor.param.yaml @@ -28,7 +28,7 @@ "/initialpose3d", "/localization/pose_twist_fusion_filter/pose", "/perception/object_recognition/objects", - "/perception/object_segmentation/pointcloud", + "/perception/obstacle_segmentation/pointcloud", "/planning/mission_planning/route", "/planning/scenario_planning/trajectory", "/control/trajectory_follower/control_cmd", From e21700d600540b07e1bf72801e116080badae89c Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Thu, 2 Dec 2021 21:58:53 +0900 Subject: [PATCH 142/349] Fix topic name of obstacle pointcloud --- system_launch/config/autoware_state_monitor.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system_launch/config/autoware_state_monitor.param.yaml b/system_launch/config/autoware_state_monitor.param.yaml index 9147929ec2..1dbb3fdce8 100644 --- a/system_launch/config/autoware_state_monitor.param.yaml +++ b/system_launch/config/autoware_state_monitor.param.yaml @@ -83,7 +83,7 @@ # to be defined for a topic. By default this is set to not use have features. # type: ["autoware_perception_msgs/msg/DynamicObjectArray", "autoware_perception_msgs/msg/DynamicObjectWithFeatureArray"] - /perception/object_segmentation/pointcloud: + /perception/obstacle_segmentation/pointcloud: module: "perception" timeout: 1.0 warn_rate: 5.0 From 37072810b32508bf801a6f60dc63aab0d57f921d Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Thu, 16 Dec 2021 15:05:48 +0900 Subject: [PATCH 143/349] chore(sync): Rename some packages references (#157) --- .../include/internal_api_relay.launch.xml | 4 +-- autoware_launch/autoware_launch.drawio.svg | 2 +- autoware_launch/launch/autoware.launch.xml | 4 +-- .../launch/logging_simulator.launch.xml | 4 +-- .../launch/planning_simulator.launch.xml | 4 +-- autoware_launch/package.xml | 4 +-- autoware_launch/rviz/autoware.rviz | 2 +- integration_launch/package.xml | 2 +- system_launch/launch/system.launch.xml | 12 +++---- system_launch/package.xml | 4 +-- system_launch/system_launch.drawio.svg | 34 +++++++++---------- 11 files changed, 38 insertions(+), 38 deletions(-) diff --git a/autoware_api_launch/launch/include/internal_api_relay.launch.xml b/autoware_api_launch/launch/include/internal_api_relay.launch.xml index 46859d0fbd..810e6a566b 100644 --- a/autoware_api_launch/launch/include/internal_api_relay.launch.xml +++ b/autoware_api_launch/launch/include/internal_api_relay.launch.xml @@ -9,12 +9,12 @@ - + - + diff --git a/autoware_launch/autoware_launch.drawio.svg b/autoware_launch/autoware_launch.drawio.svg index 808a956beb..b0f7660b0b 100644 --- a/autoware_launch/autoware_launch.drawio.svg +++ b/autoware_launch/autoware_launch.drawio.svg @@ -1,4 +1,4 @@ -
autoware.launch.xml

package: autoware_launch
autoware.launch.xml...
launch name

package: package name
launch name...
ex:
ex:
node name

package: package name
node name...
vehicle_info_launch.py

package: vehicle_launch
vehicle_info_launch.py...
vehicle.launch.xml

package: vehicle_launch
vehicle.launch.xml...
system.launch.xml

package: system_launch
system.launch.xml...
map.launch.py

package: map_launch
map.launch.py...
localization.launch.xml

package: localization_launch
localization.launch.xml...
perception.launch.xml

package: perception_launch
perception.launch.xml...
planning.launch.xml

package: planning_launch
planning.launch.xml...
control.launch.py

package: control_launch
control.launch.py...
awapi_awiv_adapter.launch.xml

package: control_launch
awapi_awiv_adapter.launch.xml...
autoware_web_controller.launch.xml

package: control_launch
autoware_web_controller.launch.xml...
clock_publisher.launch.xml

package: control_launch
clock_publisher.launch.xml...
rviz2

package: rviz2
rviz2...
planning_simulator.xml

package: autoware_launch
planning_simulator.xml...
vehicle_info_launch.py

package: vehicle_launch
vehicle_info_launch.py...
vehicle.launch.xml

package: vehicle_launch
vehicle.launch.xml...
system.launch.xml

package: system_launch
system.launch.xml...
map.launch.py

package: map_launch
map.launch.py...
planning.launch.xml

package: planning_launch
planning.launch.xml...
control.launch.py

package: control_launch
control.launch.py...
awapi_awiv_adapter.launch.xml

package: control_launch
awapi_awiv_adapter.launch.xml...
autoware_web_controller.launch.xml

package: control_launch
autoware_web_controller.launch.xml...
clock_publisher.launch.xml

package: control_launch
clock_publisher.launch.xml...
rviz2

package: rviz2
rviz2...
logging_simulator.launch.xml

package: autoware_launch
logging_simulator.launch.xml...
vehicle_info_launch.py

package: vehicle_launch
vehicle_info_launch.py...
vehicle_description.launch.xml

package: vehicle_launch
vehicle_description.launch.xml...
system.launch.xml

package: system_launch
system.launch.xml...
map.launch.py

package: map_launch
map.launch.py...
perception.launch.xml

package: perception_launch
perception.launch.xml...
planning.launch.xml

package: planning_launch
planning.launch.xml...
control.launch.py

package: control_launch
control.launch.py...
autoware_web_controller.launch.xml

package: control_launch
autoware_web_controller.launch.xml...
rviz2

package: rviz2
rviz2...
$(var vehicle)
$(var vehicle)
True
True
$(var system)
$(var system)
True
True
$(var map)
$(var map)
True
True
sensing.launch.xml

package: sensing_launch
sensing.launch.xml...
sensing.launch.xml

package: sensing_launch
sensing.launch.xml...
$(var sensing)
$(var sensing)
True
True
localization.launch.xml

package: localization_launch
localization.launch.xml...
$(var localization)
$(var localization)
True
True
$(var perception)
$(var perception)
True
True
$(var planning)
$(var planning)
True
True
$(var control)
$(var control)
True
True
simulator.launch.xml

package: simulator_launch
simulator.launch.xml...
simulator.launch.xml

package: simulator_launch
simulator.launch.xml...Viewer does not support full SVG 1.1 \ No newline at end of file +
autoware.launch.xml

package: autoware_launch
autoware.launch.xml...
launch name

package: package name
launch name...
ex:
ex:
node name

package: package name
node name...
vehicle_info_launch.py

package: vehicle_launch
vehicle_info_launch.py...
vehicle.launch.xml

package: vehicle_launch
vehicle.launch.xml...
system.launch.xml

package: system_launch
system.launch.xml...
map.launch.py

package: map_launch
map.launch.py...
localization.launch.xml

package: localization_launch
localization.launch.xml...
perception.launch.xml

package: perception_launch
perception.launch.xml...
planning.launch.xml

package: planning_launch
planning.launch.xml...
control.launch.py

package: control_launch
control.launch.py...
awapi_awiv_adapter.launch.xml

package: control_launch
awapi_awiv_adapter.launch.xml...
web_controller.launch.xml

package: control_launch
web_controller.launch.xml...
clock_publisher.launch.xml

package: control_launch
clock_publisher.launch.xml...
rviz2

package: rviz2
rviz2...
planning_simulator.xml

package: autoware_launch
planning_simulator.xml...
vehicle_info_launch.py

package: vehicle_launch
vehicle_info_launch.py...
vehicle.launch.xml

package: vehicle_launch
vehicle.launch.xml...
system.launch.xml

package: system_launch
system.launch.xml...
map.launch.py

package: map_launch
map.launch.py...
planning.launch.xml

package: planning_launch
planning.launch.xml...
control.launch.py

package: control_launch
control.launch.py...
awapi_awiv_adapter.launch.xml

package: control_launch
awapi_awiv_adapter.launch.xml...
web_controller.launch.xml

package: control_launch
web_controller.launch.xml...
clock_publisher.launch.xml

package: control_launch
clock_publisher.launch.xml...
rviz2

package: rviz2
rviz2...
logging_simulator.launch.xml

package: autoware_launch
logging_simulator.launch.xml...
vehicle_info_launch.py

package: vehicle_launch
vehicle_info_launch.py...
vehicle_description.launch.xml

package: vehicle_launch
vehicle_description.launch.xml...
system.launch.xml

package: system_launch
system.launch.xml...
map.launch.py

package: map_launch
map.launch.py...
perception.launch.xml

package: perception_launch
perception.launch.xml...
planning.launch.xml

package: planning_launch
planning.launch.xml...
control.launch.py

package: control_launch
control.launch.py...
web_controller.launch.xml

package: control_launch
web_controller.launch.xml...
rviz2

package: rviz2
rviz2...
$(var vehicle)
$(var vehicle)
True
True
$(var system)
$(var system)
True
True
$(var map)
$(var map)
True
True
sensing.launch.xml

package: sensing_launch
sensing.launch.xml...
sensing.launch.xml

package: sensing_launch
sensing.launch.xml...
$(var sensing)
$(var sensing)
True
True
localization.launch.xml

package: localization_launch
localization.launch.xml...
$(var localization)
$(var localization)
True
True
$(var perception)
$(var perception)
True
True
$(var planning)
$(var planning)
True
True
$(var control)
$(var control)
True
True
simulator.launch.xml

package: simulator_launch
simulator.launch.xml...
simulator.launch.xml

package: simulator_launch
simulator.launch.xml...Viewer does not support full SVG 1.1 diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index d49c1742d1..2d2272b665 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -13,7 +13,7 @@ - + @@ -87,6 +87,6 @@ - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index f9b38abe97..9aa92f3a3f 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -27,7 +27,7 @@ - + @@ -121,7 +121,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index b1f03acc44..a7e4c8136e 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -20,7 +20,7 @@ - + @@ -65,7 +65,7 @@ - + diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index 3816787753..ff6f4dba92 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -10,9 +10,8 @@ ament_cmake_auto autoware_api_launch - autoware_global_parameter_loader - autoware_web_controller control_launch + global_parameter_loader localization_launch map_launch perception_launch @@ -24,6 +23,7 @@ simulator_launch system_launch vehicle_launch + web_controller ament_lint_auto autoware_lint_common diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 9074177c8a..0486b0dbb5 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -16,7 +16,7 @@ Panels: Expanded: ~ Name: Views Splitter Ratio: 0.5 - - Class: autoware_localization_rviz_plugin/InitialPoseButtonPanel + - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel Name: InitialPoseButtonPanel - Class: rviz_common/Time Experimental: false diff --git a/integration_launch/package.xml b/integration_launch/package.xml index 118963ab77..07cf7e3a12 100644 --- a/integration_launch/package.xml +++ b/integration_launch/package.xml @@ -8,7 +8,6 @@ Apache 2 ament_cmake_auto - autoware_web_controller control_launch localization_launch map_launch @@ -20,6 +19,7 @@ sensing_launch system_launch vehicle_launch + web_controller ament_lint_auto autoware_lint_common diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml index b37b40eaaf..eb8b23509a 100644 --- a/system_launch/launch/system.launch.xml +++ b/system_launch/launch/system.launch.xml @@ -23,16 +23,16 @@ - - - + + + - - - + + + diff --git a/system_launch/package.xml b/system_launch/package.xml index b2150348ef..7f8169ed5e 100644 --- a/system_launch/package.xml +++ b/system_launch/package.xml @@ -10,9 +10,9 @@ ament_cmake_auto - autoware_error_monitor - autoware_state_monitor + ad_service_state_monitor emergency_handler + system_error_monitor system_monitor ament_lint_auto diff --git a/system_launch/system_launch.drawio.svg b/system_launch/system_launch.drawio.svg index b22f005948..bc039dbba8 100644 --- a/system_launch/system_launch.drawio.svg +++ b/system_launch/system_launch.drawio.svg @@ -200,11 +200,11 @@
- autoware_state_monitor.launch.xml + ad_service_state_monitor.launch.xml

- package: autoware_state_monitor + package: ad_service_state_monitor

@@ -212,7 +212,7 @@
args: config_file = - autoware_state_monitor.param.yaml + ad_service_state_monitor.param.yaml
@@ -220,7 +220,7 @@
- autoware_state_monitor.launch.xml... + ad_service_state_monitor.launch.xml... @@ -231,11 +231,11 @@
- autoware_state_monitor.launch.xml + ad_service_state_monitor.launch.xml

- package: autoware_state_monitor + package: ad_service_state_monitor

@@ -243,7 +243,7 @@
args: config_file = - autoware_state_monitor.planning_simulation.param.yaml + ad_service_state_monitor.planning_simulation.param.yaml
@@ -251,7 +251,7 @@
- autoware_state_monitor.launch.xml... + ad_service_state_monitor.launch.xml... @@ -317,11 +317,11 @@
- autoware_error_monitor.launch.xml + system_error_monitor.launch.xml

- package: autoware_error_monitor + package: system_error_monitor

@@ -329,7 +329,7 @@
args: config_file = - autoware_error_monitor.param.yaml + system_error_monitor.param.yaml
@@ -337,7 +337,7 @@
- autoware_error_monitor.launch.xml... + system_error_monitor.launch.xml... @@ -348,11 +348,11 @@
- autoware_error_monitor.launch.xml + system_error_monitor.launch.xml

- package: autoware_error_monitor + package: system_error_monitor

@@ -360,7 +360,7 @@
args: config_file = - autoware_error_monitor.planning_simulation.param.yaml + system_error_monitor.planning_simulation.param.yaml
@@ -368,7 +368,7 @@
- autoware_error_monitor.launch.xml... + system_error_monitor.launch.xml... @@ -405,4 +405,4 @@ - \ No newline at end of file + From 4cace96023575f43eea835abfbd40c065bab26b4 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 16 Dec 2021 16:27:08 +0900 Subject: [PATCH 144/349] Fix/topic type (#158) --- .../lane_driving/behavior_planning/behavior_planning.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 6286ea369f..b6207141ad 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -385,7 +385,7 @@ def generate_launch_description(): "pub", "/planning/scenario_planning/lane_driving/behavior_planning/" "behavior_path_planner/path_change_approval", - "autoware_planning_msgs/msg/Approval", + "tier4_planning_msgs/msg/Approval", "{approval: true}", "-r", "10", From 0300a42b30b99e472af33a63c9478fdd3258374d Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Fri, 17 Dec 2021 15:15:04 +0900 Subject: [PATCH 145/349] fix yaml name --- ...ate_monitor.param.yaml => ad_service_state_monitor.param.yaml} | 0 ...ml => ad_service_state_monitor.planning_simulation.param.yaml} | 0 ...e_error_monitor.param.yaml => system_error_monitor.param.yaml} | 0 ...m.yaml => system_error_monitor.planning_simulation.param.yaml} | 0 4 files changed, 0 insertions(+), 0 deletions(-) rename system_launch/config/{autoware_state_monitor.param.yaml => ad_service_state_monitor.param.yaml} (100%) rename system_launch/config/{autoware_state_monitor.planning_simulation.param.yaml => ad_service_state_monitor.planning_simulation.param.yaml} (100%) rename system_launch/config/{autoware_error_monitor.param.yaml => system_error_monitor.param.yaml} (100%) rename system_launch/config/{autoware_error_monitor.planning_simulation.param.yaml => system_error_monitor.planning_simulation.param.yaml} (100%) diff --git a/system_launch/config/autoware_state_monitor.param.yaml b/system_launch/config/ad_service_state_monitor.param.yaml similarity index 100% rename from system_launch/config/autoware_state_monitor.param.yaml rename to system_launch/config/ad_service_state_monitor.param.yaml diff --git a/system_launch/config/autoware_state_monitor.planning_simulation.param.yaml b/system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml similarity index 100% rename from system_launch/config/autoware_state_monitor.planning_simulation.param.yaml rename to system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml diff --git a/system_launch/config/autoware_error_monitor.param.yaml b/system_launch/config/system_error_monitor.param.yaml similarity index 100% rename from system_launch/config/autoware_error_monitor.param.yaml rename to system_launch/config/system_error_monitor.param.yaml diff --git a/system_launch/config/autoware_error_monitor.planning_simulation.param.yaml b/system_launch/config/system_error_monitor.planning_simulation.param.yaml similarity index 100% rename from system_launch/config/autoware_error_monitor.planning_simulation.param.yaml rename to system_launch/config/system_error_monitor.planning_simulation.param.yaml From ba967688f16ed2d1c2a153e04863b96330e00f85 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon, 20 Dec 2021 16:52:38 +0900 Subject: [PATCH 146/349] fix: update system monitor param (#195) Signed-off-by: wep21 --- .../config/1/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/1/system_monitor/hdd_monitor.param.yaml | 6 +++--- .../config/1/system_monitor/mem_monitor.param.yaml | 3 +-- .../config/1/system_monitor/net_monitor.param.yaml | 3 ++- .../config/10/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/10/system_monitor/hdd_monitor.param.yaml | 6 +++--- .../config/10/system_monitor/mem_monitor.param.yaml | 3 +-- .../config/10/system_monitor/net_monitor.param.yaml | 3 ++- .../config/2/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/2/system_monitor/hdd_monitor.param.yaml | 6 +++--- .../config/2/system_monitor/mem_monitor.param.yaml | 3 +-- .../config/2/system_monitor/net_monitor.param.yaml | 3 ++- .../config/3/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/3/system_monitor/hdd_monitor.param.yaml | 6 +++--- .../config/3/system_monitor/mem_monitor.param.yaml | 3 +-- .../config/3/system_monitor/net_monitor.param.yaml | 3 ++- .../config/4/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/4/system_monitor/hdd_monitor.param.yaml | 6 +++--- .../config/4/system_monitor/mem_monitor.param.yaml | 3 +-- .../config/4/system_monitor/net_monitor.param.yaml | 3 ++- .../config/5/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/5/system_monitor/hdd_monitor.param.yaml | 4 ++-- .../config/5/system_monitor/mem_monitor.param.yaml | 3 +-- .../config/5/system_monitor/net_monitor.param.yaml | 3 ++- .../config/6/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/6/system_monitor/hdd_monitor.param.yaml | 6 +++--- .../config/6/system_monitor/mem_monitor.param.yaml | 3 +-- .../config/6/system_monitor/net_monitor.param.yaml | 3 ++- .../config/7/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/7/system_monitor/hdd_monitor.param.yaml | 6 +++--- .../config/7/system_monitor/mem_monitor.param.yaml | 3 +-- .../config/7/system_monitor/net_monitor.param.yaml | 3 ++- .../config/8/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/8/system_monitor/hdd_monitor.param.yaml | 6 +++--- .../config/8/system_monitor/mem_monitor.param.yaml | 3 +-- .../config/8/system_monitor/net_monitor.param.yaml | 3 ++- .../config/9/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/9/system_monitor/hdd_monitor.param.yaml | 6 +++--- .../config/9/system_monitor/mem_monitor.param.yaml | 3 +-- .../config/9/system_monitor/net_monitor.param.yaml | 3 ++- .../config/default/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/default/system_monitor/hdd_monitor.param.yaml | 6 +++--- .../config/default/system_monitor/mem_monitor.param.yaml | 3 +-- .../config/default/system_monitor/net_monitor.param.yaml | 3 ++- 44 files changed, 87 insertions(+), 98 deletions(-) diff --git a/system_launch/config/1/system_monitor/cpu_monitor.param.yaml b/system_launch/config/1/system_monitor/cpu_monitor.param.yaml index 741e560ea9..8ac703c76e 100644 --- a/system_launch/config/1/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/1/system_monitor/cpu_monitor.param.yaml @@ -1,9 +1,8 @@ /**: ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - usage_warn: 0.90 + usage_warn: 0.96 usage_error: 1.00 + usage_count: 2 usage_avg: true load1_warn: 0.90 load5_warn: 0.80 diff --git a/system_launch/config/1/system_monitor/hdd_monitor.param.yaml b/system_launch/config/1/system_monitor/hdd_monitor.param.yaml index bf687ae848..32d3a425b1 100644 --- a/system_launch/config/1/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/1/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,8 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda + name: /dev/sda3 temp_warn: 55.0 temp_error: 70.0 - usage_warn: 0.95 - usage_error: 0.99 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/1/system_monitor/mem_monitor.param.yaml b/system_launch/config/1/system_monitor/mem_monitor.param.yaml index 93688d608a..f2da3972be 100644 --- a/system_launch/config/1/system_monitor/mem_monitor.param.yaml +++ b/system_launch/config/1/system_monitor/mem_monitor.param.yaml @@ -1,4 +1,3 @@ /**: ros__parameters: - usage_warn: 0.95 - usage_error: 0.99 + available_size: 1024 # MB diff --git a/system_launch/config/1/system_monitor/net_monitor.param.yaml b/system_launch/config/1/system_monitor/net_monitor.param.yaml index 23cd49bf7e..b39dc320aa 100644 --- a/system_launch/config/1/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/1/system_monitor/net_monitor.param.yaml @@ -1,4 +1,5 @@ /**: ros__parameters: devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] - usage_warn: 0.95 + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/10/system_monitor/cpu_monitor.param.yaml b/system_launch/config/10/system_monitor/cpu_monitor.param.yaml index 741e560ea9..8ac703c76e 100644 --- a/system_launch/config/10/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/10/system_monitor/cpu_monitor.param.yaml @@ -1,9 +1,8 @@ /**: ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - usage_warn: 0.90 + usage_warn: 0.96 usage_error: 1.00 + usage_count: 2 usage_avg: true load1_warn: 0.90 load5_warn: 0.80 diff --git a/system_launch/config/10/system_monitor/hdd_monitor.param.yaml b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml index bf687ae848..32d3a425b1 100644 --- a/system_launch/config/10/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,8 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda + name: /dev/sda3 temp_warn: 55.0 temp_error: 70.0 - usage_warn: 0.95 - usage_error: 0.99 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/10/system_monitor/mem_monitor.param.yaml b/system_launch/config/10/system_monitor/mem_monitor.param.yaml index 93688d608a..f2da3972be 100644 --- a/system_launch/config/10/system_monitor/mem_monitor.param.yaml +++ b/system_launch/config/10/system_monitor/mem_monitor.param.yaml @@ -1,4 +1,3 @@ /**: ros__parameters: - usage_warn: 0.95 - usage_error: 0.99 + available_size: 1024 # MB diff --git a/system_launch/config/10/system_monitor/net_monitor.param.yaml b/system_launch/config/10/system_monitor/net_monitor.param.yaml index 23cd49bf7e..b39dc320aa 100644 --- a/system_launch/config/10/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/10/system_monitor/net_monitor.param.yaml @@ -1,4 +1,5 @@ /**: ros__parameters: devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] - usage_warn: 0.95 + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/2/system_monitor/cpu_monitor.param.yaml b/system_launch/config/2/system_monitor/cpu_monitor.param.yaml index 741e560ea9..8ac703c76e 100644 --- a/system_launch/config/2/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/2/system_monitor/cpu_monitor.param.yaml @@ -1,9 +1,8 @@ /**: ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - usage_warn: 0.90 + usage_warn: 0.96 usage_error: 1.00 + usage_count: 2 usage_avg: true load1_warn: 0.90 load5_warn: 0.80 diff --git a/system_launch/config/2/system_monitor/hdd_monitor.param.yaml b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml index bf687ae848..32d3a425b1 100644 --- a/system_launch/config/2/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,8 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda + name: /dev/sda3 temp_warn: 55.0 temp_error: 70.0 - usage_warn: 0.95 - usage_error: 0.99 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/2/system_monitor/mem_monitor.param.yaml b/system_launch/config/2/system_monitor/mem_monitor.param.yaml index 93688d608a..f2da3972be 100644 --- a/system_launch/config/2/system_monitor/mem_monitor.param.yaml +++ b/system_launch/config/2/system_monitor/mem_monitor.param.yaml @@ -1,4 +1,3 @@ /**: ros__parameters: - usage_warn: 0.95 - usage_error: 0.99 + available_size: 1024 # MB diff --git a/system_launch/config/2/system_monitor/net_monitor.param.yaml b/system_launch/config/2/system_monitor/net_monitor.param.yaml index 23cd49bf7e..b39dc320aa 100644 --- a/system_launch/config/2/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/2/system_monitor/net_monitor.param.yaml @@ -1,4 +1,5 @@ /**: ros__parameters: devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] - usage_warn: 0.95 + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/3/system_monitor/cpu_monitor.param.yaml b/system_launch/config/3/system_monitor/cpu_monitor.param.yaml index 741e560ea9..8ac703c76e 100644 --- a/system_launch/config/3/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/3/system_monitor/cpu_monitor.param.yaml @@ -1,9 +1,8 @@ /**: ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - usage_warn: 0.90 + usage_warn: 0.96 usage_error: 1.00 + usage_count: 2 usage_avg: true load1_warn: 0.90 load5_warn: 0.80 diff --git a/system_launch/config/3/system_monitor/hdd_monitor.param.yaml b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml index bf687ae848..32d3a425b1 100644 --- a/system_launch/config/3/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,8 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda + name: /dev/sda3 temp_warn: 55.0 temp_error: 70.0 - usage_warn: 0.95 - usage_error: 0.99 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/3/system_monitor/mem_monitor.param.yaml b/system_launch/config/3/system_monitor/mem_monitor.param.yaml index 93688d608a..f2da3972be 100644 --- a/system_launch/config/3/system_monitor/mem_monitor.param.yaml +++ b/system_launch/config/3/system_monitor/mem_monitor.param.yaml @@ -1,4 +1,3 @@ /**: ros__parameters: - usage_warn: 0.95 - usage_error: 0.99 + available_size: 1024 # MB diff --git a/system_launch/config/3/system_monitor/net_monitor.param.yaml b/system_launch/config/3/system_monitor/net_monitor.param.yaml index 23cd49bf7e..b39dc320aa 100644 --- a/system_launch/config/3/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/3/system_monitor/net_monitor.param.yaml @@ -1,4 +1,5 @@ /**: ros__parameters: devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] - usage_warn: 0.95 + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/4/system_monitor/cpu_monitor.param.yaml b/system_launch/config/4/system_monitor/cpu_monitor.param.yaml index 741e560ea9..8ac703c76e 100644 --- a/system_launch/config/4/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/4/system_monitor/cpu_monitor.param.yaml @@ -1,9 +1,8 @@ /**: ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - usage_warn: 0.90 + usage_warn: 0.96 usage_error: 1.00 + usage_count: 2 usage_avg: true load1_warn: 0.90 load5_warn: 0.80 diff --git a/system_launch/config/4/system_monitor/hdd_monitor.param.yaml b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml index bf687ae848..32d3a425b1 100644 --- a/system_launch/config/4/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,8 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda + name: /dev/sda3 temp_warn: 55.0 temp_error: 70.0 - usage_warn: 0.95 - usage_error: 0.99 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/4/system_monitor/mem_monitor.param.yaml b/system_launch/config/4/system_monitor/mem_monitor.param.yaml index 93688d608a..f2da3972be 100644 --- a/system_launch/config/4/system_monitor/mem_monitor.param.yaml +++ b/system_launch/config/4/system_monitor/mem_monitor.param.yaml @@ -1,4 +1,3 @@ /**: ros__parameters: - usage_warn: 0.95 - usage_error: 0.99 + available_size: 1024 # MB diff --git a/system_launch/config/4/system_monitor/net_monitor.param.yaml b/system_launch/config/4/system_monitor/net_monitor.param.yaml index 23cd49bf7e..b39dc320aa 100644 --- a/system_launch/config/4/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/4/system_monitor/net_monitor.param.yaml @@ -1,4 +1,5 @@ /**: ros__parameters: devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] - usage_warn: 0.95 + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/5/system_monitor/cpu_monitor.param.yaml b/system_launch/config/5/system_monitor/cpu_monitor.param.yaml index 741e560ea9..8ac703c76e 100644 --- a/system_launch/config/5/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/5/system_monitor/cpu_monitor.param.yaml @@ -1,9 +1,8 @@ /**: ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - usage_warn: 0.90 + usage_warn: 0.96 usage_error: 1.00 + usage_count: 2 usage_avg: true load1_warn: 0.90 load5_warn: 0.80 diff --git a/system_launch/config/5/system_monitor/hdd_monitor.param.yaml b/system_launch/config/5/system_monitor/hdd_monitor.param.yaml index 32a6b134ea..6f4785bec2 100644 --- a/system_launch/config/5/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/5/system_monitor/hdd_monitor.param.yaml @@ -7,5 +7,5 @@ name: /dev/nvme0n1 temp_warn: 55.0 temp_error: 70.0 - usage_warn: 0.95 - usage_error: 0.99 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/5/system_monitor/mem_monitor.param.yaml b/system_launch/config/5/system_monitor/mem_monitor.param.yaml index 93688d608a..f2da3972be 100644 --- a/system_launch/config/5/system_monitor/mem_monitor.param.yaml +++ b/system_launch/config/5/system_monitor/mem_monitor.param.yaml @@ -1,4 +1,3 @@ /**: ros__parameters: - usage_warn: 0.95 - usage_error: 0.99 + available_size: 1024 # MB diff --git a/system_launch/config/5/system_monitor/net_monitor.param.yaml b/system_launch/config/5/system_monitor/net_monitor.param.yaml index 935d003aea..a970c2e1a2 100644 --- a/system_launch/config/5/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/5/system_monitor/net_monitor.param.yaml @@ -1,4 +1,5 @@ /**: ros__parameters: devices: [ 'enp103s0f0','enp103s0f1','enx00e04c000c1f' ] - usage_warn: 0.95 + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/6/system_monitor/cpu_monitor.param.yaml b/system_launch/config/6/system_monitor/cpu_monitor.param.yaml index 741e560ea9..8ac703c76e 100644 --- a/system_launch/config/6/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/6/system_monitor/cpu_monitor.param.yaml @@ -1,9 +1,8 @@ /**: ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - usage_warn: 0.90 + usage_warn: 0.96 usage_error: 1.00 + usage_count: 2 usage_avg: true load1_warn: 0.90 load5_warn: 0.80 diff --git a/system_launch/config/6/system_monitor/hdd_monitor.param.yaml b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml index bf687ae848..32d3a425b1 100644 --- a/system_launch/config/6/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,8 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda + name: /dev/sda3 temp_warn: 55.0 temp_error: 70.0 - usage_warn: 0.95 - usage_error: 0.99 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/6/system_monitor/mem_monitor.param.yaml b/system_launch/config/6/system_monitor/mem_monitor.param.yaml index 93688d608a..f2da3972be 100644 --- a/system_launch/config/6/system_monitor/mem_monitor.param.yaml +++ b/system_launch/config/6/system_monitor/mem_monitor.param.yaml @@ -1,4 +1,3 @@ /**: ros__parameters: - usage_warn: 0.95 - usage_error: 0.99 + available_size: 1024 # MB diff --git a/system_launch/config/6/system_monitor/net_monitor.param.yaml b/system_launch/config/6/system_monitor/net_monitor.param.yaml index 23cd49bf7e..b39dc320aa 100644 --- a/system_launch/config/6/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/6/system_monitor/net_monitor.param.yaml @@ -1,4 +1,5 @@ /**: ros__parameters: devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] - usage_warn: 0.95 + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/7/system_monitor/cpu_monitor.param.yaml b/system_launch/config/7/system_monitor/cpu_monitor.param.yaml index 741e560ea9..8ac703c76e 100644 --- a/system_launch/config/7/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/7/system_monitor/cpu_monitor.param.yaml @@ -1,9 +1,8 @@ /**: ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - usage_warn: 0.90 + usage_warn: 0.96 usage_error: 1.00 + usage_count: 2 usage_avg: true load1_warn: 0.90 load5_warn: 0.80 diff --git a/system_launch/config/7/system_monitor/hdd_monitor.param.yaml b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml index bf687ae848..32d3a425b1 100644 --- a/system_launch/config/7/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,8 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda + name: /dev/sda3 temp_warn: 55.0 temp_error: 70.0 - usage_warn: 0.95 - usage_error: 0.99 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/7/system_monitor/mem_monitor.param.yaml b/system_launch/config/7/system_monitor/mem_monitor.param.yaml index 93688d608a..f2da3972be 100644 --- a/system_launch/config/7/system_monitor/mem_monitor.param.yaml +++ b/system_launch/config/7/system_monitor/mem_monitor.param.yaml @@ -1,4 +1,3 @@ /**: ros__parameters: - usage_warn: 0.95 - usage_error: 0.99 + available_size: 1024 # MB diff --git a/system_launch/config/7/system_monitor/net_monitor.param.yaml b/system_launch/config/7/system_monitor/net_monitor.param.yaml index 23cd49bf7e..b39dc320aa 100644 --- a/system_launch/config/7/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/7/system_monitor/net_monitor.param.yaml @@ -1,4 +1,5 @@ /**: ros__parameters: devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] - usage_warn: 0.95 + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/8/system_monitor/cpu_monitor.param.yaml b/system_launch/config/8/system_monitor/cpu_monitor.param.yaml index 741e560ea9..8ac703c76e 100644 --- a/system_launch/config/8/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/8/system_monitor/cpu_monitor.param.yaml @@ -1,9 +1,8 @@ /**: ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - usage_warn: 0.90 + usage_warn: 0.96 usage_error: 1.00 + usage_count: 2 usage_avg: true load1_warn: 0.90 load5_warn: 0.80 diff --git a/system_launch/config/8/system_monitor/hdd_monitor.param.yaml b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml index bf687ae848..32d3a425b1 100644 --- a/system_launch/config/8/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,8 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda + name: /dev/sda3 temp_warn: 55.0 temp_error: 70.0 - usage_warn: 0.95 - usage_error: 0.99 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/8/system_monitor/mem_monitor.param.yaml b/system_launch/config/8/system_monitor/mem_monitor.param.yaml index 93688d608a..f2da3972be 100644 --- a/system_launch/config/8/system_monitor/mem_monitor.param.yaml +++ b/system_launch/config/8/system_monitor/mem_monitor.param.yaml @@ -1,4 +1,3 @@ /**: ros__parameters: - usage_warn: 0.95 - usage_error: 0.99 + available_size: 1024 # MB diff --git a/system_launch/config/8/system_monitor/net_monitor.param.yaml b/system_launch/config/8/system_monitor/net_monitor.param.yaml index 23cd49bf7e..b39dc320aa 100644 --- a/system_launch/config/8/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/8/system_monitor/net_monitor.param.yaml @@ -1,4 +1,5 @@ /**: ros__parameters: devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] - usage_warn: 0.95 + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/9/system_monitor/cpu_monitor.param.yaml b/system_launch/config/9/system_monitor/cpu_monitor.param.yaml index 741e560ea9..8ac703c76e 100644 --- a/system_launch/config/9/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/9/system_monitor/cpu_monitor.param.yaml @@ -1,9 +1,8 @@ /**: ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - usage_warn: 0.90 + usage_warn: 0.96 usage_error: 1.00 + usage_count: 2 usage_avg: true load1_warn: 0.90 load5_warn: 0.80 diff --git a/system_launch/config/9/system_monitor/hdd_monitor.param.yaml b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml index bf687ae848..32d3a425b1 100644 --- a/system_launch/config/9/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,8 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda + name: /dev/sda3 temp_warn: 55.0 temp_error: 70.0 - usage_warn: 0.95 - usage_error: 0.99 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/9/system_monitor/mem_monitor.param.yaml b/system_launch/config/9/system_monitor/mem_monitor.param.yaml index 93688d608a..f2da3972be 100644 --- a/system_launch/config/9/system_monitor/mem_monitor.param.yaml +++ b/system_launch/config/9/system_monitor/mem_monitor.param.yaml @@ -1,4 +1,3 @@ /**: ros__parameters: - usage_warn: 0.95 - usage_error: 0.99 + available_size: 1024 # MB diff --git a/system_launch/config/9/system_monitor/net_monitor.param.yaml b/system_launch/config/9/system_monitor/net_monitor.param.yaml index 23cd49bf7e..b39dc320aa 100644 --- a/system_launch/config/9/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/9/system_monitor/net_monitor.param.yaml @@ -1,4 +1,5 @@ /**: ros__parameters: devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] - usage_warn: 0.95 + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/default/system_monitor/cpu_monitor.param.yaml b/system_launch/config/default/system_monitor/cpu_monitor.param.yaml index e9f91cb170..2f049519aa 100644 --- a/system_launch/config/default/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/default/system_monitor/cpu_monitor.param.yaml @@ -1,8 +1,7 @@ /**: ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - usage_warn: 0.90 + usage_warn: 0.96 usage_error: 1.00 + usage_count: 2 usage_avg: true msr_reader_port: 7634 diff --git a/system_launch/config/default/system_monitor/hdd_monitor.param.yaml b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml index bf687ae848..32d3a425b1 100644 --- a/system_launch/config/default/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,8 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda + name: /dev/sda3 temp_warn: 55.0 temp_error: 70.0 - usage_warn: 0.95 - usage_error: 0.99 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/default/system_monitor/mem_monitor.param.yaml b/system_launch/config/default/system_monitor/mem_monitor.param.yaml index 93688d608a..f2da3972be 100644 --- a/system_launch/config/default/system_monitor/mem_monitor.param.yaml +++ b/system_launch/config/default/system_monitor/mem_monitor.param.yaml @@ -1,4 +1,3 @@ /**: ros__parameters: - usage_warn: 0.95 - usage_error: 0.99 + available_size: 1024 # MB diff --git a/system_launch/config/default/system_monitor/net_monitor.param.yaml b/system_launch/config/default/system_monitor/net_monitor.param.yaml index d0707ddba3..953d32d788 100644 --- a/system_launch/config/default/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/default/system_monitor/net_monitor.param.yaml @@ -1,4 +1,5 @@ /**: ros__parameters: devices: ["*"] - usage_warn: 0.95 + traffic_reader_port: 7636 + monitor_program: "greengrass" From 5f7500aa8a89a3e9d4e5987050d02a1ed6494a78 Mon Sep 17 00:00:00 2001 From: taichiH Date: Thu, 13 Jan 2022 15:54:57 +0900 Subject: [PATCH 147/349] fix system_error_monitor config path --- system_launch/launch/system.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml index eb8b23509a..a2cd80e997 100644 --- a/system_launch/launch/system.launch.xml +++ b/system_launch/launch/system.launch.xml @@ -30,8 +30,8 @@ - - + + From 67fd8e84662adb9e3a137ba73fc97f14dea61165 Mon Sep 17 00:00:00 2001 From: taichiH Date: Fri, 14 Jan 2022 18:54:27 +0900 Subject: [PATCH 148/349] update config to support ava3510 --- system_launch/config/1/system_monitor/hdd_monitor.param.yaml | 2 +- system_launch/config/1/system_monitor/net_monitor.param.yaml | 2 +- system_launch/config/10/system_monitor/hdd_monitor.param.yaml | 2 +- system_launch/config/10/system_monitor/net_monitor.param.yaml | 2 +- system_launch/config/2/system_monitor/hdd_monitor.param.yaml | 2 +- system_launch/config/2/system_monitor/net_monitor.param.yaml | 2 +- system_launch/config/3/system_monitor/hdd_monitor.param.yaml | 2 +- system_launch/config/3/system_monitor/net_monitor.param.yaml | 2 +- system_launch/config/4/system_monitor/hdd_monitor.param.yaml | 2 +- system_launch/config/4/system_monitor/net_monitor.param.yaml | 2 +- system_launch/config/6/system_monitor/hdd_monitor.param.yaml | 2 +- system_launch/config/6/system_monitor/net_monitor.param.yaml | 2 +- system_launch/config/7/system_monitor/hdd_monitor.param.yaml | 2 +- system_launch/config/7/system_monitor/net_monitor.param.yaml | 2 +- system_launch/config/8/system_monitor/hdd_monitor.param.yaml | 2 +- system_launch/config/8/system_monitor/net_monitor.param.yaml | 2 +- system_launch/config/9/system_monitor/hdd_monitor.param.yaml | 2 +- system_launch/config/9/system_monitor/net_monitor.param.yaml | 2 +- .../config/default/system_monitor/hdd_monitor.param.yaml | 2 +- 19 files changed, 19 insertions(+), 19 deletions(-) diff --git a/system_launch/config/1/system_monitor/hdd_monitor.param.yaml b/system_launch/config/1/system_monitor/hdd_monitor.param.yaml index 32d3a425b1..9b10d025d4 100644 --- a/system_launch/config/1/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/1/system_monitor/hdd_monitor.param.yaml @@ -4,7 +4,7 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda3 + name: /dev/sda2 temp_warn: 55.0 temp_error: 70.0 free_warn: 5120 # MB(8hour) diff --git a/system_launch/config/1/system_monitor/net_monitor.param.yaml b/system_launch/config/1/system_monitor/net_monitor.param.yaml index b39dc320aa..db92bdde87 100644 --- a/system_launch/config/1/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/1/system_monitor/net_monitor.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" diff --git a/system_launch/config/10/system_monitor/hdd_monitor.param.yaml b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml index 32d3a425b1..9b10d025d4 100644 --- a/system_launch/config/10/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml @@ -4,7 +4,7 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda3 + name: /dev/sda2 temp_warn: 55.0 temp_error: 70.0 free_warn: 5120 # MB(8hour) diff --git a/system_launch/config/10/system_monitor/net_monitor.param.yaml b/system_launch/config/10/system_monitor/net_monitor.param.yaml index b39dc320aa..db92bdde87 100644 --- a/system_launch/config/10/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/10/system_monitor/net_monitor.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" diff --git a/system_launch/config/2/system_monitor/hdd_monitor.param.yaml b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml index 32d3a425b1..9b10d025d4 100644 --- a/system_launch/config/2/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml @@ -4,7 +4,7 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda3 + name: /dev/sda2 temp_warn: 55.0 temp_error: 70.0 free_warn: 5120 # MB(8hour) diff --git a/system_launch/config/2/system_monitor/net_monitor.param.yaml b/system_launch/config/2/system_monitor/net_monitor.param.yaml index b39dc320aa..db92bdde87 100644 --- a/system_launch/config/2/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/2/system_monitor/net_monitor.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" diff --git a/system_launch/config/3/system_monitor/hdd_monitor.param.yaml b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml index 32d3a425b1..9b10d025d4 100644 --- a/system_launch/config/3/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml @@ -4,7 +4,7 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda3 + name: /dev/sda2 temp_warn: 55.0 temp_error: 70.0 free_warn: 5120 # MB(8hour) diff --git a/system_launch/config/3/system_monitor/net_monitor.param.yaml b/system_launch/config/3/system_monitor/net_monitor.param.yaml index b39dc320aa..db92bdde87 100644 --- a/system_launch/config/3/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/3/system_monitor/net_monitor.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" diff --git a/system_launch/config/4/system_monitor/hdd_monitor.param.yaml b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml index 32d3a425b1..9b10d025d4 100644 --- a/system_launch/config/4/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml @@ -4,7 +4,7 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda3 + name: /dev/sda2 temp_warn: 55.0 temp_error: 70.0 free_warn: 5120 # MB(8hour) diff --git a/system_launch/config/4/system_monitor/net_monitor.param.yaml b/system_launch/config/4/system_monitor/net_monitor.param.yaml index b39dc320aa..db92bdde87 100644 --- a/system_launch/config/4/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/4/system_monitor/net_monitor.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" diff --git a/system_launch/config/6/system_monitor/hdd_monitor.param.yaml b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml index 32d3a425b1..9b10d025d4 100644 --- a/system_launch/config/6/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml @@ -4,7 +4,7 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda3 + name: /dev/sda2 temp_warn: 55.0 temp_error: 70.0 free_warn: 5120 # MB(8hour) diff --git a/system_launch/config/6/system_monitor/net_monitor.param.yaml b/system_launch/config/6/system_monitor/net_monitor.param.yaml index b39dc320aa..db92bdde87 100644 --- a/system_launch/config/6/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/6/system_monitor/net_monitor.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" diff --git a/system_launch/config/7/system_monitor/hdd_monitor.param.yaml b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml index 32d3a425b1..9b10d025d4 100644 --- a/system_launch/config/7/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml @@ -4,7 +4,7 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda3 + name: /dev/sda2 temp_warn: 55.0 temp_error: 70.0 free_warn: 5120 # MB(8hour) diff --git a/system_launch/config/7/system_monitor/net_monitor.param.yaml b/system_launch/config/7/system_monitor/net_monitor.param.yaml index b39dc320aa..db92bdde87 100644 --- a/system_launch/config/7/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/7/system_monitor/net_monitor.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" diff --git a/system_launch/config/8/system_monitor/hdd_monitor.param.yaml b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml index 32d3a425b1..9b10d025d4 100644 --- a/system_launch/config/8/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml @@ -4,7 +4,7 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda3 + name: /dev/sda2 temp_warn: 55.0 temp_error: 70.0 free_warn: 5120 # MB(8hour) diff --git a/system_launch/config/8/system_monitor/net_monitor.param.yaml b/system_launch/config/8/system_monitor/net_monitor.param.yaml index b39dc320aa..db92bdde87 100644 --- a/system_launch/config/8/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/8/system_monitor/net_monitor.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" diff --git a/system_launch/config/9/system_monitor/hdd_monitor.param.yaml b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml index 32d3a425b1..9b10d025d4 100644 --- a/system_launch/config/9/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml @@ -4,7 +4,7 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda3 + name: /dev/sda2 temp_warn: 55.0 temp_error: 70.0 free_warn: 5120 # MB(8hour) diff --git a/system_launch/config/9/system_monitor/net_monitor.param.yaml b/system_launch/config/9/system_monitor/net_monitor.param.yaml index b39dc320aa..db92bdde87 100644 --- a/system_launch/config/9/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/9/system_monitor/net_monitor.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - devices: [ 'enp8s0', 'enp9s0', 'enp10s0', 'logging_bond0' ] + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" diff --git a/system_launch/config/default/system_monitor/hdd_monitor.param.yaml b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml index 32d3a425b1..9b10d025d4 100644 --- a/system_launch/config/default/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml @@ -4,7 +4,7 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda3 + name: /dev/sda2 temp_warn: 55.0 temp_error: 70.0 free_warn: 5120 # MB(8hour) From 931833e7187bb5e9d9e4633ee4b9cbe6fa9b67c4 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Tue, 18 Jan 2022 12:03:06 +0900 Subject: [PATCH 149/349] update system settings --- system_launch/config/system_error_monitor.param.yaml | 3 ++- .../system_error_monitor.planning_simulation.param.yaml | 1 - system_launch/launch/system.launch.xml | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/system_launch/config/system_error_monitor.param.yaml b/system_launch/config/system_error_monitor.param.yaml index 9bb31371a4..0e942ced6c 100644 --- a/system_launch/config/system_error_monitor.param.yaml +++ b/system_launch/config/system_error_monitor.param.yaml @@ -27,7 +27,6 @@ /autoware/localization/performance_monitoring/localization_accuracy: default /autoware/map/node_alive_monitoring: default - /autoware/map/map_validation: default /autoware/perception/node_alive_monitoring: default @@ -42,6 +41,8 @@ /autoware/vehicle/node_alive_monitoring: default + /autoware/system/debug_data_logger/storage_error: default + external_control: /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/control/external_control/external_command_selector/node_alive_monitoring: default diff --git a/system_launch/config/system_error_monitor.planning_simulation.param.yaml b/system_launch/config/system_error_monitor.planning_simulation.param.yaml index 55adc21107..2d319e3ceb 100644 --- a/system_launch/config/system_error_monitor.planning_simulation.param.yaml +++ b/system_launch/config/system_error_monitor.planning_simulation.param.yaml @@ -27,7 +27,6 @@ # /autoware/localization/performance_monitoring/localization_accuracy: default /autoware/map/node_alive_monitoring: default - # /autoware/map/map_validation: default /autoware/perception/node_alive_monitoring: default diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml index a2cd80e997..50f9e7512d 100644 --- a/system_launch/launch/system.launch.xml +++ b/system_launch/launch/system.launch.xml @@ -23,8 +23,8 @@ - - + + From 921deba34e44a05eadeb512504957999d2672b81 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Tue, 1 Feb 2022 11:07:25 +0900 Subject: [PATCH 150/349] add ci to sync tier4/universe --- .github/workflows/sync-upstream.yml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/sync-upstream.yml b/.github/workflows/sync-upstream.yml index 934cb0bb9f..86e81b7e17 100644 --- a/.github/workflows/sync-upstream.yml +++ b/.github/workflows/sync-upstream.yml @@ -6,9 +6,9 @@ on: workflow_dispatch: env: - UPSTREAM_REPO: https://github.com/tier4/autoware_launcher.git - BASE_BRANCH: main - SYNC_TARGET_BRANCH: main + UPSTREAM_REPO: https://github.com/tier4/AutowareArchitectureProposal_launcher.git + BASE_BRANCH: tier4/universe + SYNC_TARGET_BRANCH: tier4/universe SYNC_BRANCH: sync-upstream jobs: @@ -33,7 +33,7 @@ jobs: run: | git config --local --unset-all http.https://github.com/.extraheader || true git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com' - + - name: Fetch upstream run: | git remote add upstream "${{ env.UPSTREAM_REPO }}" From 6591e01c0db54588b844f39ce38f734caded5cf3 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Tue, 1 Feb 2022 11:10:13 +0900 Subject: [PATCH 151/349] misc --- .github/workflows/sync-upstream.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/sync-upstream.yml b/.github/workflows/sync-upstream.yml index 86e81b7e17..e9b06c7221 100644 --- a/.github/workflows/sync-upstream.yml +++ b/.github/workflows/sync-upstream.yml @@ -33,7 +33,7 @@ jobs: run: | git config --local --unset-all http.https://github.com/.extraheader || true git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com' - + - name: Fetch upstream run: | git remote add upstream "${{ env.UPSTREAM_REPO }}" From 8875abfc3d5201560ec77f5727cdc6a41973814d Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Tue, 1 Feb 2022 11:26:23 +0900 Subject: [PATCH 152/349] update upstream repositry --- .github/workflows/sync-upstream.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/sync-upstream.yml b/.github/workflows/sync-upstream.yml index e9b06c7221..a27daa46f9 100644 --- a/.github/workflows/sync-upstream.yml +++ b/.github/workflows/sync-upstream.yml @@ -6,7 +6,7 @@ on: workflow_dispatch: env: - UPSTREAM_REPO: https://github.com/tier4/AutowareArchitectureProposal_launcher.git + UPSTREAM_REPO: https://github.com/tier4/autoware_launch.git BASE_BRANCH: tier4/universe SYNC_TARGET_BRANCH: tier4/universe SYNC_BRANCH: sync-upstream From cb7edec71e83fcc36265ec2bca0556c3f2697f97 Mon Sep 17 00:00:00 2001 From: "tier4-autoware-private-bot[bot]" <87871706+tier4-autoware-private-bot[bot]@users.noreply.github.com> Date: Mon, 21 Feb 2022 15:36:01 +0900 Subject: [PATCH 153/349] sync upstream (#206) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * update parameter (#169) * Port pure pursuit (#166) * Fix control.launch.py * Apply pre-commit * Fix control.launch.py * Change debug topic name in rviz setting * fix typo in localization util.launch.py (#168) * Feature/add covarinace param (#170) * add covariance param * add description * remove unused param (#172) * Bump streetsidesoftware/cspell-action from 1.3.4 to v1 (#174) * Bump streetsidesoftware/cspell-action from 1.3.4 to 1.5.0 Bumps [streetsidesoftware/cspell-action](https://github.com/streetsidesoftware/cspell-action) from 1.3.4 to 1.5.0. - [Release notes](https://github.com/streetsidesoftware/cspell-action/releases) - [Changelog](https://github.com/streetsidesoftware/cspell-action/blob/main/CHANGELOG.md) - [Commits](https://github.com/streetsidesoftware/cspell-action/compare/v1.3.4...v1.5.0) --- updated-dependencies: - dependency-name: streetsidesoftware/cspell-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] * Update spell_check_pr.yml Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix: fix hdd_monitor param (#173) * add rosbridge launch (#175) * add rosbridge launch * fix TODO document add link to pull request Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix double-byte character Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: sync files (#177) Signed-off-by: GitHub Co-authored-by: kenji-miyake * ci: update CI settings (#176) * ci(pre-commit): update .pre-commit-config.yaml Signed-off-by: Kenji Miyake * ci: add sync-files.yaml Signed-off-by: Kenji Miyake * chore: remove old workflows Signed-off-by: Kenji Miyake * ci(sync-upstream): update sync-upstream.yaml Signed-off-by: Kenji Miyake * ci(pre-commit): autofix * style: fix for yamllint Signed-off-by: Kenji Miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: minor update CI settings (#179) Signed-off-by: Kenji Miyake * [pre-commit.ci] pre-commit autoupdate (#178) updates: - [github.com/pre-commit/pre-commit-hooks: v4.0.1 → v4.1.0](https://github.com/pre-commit/pre-commit-hooks/compare/v4.0.1...v4.1.0) - [github.com/igorshubovych/markdownlint-cli: v0.29.0 → v0.30.0](https://github.com/igorshubovych/markdownlint-cli/compare/v0.29.0...v0.30.0) - [github.com/pre-commit/mirrors-prettier: v2.4.1 → v2.5.1](https://github.com/pre-commit/mirrors-prettier/compare/v2.4.1...v2.5.1) - [github.com/pycqa/isort: 5.9.3 → 5.10.1](https://github.com/pycqa/isort/compare/5.9.3...5.10.1) - [github.com/psf/black: 21.9b0 → 22.1.0](https://github.com/psf/black/compare/21.9b0...22.1.0) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: fix CI settings (#182) Signed-off-by: Kenji Miyake * chore: sync files (#180) Signed-off-by: GitHub Co-authored-by: kenji-miyake * chore: sync files (#184) Signed-off-by: GitHub Co-authored-by: kenji-miyake * feat: add paricle param (#181) Signed-off-by: YamatoAndo * chore: sync files (#185) * chore: sync files Signed-off-by: GitHub * Update sync-files.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: sync files (#186) Signed-off-by: GitHub Co-authored-by: kenji-miyake * chore: sync system config (#187) Signed-off-by: wep21 * chore: sync files (#189) Signed-off-by: GitHub Co-authored-by: wep21 * chore: replace system config in system launch (#188) Signed-off-by: wep21 * feat: adds additional configuration flags for behavior_path_planner (#171) * feat: adds additional configuration flags for behavior_path_planner The additional configuration is used to allows avoidance over lane with same and different direction, as well as allows safety margin between linestring and ego. This is a `.iv` launcher https://github.com/tier4/autoware_launcher/pull/496 port. Related PR: https://github.com/autowarefoundation/autoware.universe/pull/285 https://github.com/autowarefoundation/autoware.universe/pull/287 Signed-off-by: Muhammad Zulfaqar Azmi * Change lateral_collision_margion to 1.0 to reflect changes. The decision to change the parameter value to 1.0 is made after performing drivable area experiment at Odaiba areas on 2nd of February 2022 and meeting between planning control team on 3rd of February 2022. Signed-off-by: Muhammad Zulfaqar Azmi * fix: slightly increase the safety buffer. This increases the shift length to 1.7 + 0.5 * vehicle width. The decision to increase is based on the discussion between planning team and also the advice from the FI team. Signed-off-by: Muhammad Zulfaqar Azmi * feat(behavior_velocity): add path marker visualization (#190) Signed-off-by: tanaka3 * chore: sync files (#193) Signed-off-by: GitHub Co-authored-by: kenji-miyake * chore: sync files (#194) * chore: sync files Signed-off-by: GitHub * chore: update workflow files name Signed-off-by: h-ohta Co-authored-by: h-ohta Co-authored-by: h-ohta * chore: sync files (#195) Signed-off-by: GitHub Co-authored-by: h-ohta * feat: lateral controller param (#191) * feat: define lat_controller_param_path * feat: change for trajectory_follower params * add args for lat_controller_param_path * chore: fix wrong essential param to optional (#197) * fix wrong param line * move pointcloud_container_name param to optional * fix: typo extra `>` (#199) * Chore arrange perception rviz topics (#196) * feat(autoware_launch): add occupancy grid vizualization Signed-off-by: tanaka3 * feat(autoware_launch): add object recognition namespace to rviz Signed-off-by: tanaka3 * fix: delete unused in control_launch (#200) * fix: delete unused in control.launch.py * fix: delete velocity_controller.param.yaml * feat: add system_monitor parameters in sync-files (#201) * chore: sync files (#202) Signed-off-by: GitHub Co-authored-by: h-ohta * chore: sync files (#203) Signed-off-by: GitHub Co-authored-by: kenji-miyake * chore: update settings of sync-files (#204) Signed-off-by: Kenji Miyake * feat(control_launch): remove unnecessary params (#206) Signed-off-by: Takayuki Murooka * chore: sync files (#208) Signed-off-by: GitHub Co-authored-by: kenji-miyake * feat(atutoware.rviz): disable selectable for pointcloud visualization (#207) Signed-off-by: YamatoAndo * chore: sync files (#212) Signed-off-by: GitHub Co-authored-by: kenji-miyake * delete vehicle parameters in longitudinal_controller.param.yaml * apply pre-commit * remove unused file * update sync-param-files.yaml * disable local_external_control in system_error_montitor_psim Co-authored-by: Tomoya Kimura Co-authored-by: Fumiya Watanabe Co-authored-by: YamatoAndo Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: yabuta Co-authored-by: tier4-autoware-bot[bot] <98652886+tier4-autoware-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: wep21 Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@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: h-ohta Co-authored-by: h-ohta Co-authored-by: Yukihiro Saito Co-authored-by: Takayuki Murooka --- .clang-format | 43 +++ .github/dependabot.yaml | 7 + .github/dependabot.yml | 7 - .github/get_modified_package.sh | 76 ----- .github/labeler-develop.yml | 4 - .github/labeler-main.yml | 4 - .github/labeler-rc.yml | 4 - .github/labeler.yml | 2 - .github/sync-files.yaml | 21 ++ .github/sync-param-files.yaml | 30 ++ .../build-and-test-differential.yaml | 75 ++++ .github/workflows/build-and-test.yaml | 48 +++ .github/workflows/build_and_test.yml | 68 ---- .github/workflows/build_and_test_pr.yml | 69 ---- .github/workflows/labeler.yml | 29 -- .github/workflows/pre-commit-optional.yaml | 16 + .github/workflows/pre-commit.yaml | 13 +- .github/workflows/semantic-pull-request.yaml | 12 + .../workflows/spell-check-differential.yaml | 16 + .github/workflows/spell_check_all.yml | 39 --- .github/workflows/spell_check_pr.yml | 21 -- .github/workflows/sync-files.yaml | 22 ++ .github/workflows/sync-main-for-develop.yml | 66 ---- .github/workflows/sync-param-files.yaml | 28 ++ .github/workflows/sync-public-develop.yaml | 40 --- .github/workflows/sync-public.yaml | 40 --- .github/workflows/sync-rc.yml | 121 ------- .github/workflows/sync-upstream-develop.yml | 77 ----- .../sync-upstream-use-autoware-auto-msgs.yml | 74 ---- .github/workflows/sync-upstream.yaml | 28 ++ .github/workflows/sync-upstream.yml | 77 ----- .github/workflows/update-pre-commit.yml | 42 --- .markdown-link-check.json | 10 + .markdownlint.yaml | 1 + .pre-commit-config-optional.yaml | 6 + .pre-commit-config.yaml | 80 +++-- .prettierrc.yaml | 2 +- .yamllint.yaml | 23 ++ CPPLINT.cfg | 13 + .../launch/autoware_api.launch.xml | 8 + autoware_launch/launch/autoware.launch.xml | 4 +- autoware_launch/rviz/autoware.rviz | 321 ++++++++++-------- .../1/longitudinal_controller.param.yaml | 12 - .../10/longitudinal_controller.param.yaml | 12 - .../2/longitudinal_controller.param.yaml | 12 - .../3/longitudinal_controller.param.yaml | 12 - .../4/longitudinal_controller.param.yaml | 12 - .../5/longitudinal_controller.param.yaml | 12 - .../6/longitudinal_controller.param.yaml | 12 - .../7/longitudinal_controller.param.yaml | 12 - .../9/longitudinal_controller.param.yaml | 12 - .../longitudinal_controller.param.yaml | 12 - control_launch/launch/control.launch.py | 81 +++-- .../config/ndt_scan_matcher.param.yaml | 14 + .../pose_estimator/pose_estimator.launch.xml | 1 - .../launch/util/util.launch.py | 2 +- .../elevation_map_parameters.yaml | 2 +- .../avoidance/avoidance.param.yaml | 8 +- .../ad_service_state_monitor.param.yaml | 15 +- .../config/system_error_monitor.param.yaml | 2 - ...ror_monitor.planning_simulation.param.yaml | 4 +- 61 files changed, 719 insertions(+), 1217 deletions(-) create mode 100644 .clang-format create mode 100644 .github/dependabot.yaml delete mode 100644 .github/dependabot.yml delete mode 100755 .github/get_modified_package.sh delete mode 100644 .github/labeler-develop.yml delete mode 100644 .github/labeler-main.yml delete mode 100644 .github/labeler-rc.yml delete mode 100644 .github/labeler.yml create mode 100644 .github/sync-files.yaml create mode 100644 .github/sync-param-files.yaml create mode 100644 .github/workflows/build-and-test-differential.yaml create mode 100644 .github/workflows/build-and-test.yaml delete mode 100644 .github/workflows/build_and_test.yml delete mode 100644 .github/workflows/build_and_test_pr.yml delete mode 100644 .github/workflows/labeler.yml create mode 100644 .github/workflows/pre-commit-optional.yaml create mode 100644 .github/workflows/semantic-pull-request.yaml create mode 100644 .github/workflows/spell-check-differential.yaml delete mode 100644 .github/workflows/spell_check_all.yml delete mode 100644 .github/workflows/spell_check_pr.yml create mode 100644 .github/workflows/sync-files.yaml delete mode 100644 .github/workflows/sync-main-for-develop.yml create mode 100644 .github/workflows/sync-param-files.yaml delete mode 100644 .github/workflows/sync-public-develop.yaml delete mode 100644 .github/workflows/sync-public.yaml delete mode 100644 .github/workflows/sync-rc.yml delete mode 100644 .github/workflows/sync-upstream-develop.yml delete mode 100644 .github/workflows/sync-upstream-use-autoware-auto-msgs.yml create mode 100644 .github/workflows/sync-upstream.yaml delete mode 100644 .github/workflows/sync-upstream.yml delete mode 100644 .github/workflows/update-pre-commit.yml create mode 100644 .markdown-link-check.json create mode 100644 .pre-commit-config-optional.yaml create mode 100644 .yamllint.yaml create mode 100644 CPPLINT.cfg diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000000..7762ec9dfb --- /dev/null +++ b/.clang-format @@ -0,0 +1,43 @@ +# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format +Language: Cpp +BasedOnStyle: Google + +AccessModifierOffset: -2 +AlignAfterOpenBracket: AlwaysBreak +BraceWrapping: + AfterClass: true + AfterFunction: true + AfterNamespace: true + AfterStruct: true +BreakBeforeBraces: Custom +ColumnLimit: 100 +ConstructorInitializerIndentWidth: 0 +ContinuationIndentWidth: 2 +DerivePointerAlignment: false +PointerAlignment: Middle +ReflowComments: true +IncludeCategories: + # C++ system headers + - Regex: <[a-z_]*> + Priority: 6 + CaseSensitive: true + # C system headers + - Regex: <.*\.h> + Priority: 5 + CaseSensitive: true + # Boost headers + - Regex: boost/.* + Priority: 4 + CaseSensitive: true + # Message headers + - Regex: .*_msgs/.* + Priority: 3 + CaseSensitive: true + # Other Package headers + - Regex: <.*> + Priority: 2 + CaseSensitive: true + # Local package headers + - Regex: '".*"' + Priority: 1 + CaseSensitive: true diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml new file mode 100644 index 0000000000..9a2fbd7542 --- /dev/null +++ b/.github/dependabot.yaml @@ -0,0 +1,7 @@ +version: 2 +updates: + - package-ecosystem: github-actions + directory: / + schedule: + interval: daily + open-pull-requests-limit: 1 diff --git a/.github/dependabot.yml b/.github/dependabot.yml deleted file mode 100644 index b940a74a4c..0000000000 --- a/.github/dependabot.yml +++ /dev/null @@ -1,7 +0,0 @@ -version: 2 -updates: - - package-ecosystem: "github-actions" - directory: "/" - schedule: - interval: "daily" - open-pull-requests-limit: 1 diff --git a/.github/get_modified_package.sh b/.github/get_modified_package.sh deleted file mode 100755 index cc99e534a4..0000000000 --- a/.github/get_modified_package.sh +++ /dev/null @@ -1,76 +0,0 @@ -#!/bin/bash -# Search for packages that have been modified from the main branch. -# Usage: get_modified_package.sh - -set -e - -SCRIPT_DIR=$(readlink -f "$(dirname "$0")") -ROOT_DIR=$(readlink -f "$SCRIPT_DIR"/../) - -# Parse arguments -args=() -while [ "${1:-}" != "" ]; do - case "$1" in - *) - args+=("$1") - ;; - esac - shift -done - -base_branch="${args[0]}" - -# Check args -if [ "$base_branch" = "" ]; then - echo -e "\e[31mPlease input a valid base_branch as the 1st argument.\e[m" - exit 1 -fi - -function find_package_dir() { - [ "$1" == "" ] && return 1 - - target_dir=$(dirname "$1") - while true ; do - parent_dir=$(dirname "$target_dir") - - # Exit if no parent found - if [ "$parent_dir" = "$target_dir" ] ; then - return 0 - fi - - # Output package name if package.xml found - if [ -f "$target_dir/package.xml" ] ; then - if [ ! -f "$target_dir/COLCON_IGNORE" ] ; then - echo "$target_dir" - return 0 - fi - fi - - # Move to parent dir - target_dir=$parent_dir - done - - return 1 -} - -# Find modified files from base branch -modified_files=$(git diff --name-only "$base_branch"...HEAD) - -# Find modified packages -modified_package_dirs=() -for modified_file in $modified_files; do - modified_package_dir=$(find_package_dir "$ROOT_DIR/$modified_file") - - if [ "$modified_package_dir" != "" ] ; then - modified_package_dirs+=("$modified_package_dir") - fi -done - -# Get package names from paths -if [ "${#modified_package_dirs[@]}" != "0" ] ; then - modified_packages=$(colcon list --names-only --paths "${modified_package_dirs[@]}") -fi - -# Output -# shellcheck disable=SC2086 -echo ::set-output name=package_list::$modified_packages diff --git a/.github/labeler-develop.yml b/.github/labeler-develop.yml deleted file mode 100644 index 04df147b74..0000000000 --- a/.github/labeler-develop.yml +++ /dev/null @@ -1,4 +0,0 @@ -develop: - - "**" - - "**/.*" - - ".*/**" diff --git a/.github/labeler-main.yml b/.github/labeler-main.yml deleted file mode 100644 index 5a441060d0..0000000000 --- a/.github/labeler-main.yml +++ /dev/null @@ -1,4 +0,0 @@ -main: - - "**" - - "**/.*" - - ".*/**" diff --git a/.github/labeler-rc.yml b/.github/labeler-rc.yml deleted file mode 100644 index 1742be2f7b..0000000000 --- a/.github/labeler-rc.yml +++ /dev/null @@ -1,4 +0,0 @@ -rc: - - "**" - - "**/.*" - - ".*/**" diff --git a/.github/labeler.yml b/.github/labeler.yml deleted file mode 100644 index a8d83b209a..0000000000 --- a/.github/labeler.yml +++ /dev/null @@ -1,2 +0,0 @@ -CI: - - ".github/**" diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml new file mode 100644 index 0000000000..30122a85ac --- /dev/null +++ b/.github/sync-files.yaml @@ -0,0 +1,21 @@ +- repository: autowarefoundation/autoware + files: + - source: .github/dependabot.yaml + - source: .github/workflows/pre-commit.yaml + - source: .github/workflows/pre-commit-optional.yaml + - source: .github/workflows/semantic-pull-request.yaml + - source: .github/workflows/spell-check-differential.yaml + - source: .clang-format + - source: .markdown-link-check.json + - source: .markdownlint.yaml + - source: .pre-commit-config-optional.yaml + - source: .prettierignore + - source: .prettierrc.yaml + - source: .yamllint.yaml + - source: CPPLINT.cfg + - source: setup.cfg + +- repository: autowarefoundation/autoware_common + files: + - source: .github/workflows/build-and-test.yaml + - source: .github/workflows/build-and-test-differential.yaml diff --git a/.github/sync-param-files.yaml b/.github/sync-param-files.yaml new file mode 100644 index 0000000000..ffa78c1690 --- /dev/null +++ b/.github/sync-param-files.yaml @@ -0,0 +1,30 @@ +- repository: tier4/autoware.universe + files: + # system + ## ad_service_state_monitor + - source: system/ad_service_state_monitor/config/ad_service_state_monitor.param.yaml + dest: system_launch/config/ad_service_state_monitor.param.yaml + - source: system/ad_service_state_monitor/config/ad_service_state_monitor.planning_simulation.param.yaml + dest: system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml + + ## system_error_monitor + - source: system/system_error_monitor/config/system_error_monitor.param.yaml + dest: system_launch/config/system_error_monitor.param.yaml + - source: system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml + dest: system_launch/config/system_error_monitor.planning_simulation.param.yaml + + ## system_monitor + - source: system/system_monitor/config/cpu_monitor.param.yaml + dest: system_launch/config/system_monitor/cpu_monitor.param.yaml + - source: system/system_monitor/config/gpu_monitor.param.yaml + dest: system_launch/config/system_monitor/gpu_monitor.param.yaml + - source: system/system_monitor/config/hdd_monitor.param.yaml + dest: system_launch/config/system_monitor/hdd_monitor.param.yaml + - source: system/system_monitor/config/mem_monitor.param.yaml + dest: system_launch/config/system_monitor/mem_monitor.param.yaml + - source: system/system_monitor/config/net_monitor.param.yaml + dest: system_launch/config/system_monitor/net_monitor.param.yaml + - source: system/system_monitor/config/ntp_monitor.param.yaml + dest: system_launch/config/system_monitor/ntp_monitor.param.yaml + - source: system/system_monitor/config/process_monitor.param.yaml + dest: system_launch/config/system_monitor/process_monitor.param.yaml diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml new file mode 100644 index 0000000000..6e8ebef574 --- /dev/null +++ b/.github/workflows/build-and-test-differential.yaml @@ -0,0 +1,75 @@ +name: build-and-test-differential + +on: + pull_request: + +jobs: + build-and-test-differential: + runs-on: ubuntu-latest + container: ghcr.io/autowarefoundation/autoware-universe:latest + steps: + - name: Cancel previous runs + uses: styfle/cancel-workflow-action@0.9.1 + + - name: Check out repository + uses: actions/checkout@v2 + with: + fetch-depth: 0 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal + + - name: Get modified packages + id: get-modified-packages + uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal + + - name: Build + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal + with: + rosdistro: galactic + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + build-depends-repos: build_depends.repos + + - name: Test + id: test + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal + with: + rosdistro: galactic + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + build-depends-repos: build_depends.repos + + - name: Upload coverage to CodeCov + if: ${{ steps.test.outputs.coverage-report-files != '' }} + uses: codecov/codecov-action@v2 + with: + files: ${{ steps.test.outputs.coverage-report-files }} + fail_ci_if_error: false + verbose: true + + clang-tidy-differential: + runs-on: ubuntu-latest + container: ros:galactic + needs: build-and-test-differential + steps: + - name: Check out repository + uses: actions/checkout@v2 + with: + fetch-depth: 0 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal + + - name: Get modified packages + id: get-modified-packages + uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal + + - name: Run clang-tidy + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/clang-tidy@tier4/proposal + with: + rosdistro: galactic + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/tier4/proposal/.clang-tidy + build-depends-repos: build_depends.repos diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml new file mode 100644 index 0000000000..1e422cc380 --- /dev/null +++ b/.github/workflows/build-and-test.yaml @@ -0,0 +1,48 @@ +name: build-and-test + +on: + push: + schedule: + - cron: 0 19 * * * # run at 4 AM JST + workflow_dispatch: + +jobs: + build-and-test: + if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }} + runs-on: ubuntu-latest + container: ghcr.io/autowarefoundation/autoware-universe:latest + steps: + - name: Check out repository + uses: actions/checkout@v2 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal + + - name: Get self packages + id: get-self-packages + uses: autowarefoundation/autoware-github-actions/get-self-packages@tier4/proposal + + - name: Build + if: ${{ steps.get-self-packages.outputs.self-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal + with: + rosdistro: galactic + target-packages: ${{ steps.get-self-packages.outputs.self-packages }} + build-depends-repos: build_depends.repos + + - name: Test + if: ${{ steps.get-self-packages.outputs.self-packages != '' }} + id: test + uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal + with: + rosdistro: galactic + target-packages: ${{ steps.get-self-packages.outputs.self-packages }} + build-depends-repos: build_depends.repos + + - name: Upload coverage to CodeCov + if: ${{ steps.test.outputs.coverage-report-files != '' }} + uses: codecov/codecov-action@v2 + with: + files: ${{ steps.test.outputs.coverage-report-files }} + fail_ci_if_error: false + verbose: true diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml deleted file mode 100644 index 6635718c8f..0000000000 --- a/.github/workflows/build_and_test.yml +++ /dev/null @@ -1,68 +0,0 @@ -name: Build and test - -on: - schedule: - - cron: "0 19 * * *" # run at 4 AM JST - workflow_dispatch: - -jobs: - build-and-test: - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - branch: - - main - - develop/ros2 - container: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ matrix.branch }} - - - name: Install pip - run: | - apt-get -y update - apt-get -y install python3-pip - - - name: Search packages in this repository - id: list_packages - run: | - echo ::set-output name=package_list::$(colcon list --names-only) - - - name: Show target packages - run: | - echo "Target packages: ${{ steps.list_packages.outputs.package_list }}" - - - name: Remove exec_depend to avoid unnecessary build - run: | - find . -name package.xml | xargs -I {} sed -i -rz "s|\s*[a-zA-Z_0-9]+\s*\n||g" {} - - - name: Set git config for private repositories - run: | - git config --local --unset-all http.https://github.com/.extraheader || true - git config --global url.https://${{ secrets.REPO_TOKEN }}@github.com.insteadOf 'https://github.com' - - - name: Clone dependency packages - run: | - mkdir dependency_ws - vcs import dependency_ws < build_depends.repos - apt-get -y update - rosdep update - DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths . --ignore-src --rosdistro galactic - - - name: Build - run: | - . /opt/ros/galactic/setup.sh - colcon build --event-handlers console_cohesion+ \ - --packages-up-to ${{ steps.list_packages.outputs.package_list }} \ - --cmake-args -DCMAKE_BUILD_TYPE=Release - - - name: Run tests - run: | - . /opt/ros/galactic/setup.sh - colcon test --event-handlers console_cohesion+ \ - --packages-select ${{ steps.list_packages.outputs.package_list }} \ - --return-code-on-test-failure diff --git a/.github/workflows/build_and_test_pr.yml b/.github/workflows/build_and_test_pr.yml deleted file mode 100644 index 144bff1611..0000000000 --- a/.github/workflows/build_and_test_pr.yml +++ /dev/null @@ -1,69 +0,0 @@ -name: Build and test for PR - -on: - pull_request: - -jobs: - build-and-test-pr: - runs-on: ubuntu-latest - container: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest - - steps: - - name: Cancel previous runs - uses: styfle/cancel-workflow-action@0.9.1 - - - name: Checkout repository - uses: actions/checkout@v2 - with: - # Fetch with depth=0 to calculate modified packages - fetch-depth: 0 - - - name: Install pip - run: | - apt-get -y update - apt-get -y install python3-pip - - - name: Search modified packages - id: list_packages - run: | - ${GITHUB_WORKSPACE}/.github/get_modified_package.sh origin/${{ github.base_ref }} - - - name: Show target packages - run: | - echo "Target packages: ${{ steps.list_packages.outputs.package_list }}" - - - name: Remove exec_depend to avoid unnecessary build - if: ${{ steps.list_packages.outputs.package_list != '' }} - run: | - find . -name package.xml | xargs -I {} sed -i -rz "s|\s*[a-zA-Z_0-9]+\s*\n||g" {} - - - name: Set git config for private repositories - if: ${{ steps.list_packages.outputs.package_list != '' }} - run: | - git config --local --unset-all http.https://github.com/.extraheader || true - git config --global url.https://${{ secrets.REPO_TOKEN }}@github.com.insteadOf 'https://github.com' - - - name: Clone dependency packages - if: ${{ steps.list_packages.outputs.package_list != '' }} - run: | - mkdir dependency_ws - vcs import dependency_ws < build_depends.repos - apt-get -y update - rosdep update - DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths . --ignore-src --rosdistro galactic - - - name: Build - if: ${{ steps.list_packages.outputs.package_list != '' }} - run: | - . /opt/ros/galactic/setup.sh - colcon build --event-handlers console_cohesion+ \ - --packages-up-to ${{ steps.list_packages.outputs.package_list }} \ - --cmake-args -DCMAKE_BUILD_TYPE=Release - - - name: Run tests - if: ${{ steps.list_packages.outputs.package_list != '' }} - run: | - . /opt/ros/galactic/setup.sh - colcon test --event-handlers console_cohesion+ \ - --packages-select ${{ steps.list_packages.outputs.package_list }} \ - --return-code-on-test-failure diff --git a/.github/workflows/labeler.yml b/.github/workflows/labeler.yml deleted file mode 100644 index 6216cbae52..0000000000 --- a/.github/workflows/labeler.yml +++ /dev/null @@ -1,29 +0,0 @@ -name: Labeler -on: - pull_request: - branches: - - main - - develop - - rc/* - -jobs: - labeler: - runs-on: ubuntu-latest - - steps: - - name: Run labeler - uses: actions/labeler@v3 - with: - configuration-path: .github/labeler.yml - repo-token: "${{ secrets.GITHUB_TOKEN }}" - - - name: Set LABELER_SUFFIX - run: | - branch_name=${GITHUB_BASE_REF#refs/heads/} - echo "LABELER_SUFFIX=${branch_name%/*}" >> $GITHUB_ENV - - - name: Run labeler for branch - uses: actions/labeler@v3 - with: - configuration-path: .github/labeler-${{ env.LABELER_SUFFIX }}.yml - repo-token: "${{ secrets.GITHUB_TOKEN }}" diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml new file mode 100644 index 0000000000..50b6778a25 --- /dev/null +++ b/.github/workflows/pre-commit-optional.yaml @@ -0,0 +1,16 @@ +name: pre-commit-optional + +on: + pull_request: + +jobs: + pre-commit-optional: + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v2 + + - name: Run pre-commit + uses: autowarefoundation/autoware-github-actions/pre-commit@tier4/proposal + with: + pre-commit-config: .pre-commit-config-optional.yaml diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml index 22e56ca2b6..9eb501a19d 100644 --- a/.github/workflows/pre-commit.yaml +++ b/.github/workflows/pre-commit.yaml @@ -2,20 +2,15 @@ name: pre-commit on: pull_request: - workflow_dispatch: jobs: pre-commit: runs-on: ubuntu-latest - steps: - - name: Checkout repository + - name: Check out repository uses: actions/checkout@v2 - with: - fetch-depth: 0 - - - name: Setup Python - uses: actions/setup-python@v2 - name: Run pre-commit - uses: pre-commit/action@v2.0.3 + uses: autowarefoundation/autoware-github-actions/pre-commit@tier4/proposal + with: + pre-commit-config: .pre-commit-config.yaml diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml new file mode 100644 index 0000000000..0edf194633 --- /dev/null +++ b/.github/workflows/semantic-pull-request.yaml @@ -0,0 +1,12 @@ +name: semantic-pull-request + +on: + pull_request_target: + types: + - opened + - edited + - synchronize + +jobs: + semantic-pull-request: + uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@tier4/proposal diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml new file mode 100644 index 0000000000..1b5c52cb40 --- /dev/null +++ b/.github/workflows/spell-check-differential.yaml @@ -0,0 +1,16 @@ +name: spell-check-differential + +on: + pull_request: + +jobs: + spell-check-differential: + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v2 + + - name: Run spell-check + uses: autowarefoundation/autoware-github-actions/spell-check@tier4/proposal + with: + cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json diff --git a/.github/workflows/spell_check_all.yml b/.github/workflows/spell_check_all.yml deleted file mode 100644 index 341bc91e9a..0000000000 --- a/.github/workflows/spell_check_all.yml +++ /dev/null @@ -1,39 +0,0 @@ -name: Check spelling (all files) - -on: - workflow_dispatch: - inputs: - ignore_patterns: - description: "ignore patterns (ex. *.svg|*.osm)" - required: false - -jobs: - spellcheck: - runs-on: ubuntu-latest - steps: - - name: Checkout repository - uses: actions/checkout@v2 - - - name: Prepare node - uses: actions/setup-node@v2 - - - name: Install cspell - run: | - npm install cspell - - - name: Retrieve spell check dictionary - run: | - curl --silent --show-error \ - --output .github/workflows/.cspell.json \ - https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/cspell/.cspell.json - - - name: Check spelling - run: | - # The cspell-action might not be able to exclude specific files. - # So use cspell package directly instead. - # How to exclude specific files: - # Ex. "**/!(*.osm|*.svg|CHANGELOG.rst)" - ./node_modules/.bin/cspell \ - --config .github/workflows/.cspell.json \ - "**/!(${{ github.event.inputs.ignore_patterns }})" \ - 2> /dev/null diff --git a/.github/workflows/spell_check_pr.yml b/.github/workflows/spell_check_pr.yml deleted file mode 100644 index cf9e65d4a0..0000000000 --- a/.github/workflows/spell_check_pr.yml +++ /dev/null @@ -1,21 +0,0 @@ -name: Check spelling - -on: - pull_request: - -jobs: - spellcheck: - runs-on: ubuntu-latest - steps: - - name: Checkout repository - uses: actions/checkout@v2 - - - name: Retrieve spell check dictionary - run: | - curl --silent --show-error \ - --output .github/workflows/.cspell.json \ - https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/cspell/.cspell.json - - - uses: streetsidesoftware/cspell-action@v1.3.5 - with: - config: ".github/workflows/.cspell.json" diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml new file mode 100644 index 0000000000..0c5b4b04fa --- /dev/null +++ b/.github/workflows/sync-files.yaml @@ -0,0 +1,22 @@ +name: sync-files + +on: + schedule: + - cron: 0 19 * * * # run at 4 AM JST + workflow_dispatch: + +jobs: + sync-files: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-files + uses: autowarefoundation/autoware-github-actions/sync-files@tier4/proposal + with: + token: ${{ steps.generate-token.outputs.token }} diff --git a/.github/workflows/sync-main-for-develop.yml b/.github/workflows/sync-main-for-develop.yml deleted file mode 100644 index ea329bf8a5..0000000000 --- a/.github/workflows/sync-main-for-develop.yml +++ /dev/null @@ -1,66 +0,0 @@ -name: sync main for develop - -on: - schedule: - - cron: "0 19 * * *" # run at 4 AM JST - workflow_dispatch: - -env: - BASE_BRANCH: develop - SYNC_TARGET_BRANCH: main - SYNC_BRANCH: sync-main-for-develop - -jobs: - sync-main-for-develop: - runs-on: ubuntu-20.04 - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ env.BASE_BRANCH }} - fetch-depth: 0 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.APP_ID }} - private_key: ${{ secrets.APP_PRIVATE_KEY }} - - # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH" - - name: Reset to sync target branch - run: | - git reset --hard origin/${{ env.SYNC_TARGET_BRANCH }} - - - name: Create PR - id: create_pr - uses: peter-evans/create-pull-request@v3 - with: - token: ${{ steps.generate-token.outputs.token }} - commit-message: sync main for develop - committer: GitHub - author: GitHub - signoff: false - base: ${{ env.BASE_BRANCH }} - branch: ${{ env.SYNC_BRANCH }} - delete-branch: true - title: sync main for develop - body: | - sync main for develop - labels: | - sync-main-for-develop - draft: false - - - name: Check outputs - run: | - echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}" - echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}" - - - name: Enable Auto-merge - if: steps.create_pr.outputs.pull-request-operation == 'created' - uses: peter-evans/enable-pull-request-automerge@v1 - with: - token: ${{ steps.generate-token.outputs.token }} - pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }} - merge-method: merge diff --git a/.github/workflows/sync-param-files.yaml b/.github/workflows/sync-param-files.yaml new file mode 100644 index 0000000000..09d7f0629f --- /dev/null +++ b/.github/workflows/sync-param-files.yaml @@ -0,0 +1,28 @@ +name: sync-upstream + +on: + schedule: + - cron: 0 19 * * * # run at 4 AM JST + workflow_dispatch: + +jobs: + sync-upstream: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@tier4/proposal + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: tier4/universe + sync-pr-branch: sync-upstream + sync-target-repository: https://github.com/tier4/autoware_launch.git + sync-target-branch: tier4/universe + pr-title: "chore: sync upstream" + auto-merge-method: merge diff --git a/.github/workflows/sync-public-develop.yaml b/.github/workflows/sync-public-develop.yaml deleted file mode 100644 index 874b81344c..0000000000 --- a/.github/workflows/sync-public-develop.yaml +++ /dev/null @@ -1,40 +0,0 @@ -name: sync public - -on: - schedule: - - cron: "0 19 * * *" # run at 4 AM JST - workflow_dispatch: - -env: - BASE_BRANCH: develop - SYNC_TARGET_BRANCH: develop - SYNC_TARGET_REPOSITORY: https://github.com/tier4/AutowareArchitectureProposal_launcher.git - -jobs: - sync-public: - runs-on: ubuntu-20.04 - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ env.BASE_BRANCH }} - fetch-depth: 0 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.PROPOSAL_SYNC_APP_ID }} - private_key: ${{ secrets.PROPOSAL_SYNC_APP_PRIVATE_KEY }} - - - name: Set git config for private repositories - run: | - git config --local --unset-all http.https://github.com/.extraheader || true - git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com' - - - name: Push to public repository - run: | - git remote add public ${{ env.SYNC_TARGET_REPOSITORY }} - git fetch public - git push public ${{ env.BASE_BRANCH }}:${{ env.SYNC_TARGET_BRANCH }} diff --git a/.github/workflows/sync-public.yaml b/.github/workflows/sync-public.yaml deleted file mode 100644 index 8cc1453bf3..0000000000 --- a/.github/workflows/sync-public.yaml +++ /dev/null @@ -1,40 +0,0 @@ -name: sync public - -on: - schedule: - - cron: "0 19 * * *" # run at 4 AM JST - workflow_dispatch: - -env: - BASE_BRANCH: main - SYNC_TARGET_BRANCH: main - SYNC_TARGET_REPOSITORY: https://github.com/tier4/AutowareArchitectureProposal_launcher.git - -jobs: - sync-public: - runs-on: ubuntu-20.04 - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ env.BASE_BRANCH }} - fetch-depth: 0 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.PROPOSAL_SYNC_APP_ID }} - private_key: ${{ secrets.PROPOSAL_SYNC_APP_PRIVATE_KEY }} - - - name: Set git config for private repositories - run: | - git config --local --unset-all http.https://github.com/.extraheader || true - git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com' - - - name: Push to public repository - run: | - git remote add public ${{ env.SYNC_TARGET_REPOSITORY }} - git fetch public - git push public ${{ env.BASE_BRANCH }}:${{ env.SYNC_TARGET_BRANCH }} diff --git a/.github/workflows/sync-rc.yml b/.github/workflows/sync-rc.yml deleted file mode 100644 index c6bd10149e..0000000000 --- a/.github/workflows/sync-rc.yml +++ /dev/null @@ -1,121 +0,0 @@ -name: sync rc - -on: - pull_request: - branches: - - "rc/*" - types: - - closed - workflow_dispatch: - inputs: - rc_branch: - description: "Target RC branch(e.g. rc/v1.0.0)" - required: true - -jobs: - sync-rc: - runs-on: ubuntu-20.04 - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - fetch-depth: 0 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.APP_ID }} - private_key: ${{ secrets.APP_PRIVATE_KEY }} - - - name: Set SYNC_TARGET_BRANCH for pull_request event - if: github.event_name == 'pull_request' - run: | - echo "SYNC_TARGET_BRANCH=${{ github.base_ref }}" >> $GITHUB_ENV - - - name: Set SYNC_TARGET_BRANCH for workflow_dispatch event - if: github.event_name == 'workflow_dispatch' - run: | - echo "SYNC_TARGET_BRANCH=${{ github.event.inputs.rc_branch }}" >> $GITHUB_ENV - - - name: Set SYNC_BRANCH - run: | - echo ${SYNC_TARGET_BRANCH} | grep -e "^rc/v.*" - echo "SYNC_BRANCH=sync-rc/${SYNC_TARGET_BRANCH#refs/heads/}" >> $GITHUB_ENV - - - name: Judge BASE_BRANCH - run: | - function is_main_base() { - target_branch="$1" - - git rev-parse --quiet --verify origin/develop || return 0 - - main_base=$(git merge-base "${target_branch}" origin/main) - develop_base=$(git merge-base "${target_branch}" origin/develop/ros2) - - return $(test "${main_base}" = "${develop_base}") - } - - if is_main_base "origin/${{ env.SYNC_TARGET_BRANCH }}"; then - base_branch=main - else - base_branch=develop/ros2 - fi - - echo "BASE_BRANCH=${base_branch}" >> $GITHUB_ENV - - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ env.BASE_BRANCH }} - fetch-depth: 0 - - # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH" - - name: Reset to sync target branch - run: | - git reset --hard origin/${{ env.SYNC_TARGET_BRANCH }} - - - name: Set git config - run: | - git config --local user.email "actions@example.com" - git config --local user.name "Github Actions" - - - name: Rebase on the base branch - run: | - for commit in $(git rev-list --left-only "origin/${{ env.BASE_BRANCH }}"...HEAD | tac); do - merge_base=$(git merge-base HEAD "origin/${{ env.BASE_BRANCH }}") - git rebase --onto "$commit" "$merge_base" "${{ env.BASE_BRANCH }}" || git rebase --abort - done - - - name: Create PR - id: create_pr - uses: peter-evans/create-pull-request@v3 - with: - token: ${{ steps.generate-token.outputs.token }} - commit-message: sync rc - committer: GitHub - author: GitHub - signoff: false - base: ${{ env.BASE_BRANCH }} - branch: ${{ env.SYNC_BRANCH }} - delete-branch: true - title: sync rc ${{ env.SYNC_TARGET_BRANCH }} - body: | - sync rc ${{ env.SYNC_TARGET_BRANCH }} - labels: | - sync-rc - draft: false - - - name: Check outputs - run: | - echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}" - echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}" - - - name: Enable Auto-merge - if: steps.create_pr.outputs.pull-request-operation == 'created' - uses: peter-evans/enable-pull-request-automerge@v1 - with: - token: ${{ steps.generate-token.outputs.token }} - pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }} - merge-method: squash diff --git a/.github/workflows/sync-upstream-develop.yml b/.github/workflows/sync-upstream-develop.yml deleted file mode 100644 index 941c141208..0000000000 --- a/.github/workflows/sync-upstream-develop.yml +++ /dev/null @@ -1,77 +0,0 @@ -name: sync upstream develop - -on: - schedule: - - cron: "0 19 * * *" # run at 4 AM JST - workflow_dispatch: - -env: - UPSTREAM_REPO: https://github.com/tier4/autoware_launcher.git - BASE_BRANCH: develop/ros2 - SYNC_TARGET_BRANCH: develop - SYNC_BRANCH: sync-upstream-develop - -jobs: - sync-upstream: - runs-on: ubuntu-20.04 - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ env.BASE_BRANCH }} - fetch-depth: 0 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.APP_ID }} - private_key: ${{ secrets.APP_PRIVATE_KEY }} - - - name: Set git config for private repositories - run: | - git config --local --unset-all http.https://github.com/.extraheader || true - git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com' - - - name: Fetch upstream - run: | - git remote add upstream "${{ env.UPSTREAM_REPO }}" - git fetch -pPtf --all - - # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH" - - name: Reset to sync target branch - run: | - git reset --hard upstream/${{ env.SYNC_TARGET_BRANCH }} - - - name: Create PR - id: create_pr - uses: peter-evans/create-pull-request@v3 - with: - token: ${{ steps.generate-token.outputs.token }} - commit-message: sync upstream develop - committer: GitHub - author: GitHub - signoff: false - base: ${{ env.BASE_BRANCH }} - branch: ${{ env.SYNC_BRANCH }} - delete-branch: true - title: sync upstream develop - body: | - sync upstream develop - labels: | - sync-upstream-develop - draft: false - - - name: Check outputs - run: | - echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}" - echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}" - - - name: Enable Auto-merge - if: steps.create_pr.outputs.pull-request-operation == 'created' - uses: peter-evans/enable-pull-request-automerge@v1 - with: - token: ${{ steps.generate-token.outputs.token }} - pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }} - merge-method: merge diff --git a/.github/workflows/sync-upstream-use-autoware-auto-msgs.yml b/.github/workflows/sync-upstream-use-autoware-auto-msgs.yml deleted file mode 100644 index ee5640c8d2..0000000000 --- a/.github/workflows/sync-upstream-use-autoware-auto-msgs.yml +++ /dev/null @@ -1,74 +0,0 @@ -name: sync upstream use autoware auto msgs - -on: - schedule: - - cron: "0 19 * * *" # run at 4 AM JST - workflow_dispatch: - -env: - UPSTREAM_REPO: https://github.com/tier4/AutowareArchitectureProposal_launcher.git - BASE_BRANCH: use-autoware-auto-msgs - SYNC_TARGET_BRANCH: use-autoware-auto-msgs - SYNC_BRANCH: sync-upstream-use-autoware-auto-msgs - -jobs: - sync-upstream: - runs-on: ubuntu-20.04 - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ env.BASE_BRANCH }} - fetch-depth: 0 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.APP_ID }} - private_key: ${{ secrets.APP_PRIVATE_KEY }} - - - name: Set git config for private repositories - run: | - git config --local --unset-all http.https://github.com/.extraheader || true - git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com' - - name: Fetch upstream - run: | - git remote add upstream "${{ env.UPSTREAM_REPO }}" - git fetch -pPtf --all - # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH" - - name: Reset to sync target branch - run: | - git reset --hard upstream/${{ env.SYNC_TARGET_BRANCH }} - - name: Create PR - id: create_pr - uses: peter-evans/create-pull-request@v3 - with: - token: ${{ steps.generate-token.outputs.token }} - commit-message: sync upstream use autoware auto msgs - committer: GitHub - author: GitHub - signoff: false - base: ${{ env.BASE_BRANCH }} - branch: ${{ env.SYNC_BRANCH }} - delete-branch: true - title: sync upstream use autoware auto msgs - body: | - sync upstream use autoware auto msgs - labels: | - sync-upstream-use-autoware-auto-msgs - draft: false - - - name: Check outputs - run: | - echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}" - echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}" - - - name: Enable Auto-merge - if: steps.create_pr.outputs.pull-request-operation == 'created' - uses: peter-evans/enable-pull-request-automerge@v1 - with: - token: ${{ steps.generate-token.outputs.token }} - pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }} - merge-method: merge diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml new file mode 100644 index 0000000000..09d7f0629f --- /dev/null +++ b/.github/workflows/sync-upstream.yaml @@ -0,0 +1,28 @@ +name: sync-upstream + +on: + schedule: + - cron: 0 19 * * * # run at 4 AM JST + workflow_dispatch: + +jobs: + sync-upstream: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@tier4/proposal + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: tier4/universe + sync-pr-branch: sync-upstream + sync-target-repository: https://github.com/tier4/autoware_launch.git + sync-target-branch: tier4/universe + pr-title: "chore: sync upstream" + auto-merge-method: merge diff --git a/.github/workflows/sync-upstream.yml b/.github/workflows/sync-upstream.yml deleted file mode 100644 index a27daa46f9..0000000000 --- a/.github/workflows/sync-upstream.yml +++ /dev/null @@ -1,77 +0,0 @@ -name: sync upstream - -on: - schedule: - - cron: "0 19 * * *" # run at 4 AM JST - workflow_dispatch: - -env: - UPSTREAM_REPO: https://github.com/tier4/autoware_launch.git - BASE_BRANCH: tier4/universe - SYNC_TARGET_BRANCH: tier4/universe - SYNC_BRANCH: sync-upstream - -jobs: - sync-upstream: - runs-on: ubuntu-20.04 - - steps: - - name: Checkout repository - uses: actions/checkout@v2 - with: - ref: ${{ env.BASE_BRANCH }} - fetch-depth: 0 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.APP_ID }} - private_key: ${{ secrets.APP_PRIVATE_KEY }} - - - name: Set git config for private repositories - run: | - git config --local --unset-all http.https://github.com/.extraheader || true - git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com' - - - name: Fetch upstream - run: | - git remote add upstream "${{ env.UPSTREAM_REPO }}" - git fetch -pPtf --all - - # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH" - - name: Reset to sync target branch - run: | - git reset --hard upstream/${{ env.SYNC_TARGET_BRANCH }} - - - name: Create PR - id: create_pr - uses: peter-evans/create-pull-request@v3 - with: - token: ${{ steps.generate-token.outputs.token }} - commit-message: sync upstream - committer: GitHub - author: GitHub - signoff: false - base: ${{ env.BASE_BRANCH }} - branch: ${{ env.SYNC_BRANCH }} - delete-branch: true - title: sync upstream - body: | - sync upstream - labels: | - sync-upstream - draft: false - - - name: Check outputs - run: | - echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}" - echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}" - - - name: Enable Auto-merge - if: steps.create_pr.outputs.pull-request-operation == 'created' - uses: peter-evans/enable-pull-request-automerge@v1 - with: - token: ${{ steps.generate-token.outputs.token }} - pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }} - merge-method: merge diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml deleted file mode 100644 index d4a2f277d6..0000000000 --- a/.github/workflows/update-pre-commit.yml +++ /dev/null @@ -1,42 +0,0 @@ -name: Update pre-commit - -on: - schedule: - - cron: "0 19 * * 0" # run at 4 AM JST on Sundays - workflow_dispatch: - -jobs: - update-pre-commit: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v2 - - - name: Generate token - uses: tibdex/github-app-token@v1 - id: generate-token - with: - app_id: ${{ secrets.APP_ID }} - private_key: ${{ secrets.APP_PRIVATE_KEY }} - - - name: Setup Python - uses: actions/setup-python@v2 - with: - python-version: 3.8 - - - name: Install pre-commit - run: pip install pre-commit - - - name: Run pre-commit autoupdate - run: pre-commit autoupdate - - - name: Create Pull Request - uses: peter-evans/create-pull-request@v3 - with: - token: ${{ steps.generate-token.outputs.token }} - base: main - branch: update/pre-commit-autoupdate - title: Auto-update pre-commit hooks - commit-message: Auto-update pre-commit hooks - body: | - Update versions of tools in pre-commit configs to latest version - labels: dependencies diff --git a/.markdown-link-check.json b/.markdown-link-check.json new file mode 100644 index 0000000000..331095d38d --- /dev/null +++ b/.markdown-link-check.json @@ -0,0 +1,10 @@ +{ + "aliveStatusCodes": [200, 206, 403], + "ignorePatterns": [ + { + "pattern": "^http://localhost" + } + ], + "retryOn429": true, + "retryCount": 10 +} diff --git a/.markdownlint.yaml b/.markdownlint.yaml index 605ac41ce9..dbd5b9703d 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -4,3 +4,4 @@ MD024: siblings_only: true MD033: false MD041: false +MD046: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml new file mode 100644 index 0000000000..e54ba1fdd5 --- /dev/null +++ b/.pre-commit-config-optional.yaml @@ -0,0 +1,6 @@ +repos: + - repo: https://github.com/tcort/markdown-link-check + rev: v3.9.3 + hooks: + - id: markdown-link-check + args: [--config=.markdown-link-check.json] diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 59d935c126..0f5ae2f622 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,25 +1,10 @@ -# To install: -# -# pip install pre-commit -# -# To use: -# -# pre-commit run -a -# -# Or: -# -# pre-commit install # (runs every time you commit in git) -# -# To update this file: -# -# pre-commit autoupdate -# -# See https://github.com/pre-commit/pre-commit +ci: + autofix_commit_msg: "ci(pre-commit): autofix" + autoupdate_commit_msg: "ci(pre-commit): autoupdate" repos: - # Standard hooks - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.0.1 + rev: v4.1.0 hooks: - id: check-json - id: check-merge-conflict @@ -33,37 +18,48 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.29.0 + rev: v0.30.0 hooks: - id: markdownlint - args: ["-c", ".markdownlint.yaml", "--fix"] + args: [-c, .markdownlint.yaml, --fix] - repo: https://github.com/pre-commit/mirrors-prettier - rev: v2.4.1 + rev: v2.5.1 hooks: - id: prettier + - repo: https://github.com/adrienverge/yamllint + rev: v1.26.3 + hooks: + - id: yamllint + - repo: https://github.com/tier4/pre-commit-hooks-ros rev: v0.4.0 hooks: - id: prettier-package-xml - id: sort-package-xml - - repo: https://github.com/gruntwork-io/pre-commit - rev: v0.1.17 + - repo: https://github.com/shellcheck-py/shellcheck-py + rev: v0.8.0.1 hooks: - id: shellcheck + - repo: https://github.com/scop/pre-commit-shfmt + rev: v3.4.1-1 + hooks: + - id: shfmt + args: [-w, -s, -i=4] + - repo: https://github.com/pycqa/isort - rev: 5.9.3 + rev: 5.10.1 hooks: - id: isort - repo: https://github.com/psf/black - rev: 21.9b0 + rev: 22.1.0 hooks: - id: black - args: ["--line-length=100"] + args: [--line-length=100] - repo: https://github.com/PyCQA/flake8 rev: 4.0.1 @@ -71,14 +67,26 @@ repos: - id: flake8 additional_dependencies: [ - "flake8-blind-except", - "flake8-builtins", - "flake8-class-newline", - "flake8-comprehensions", - "flake8-deprecated", - "flake8-docstrings", - "flake8-import-order", - "flake8-quotes", + flake8-blind-except, + flake8-builtins, + flake8-class-newline, + flake8-comprehensions, + flake8-deprecated, + flake8-docstrings, + flake8-import-order, + flake8-quotes, ] -exclude: ".svg" + - repo: https://github.com/pre-commit/mirrors-clang-format + rev: v12.0.1 + hooks: + - id: clang-format + + - repo: https://github.com/cpplint/cpplint + rev: 1.5.5 + hooks: + - id: cpplint + args: [--quiet] + exclude: .cu + +exclude: .svg diff --git a/.prettierrc.yaml b/.prettierrc.yaml index ef9b1b85a7..48b0552e3f 100644 --- a/.prettierrc.yaml +++ b/.prettierrc.yaml @@ -1,2 +1,2 @@ -printWidth: 120 +printWidth: 100 tabWidth: 2 diff --git a/.yamllint.yaml b/.yamllint.yaml new file mode 100644 index 0000000000..6228c70f02 --- /dev/null +++ b/.yamllint.yaml @@ -0,0 +1,23 @@ +extends: default + +ignore: | + .clang-tidy + *.param.yaml + +rules: + braces: + level: error + max-spaces-inside: 1 # To format with Prettier + comments: + level: error + min-spaces-from-content: 1 # To be compatible with C++ and Python + document-start: + level: error + present: false # Don't need document start markers + line-length: disable # Delegate to Prettier + truthy: + level: error + check-keys: false # To allow 'on' of GitHub Actions + quoted-strings: + level: error + required: only-when-needed # To keep consistent style diff --git a/CPPLINT.cfg b/CPPLINT.cfg new file mode 100644 index 0000000000..4dbbe0596b --- /dev/null +++ b/CPPLINT.cfg @@ -0,0 +1,13 @@ +# Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120 +set noparent +linelength=100 +includeorder=standardcfirst +filter=-build/c++11 # we do allow C++11 +filter=-build/namespaces_literals # we allow using namespace for literals +filter=-runtime/references # we consider passing non-const references to be ok +filter=-whitespace/braces # we wrap open curly braces for namespaces, classes and functions +filter=-whitespace/indent # we don't indent keywords like public, protected and private with one space +filter=-whitespace/parens # we allow closing parenthesis to be on the next line +filter=-whitespace/semicolon # we allow the developer to decide about whitespace after a semicolon +filter=-build/header_guard # TODO(Kenji Miyake): Support ROS-style rule in cpplint or add auto-fix script in pre-commit +filter=-build/include_order # we use the custom include order diff --git a/autoware_api_launch/launch/autoware_api.launch.xml b/autoware_api_launch/launch/autoware_api.launch.xml index 9e1baf93e5..c3562857fe 100644 --- a/autoware_api_launch/launch/autoware_api.launch.xml +++ b/autoware_api_launch/launch/autoware_api.launch.xml @@ -1,5 +1,7 @@ + + @@ -19,4 +21,10 @@ + + + + + + diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 2d2272b665..f9f02ac7c9 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -4,10 +4,10 @@ - - + + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 0486b0dbb5..354513a70b 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -355,7 +355,7 @@ Visualization Manager: Min Intensity: 0 Name: PointCloudMap Position Transformer: XYZ - Selectable: true + Selectable: false Size (Pixels): 1 Size (m): 0.02 Style: Points @@ -424,7 +424,7 @@ Visualization Manager: Min Intensity: 0 Name: ConcatenatePointCloud Position Transformer: XYZ - Selectable: true + Selectable: false Size (Pixels): 1 Size (m): 0.02 Style: Points @@ -599,7 +599,7 @@ Visualization Manager: Min Intensity: 0 Name: Initial Position Transformer: XYZ - Selectable: true + Selectable: false Size (Pixels): 10 Size (m): 0.02 Style: Squares @@ -632,7 +632,7 @@ Visualization Manager: Min Intensity: 0 Name: Aligned Position Transformer: XYZ - Selectable: true + Selectable: false Size (Pixels): 10 Size (m): 0.02 Style: Squares @@ -705,7 +705,7 @@ Visualization Manager: Min Intensity: -5 Name: NoGroundPointCloud Position Transformer: XYZ - Selectable: true + Selectable: false Size (Pixels): 3 Size (m): 0.02 Style: Points @@ -722,178 +722,207 @@ Visualization Manager: Name: Segmentation - Class: rviz_common/Group Displays: - - BUS: - Alpha: 0.999 - Color: 30; 144; 255 - CAR: - Alpha: 0.999 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.999 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects - Display 3d polygon: true - Display Label: true - Display PoseWithCovariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display UUID: true - Display Velocity: true + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.999 + Color: 30; 144; 255 + CAR: + Alpha: 0.999 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.999 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display 3d polygon: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + MOTORCYCLE: + Alpha: 0.999 + Color: 119; 11; 32 + Name: DetectedObjects + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.999 + Color: 255; 192; 203 + TRAILER: + Alpha: 0.999 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.999 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.999 + Color: 255; 255; 255 + Value: true + Enabled: false + Name: Detection + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.999 + Color: 30; 144; 255 + CAR: + Alpha: 0.999 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.999 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/TrackedObjects + Display 3d polygon: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + MOTORCYCLE: + Alpha: 0.999 + Color: 119; 11; 32 + Name: TrackedObjects + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.999 + Color: 255; 192; 203 + TRAILER: + Alpha: 0.999 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.999 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.999 + Color: 255; 255; 255 + Value: true + Enabled: false + Name: Tracking + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.999 + Color: 30; 144; 255 + CAR: + Alpha: 0.999 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.999 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/PredictedObjects + Display 3d polygon: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + MOTORCYCLE: + Alpha: 0.999 + Color: 119; 11; 32 + Name: PredictedObjects + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.999 + Color: 255; 192; 203 + TRAILER: + Alpha: 0.999 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.999 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.999 + Color: 255; 255; 255 + Value: true Enabled: true - MOTORCYCLE: - Alpha: 0.999 - Color: 119; 11; 32 - Name: DetectedObjects - Namespaces: - {} - PEDESTRIAN: - Alpha: 0.999 - Color: 255; 192; 203 - TRAILER: - Alpha: 0.999 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.999 - Color: 30; 144; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/object_recognition/detection/objects - UNKNOWN: - Alpha: 0.999 - Color: 255; 255; 255 - Value: true - Enabled: false - Name: Detection + Name: Prediction + Enabled: true + Name: ObjectRecognition - Class: rviz_common/Group Displays: - - BUS: - Alpha: 0.999 - Color: 30; 144; 255 - CAR: - Alpha: 0.999 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.999 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/TrackedObjects - Display 3d polygon: true - Display Label: true - Display PoseWithCovariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display UUID: true - Display Velocity: true + - Class: rviz_default_plugins/Image Enabled: true - MOTORCYCLE: - Alpha: 0.999 - Color: 119; 11; 32 - Name: TrackedObjects - Namespaces: - {} - PEDESTRIAN: - Alpha: 0.999 - Color: 255; 192; 203 - TRAILER: - Alpha: 0.999 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.999 - Color: 30; 144; 255 + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RecognitionResultOnImage + Normalize Range: true Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /perception/object_recognition/tracking/objects - UNKNOWN: - Alpha: 0.999 - Color: 255; 255; 255 + Value: /perception/traffic_light_recognition/debug/rois Value: true - Enabled: false - Name: Tracking - - Class: rviz_common/Group - Displays: - - BUS: - Alpha: 0.999 - Color: 30; 144; 255 - CAR: - Alpha: 0.999 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.999 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/PredictedObjects - Display 3d polygon: true - Display Label: true - Display PoseWithCovariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display UUID: true - Display Velocity: true + - Class: rviz_default_plugins/MarkerArray Enabled: true - MOTORCYCLE: - Alpha: 0.999 - Color: 119; 11; 32 - Name: PredictedObjects + Name: MapBasedDetectionResult Namespaces: {} - PEDESTRIAN: - Alpha: 0.999 - Color: 255; 192; 203 - TRAILER: - Alpha: 0.999 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.999 - Color: 30; 144; 255 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /perception/object_recognition/objects - UNKNOWN: - Alpha: 0.999 - Color: 255; 255; 255 + Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers Value: true Enabled: true - Name: Prediction + Name: TrafficLight - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/Image + - Alpha: 0.5 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false Enabled: true - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: RecognitionResultOnImage - Normalize Range: true + Name: Map Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /perception/traffic_light_recognition/debug/rois - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: MapBasedDetectionResult - Namespaces: - {} - Topic: + Value: /perception/occupancy_grid_map/map + Update Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers + Value: /perception/occupancy_grid_map/map_updates + Use Timestamp: false Value: true - Enabled: true - Name: TrafficLight + Enabled: false + Name: OccupancyGrid Enabled: true Name: Perception - Class: rviz_common/Group @@ -1141,6 +1170,8 @@ Visualization Manager: obstacle: false sidewalk: false slow factor_text: true + path_raw: false + path_interp: false Topic: Depth: 5 Durability Policy: Volatile @@ -1421,7 +1452,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /control/trajectory_follower/pure_pursuit/debug/markers + Value: /control/trajectory_follower/pure_pursuit_node_exe/debug/markers Value: false Enabled: true Name: Control diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml index dfe7663643..ffa0cc6d11 100644 --- a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml index c09adae36f..88dc1af426 100644 --- a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml index c09adae36f..88dc1af426 100644 --- a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index 966f4deaea..872e906610 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml index b4d4065d63..438842defa 100644 --- a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml index c09adae36f..88dc1af426 100644 --- a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml index 09d080af14..ec4bcee67a 100644 --- a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml index c09adae36f..88dc1af426 100644 --- a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml index ccb91b24a4..0aa3bdac68 100644 --- a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml index c09adae36f..88dc1af426 100644 --- a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml @@ -70,15 +70,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 9a37b0b088..94dfcde78c 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -19,6 +19,7 @@ from launch.actions import OpaqueFunction from launch.actions import SetLaunchConfiguration from launch.conditions import IfCondition +from launch.conditions import LaunchConfigurationEquals from launch.conditions import UnlessCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import EnvironmentVariable @@ -54,7 +55,7 @@ def launch_setup(context, *args, **kwargs): lane_departure_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"] # lateral controller - lat_controller_component = ComposableNode( + mpc_follower_component = ComposableNode( package="trajectory_follower_nodes", plugin="autoware::motion::control::trajectory_follower_nodes::LateralController", name="lateral_controller_node_exe", @@ -72,6 +73,21 @@ def launch_setup(context, *args, **kwargs): ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) + pure_pursuit_component = ComposableNode( + package="pure_pursuit", + plugin="pure_pursuit::PurePursuitNode", + name="pure_pursuit_node_exe", + namespace="trajectory_follower", + remappings=[ + ("input/reference_trajectory", "/planning/scenario_planning/trajectory"), + ("input/current_odometry", "/localization/kinematic_state"), + ("output/control_raw", "lateral/control_cmd"), + ], + parameters=[ + lat_controller_param, + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) # longitudinal controller lon_controller_component = ComposableNode( @@ -88,12 +104,6 @@ def launch_setup(context, *args, **kwargs): ], parameters=[ lon_controller_param, - { - "control_rate": LaunchConfiguration("control_rate"), - "show_debug_info": LaunchConfiguration("show_debug_info"), - "enable_smooth_stop": LaunchConfiguration("enable_smooth_stop"), - "enable_pub_debug": LaunchConfiguration("enable_pub_debug"), - }, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) @@ -218,7 +228,7 @@ def launch_setup(context, *args, **kwargs): ) # set container to run all required components in the same process - container = ComposableNodeContainer( + mpc_follower_container = ComposableNodeContainer( name="control_container", namespace="", package="rclcpp_components", @@ -230,22 +240,43 @@ def launch_setup(context, *args, **kwargs): shift_decider_component, vehicle_cmd_gate_component, ], + condition=LaunchConfigurationEquals("lateral_controller_mode", "mpc_follower"), + ) + pure_pursuit_container = ComposableNodeContainer( + name="control_container", + namespace="", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + composable_node_descriptions=[ + lon_controller_component, + latlon_muxer_component, + shift_decider_component, + vehicle_cmd_gate_component, + ], + condition=LaunchConfigurationEquals("lateral_controller_mode", "pure_pursuit"), ) # lateral controller is separated since it may be another controller (e.g. pure pursuit) - lat_controller_loader = LoadComposableNodes( - composable_node_descriptions=[lat_controller_component], - target_container=container, - # condition=LaunchConfigurationEquals("lateral_controller_mode", "mpc"), + mpc_follower_loader = LoadComposableNodes( + composable_node_descriptions=[mpc_follower_component], + target_container=mpc_follower_container, + condition=LaunchConfigurationEquals("lateral_controller_mode", "mpc_follower"), + ) + pure_pursuit_loader = LoadComposableNodes( + composable_node_descriptions=[pure_pursuit_component], + target_container=pure_pursuit_container, + condition=LaunchConfigurationEquals("lateral_controller_mode", "pure_pursuit"), ) group = GroupAction( [ PushRosNamespace("control"), - container, + mpc_follower_container, + pure_pursuit_container, external_cmd_selector_loader, external_cmd_converter_loader, - lat_controller_loader, + mpc_follower_loader, + pure_pursuit_loader, ] ) @@ -260,12 +291,14 @@ def add_launch_arg(name: str, default_value=None, description=None): DeclareLaunchArgument(name, default_value=default_value, description=description) ) - # add_launch_arg( - # "lateral_controller_mode", - # "mpc_follower", - # "lateral controller mode: `mpc_follower` or `pure_pursuit`", - # ) + # lateral controller mode + add_launch_arg( + "lateral_controller_mode", + "mpc_follower", + "lateral controller mode: `mpc_follower` or `pure_pursuit`", + ) + # parameter file path add_launch_arg( "lat_controller_param_path", [ @@ -274,7 +307,7 @@ def add_launch_arg(name: str, default_value=None, description=None): EnvironmentVariable(name="VEHICLE_ID", default_value="default"), "/lateral_controller.param.yaml", ], - "path to the parameter file of lateral controller", + "path to the parameter file of lateral controller. default is `mpc_follower`", ) add_launch_arg( "lon_controller_param_path", @@ -307,14 +340,6 @@ def add_launch_arg(name: str, default_value=None, description=None): [FindPackageShare("lane_departure_checker"), "/config/lane_departure_checker.param.yaml"], ) - # velocity controller - add_launch_arg("control_rate", "30.0", "control rate") - add_launch_arg("show_debug_info", "false", "show debug information") - add_launch_arg( - "enable_smooth_stop", "true", "enable smooth stop (in velocity controller state)" - ) - add_launch_arg("enable_pub_debug", "true", "enable to publish debug information") - # vehicle cmd gate add_launch_arg("use_emergency_handling", "false", "use emergency handling") add_launch_arg("use_external_emergency_stop", "true", "use external emergency stop") diff --git a/localization_launch/config/ndt_scan_matcher.param.yaml b/localization_launch/config/ndt_scan_matcher.param.yaml index 0448d1fc63..ae5a39dd99 100644 --- a/localization_launch/config/ndt_scan_matcher.param.yaml +++ b/localization_launch/config/ndt_scan_matcher.param.yaml @@ -26,9 +26,23 @@ # Threshold for deciding whether to trust the estimation result converged_param_transform_probability: 3.0 + # The number of particles to estimate initial pose + initial_estimate_particles_num: 100 + # neighborhood search method in OMP # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1 omp_neighborhood_search_method: 0 # Number of threads used for parallel computing omp_num_threads: 4 + + # The covariance of output pose + output_pose_covariance: + [ + 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, + ] diff --git a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml index c3f35464e4..f27899050c 100644 --- a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml +++ b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml @@ -9,7 +9,6 @@ - diff --git a/localization_launch/launch/util/util.launch.py b/localization_launch/launch/util/util.launch.py index b6f66fa19e..abcd824b7a 100644 --- a/localization_launch/launch/util/util.launch.py +++ b/localization_launch/launch/util/util.launch.py @@ -55,7 +55,7 @@ def load_composable_node_param(param_path): ) random_downsample_component = ComposableNode( package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent", + plugin="pointcloud_preprocessor::RandomDownsampleFilterComponent", name="random_downsample_filter", remappings=[ ("input", LaunchConfiguration("output_voxel_grid_downsample_sensor_points_topic")), diff --git a/perception_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml b/perception_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml index 955a9e197e..781ccb806b 100644 --- a/perception_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml +++ b/perception_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml @@ -5,7 +5,7 @@ pcl_grid_map_extraction: x: 0.0 y: 0.0 z: 0.0 - rotation: #intrinsic rotation X-Y-Z (r-p-y)sequence + rotation: # intrinsic rotation X-Y-Z (r-p-y)sequence r: 0.0 p: 0.0 y: 0.0 diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index bc29fba86c..f9aed1030e 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -7,11 +7,15 @@ detection_area_right_expand_dist: 0.0 detection_area_left_expand_dist: 1.0 - # threshold_distance_object_is_on_center: 1.0 # [m] + enable_avoidance_over_same_direction: true + enable_avoidance_over_opposite_direction: true + + threshold_distance_object_is_on_center: 1.0 # [m] threshold_speed_object_is_stopped: 1.0 # [m/s] object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 2.0 # [m] lateral_collision_margin: 1.8 # [m] + lateral_collision_safety_buffer: 0.7 # [m] prepare_time: 2.0 # [s] min_prepare_distance: 1.0 # [m] @@ -20,6 +24,8 @@ min_nominal_avoidance_speed: 7.0 # [m/s] min_sharp_avoidance_speed: 1.0 # [m/s] + road_shoulder_safety_margin: 0.5 # [m] + max_right_shift_length: 5.0 max_left_shift_length: 5.0 diff --git a/system_launch/config/ad_service_state_monitor.param.yaml b/system_launch/config/ad_service_state_monitor.param.yaml index 1dbb3fdce8..5e9c1dfeb3 100644 --- a/system_launch/config/ad_service_state_monitor.param.yaml +++ b/system_launch/config/ad_service_state_monitor.param.yaml @@ -53,6 +53,12 @@ type: "sensor_msgs/msg/PointCloud2" transient_local: True + /perception/obstacle_segmentation/pointcloud: + module: "sensing" + timeout: 1.0 + warn_rate: 5.0 + type: "sensor_msgs/msg/PointCloud2" + best_effort: True /sensing/imu/imu_data: module: "sensing" timeout: 1.0 @@ -81,14 +87,7 @@ # This topic could have two different types depending on the launch flags used. # The implementation of subscriptions in ROS2 does not allow for multiple types # to be defined for a topic. By default this is set to not use have features. - # type: ["autoware_perception_msgs/msg/DynamicObjectArray", "autoware_perception_msgs/msg/DynamicObjectWithFeatureArray"] - - /perception/obstacle_segmentation/pointcloud: - module: "perception" - timeout: 1.0 - warn_rate: 5.0 - type: "sensor_msgs/msg/PointCloud2" - best_effort: True + # type: ["tier4_perception_msgs/msg/DynamicObjectArray", "tier4_perception_msgs/msg/DynamicObjectWithFeatureArray"] /planning/mission_planning/route: module: "planning" diff --git a/system_launch/config/system_error_monitor.param.yaml b/system_launch/config/system_error_monitor.param.yaml index 0e942ced6c..30739070d5 100644 --- a/system_launch/config/system_error_monitor.param.yaml +++ b/system_launch/config/system_error_monitor.param.yaml @@ -41,8 +41,6 @@ /autoware/vehicle/node_alive_monitoring: default - /autoware/system/debug_data_logger/storage_error: default - external_control: /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/control/external_control/external_command_selector/node_alive_monitoring: default diff --git a/system_launch/config/system_error_monitor.planning_simulation.param.yaml b/system_launch/config/system_error_monitor.planning_simulation.param.yaml index 2d319e3ceb..b16c0b9938 100644 --- a/system_launch/config/system_error_monitor.planning_simulation.param.yaml +++ b/system_launch/config/system_error_monitor.planning_simulation.param.yaml @@ -20,7 +20,7 @@ /autoware/control/autonomous_driving/node_alive_monitoring: default # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/local_external_control/device_connection: default + # /autoware/control/external_control/local_external_control/device_connection: default /autoware/localization/node_alive_monitoring: default # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } @@ -37,7 +37,7 @@ /autoware/system/node_alive_monitoring: default /autoware/system/emergency_stop_operation: default - # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } + # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } /autoware/vehicle/node_alive_monitoring: default From d5a69522a4e685a155686789e09efd8c625884fc Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 21 Feb 2022 16:01:36 +0900 Subject: [PATCH 154/349] Sync/beta/v0.30.0.0 (#209) * change parameters of longitudinal controller (https://github.com/tier4/autoware_launcher.jpntaxi/pull/202) * fix typo in localization util.launch.py (#168) * add rosbridge launch (#175) * add rosbridge launch * fix TODO document add link to pull request Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix double-byte character Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: YamatoAndo Co-authored-by: yabuta Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- .../1/longitudinal_controller.param.yaml | 2 +- .../10/longitudinal_controller.param.yaml | 2 +- .../2/longitudinal_controller.param.yaml | 2 +- .../3/longitudinal_controller.param.yaml | 2 +- .../4/longitudinal_controller.param.yaml | 10 +++++----- .../5/longitudinal_controller.param.yaml | 2 +- .../6/longitudinal_controller.param.yaml | 2 +- .../7/longitudinal_controller.param.yaml | 2 +- .../9/longitudinal_controller.param.yaml | 8 ++++---- .../default/longitudinal_controller.param.yaml | 2 +- 10 files changed, 17 insertions(+), 17 deletions(-) diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml index ffa0cc6d11..fdf44d33ac 100644 --- a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 3.5 + max_jerk: 7.0 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml index 88dc1af426..0ea5a3bfa8 100644 --- a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 3.5 + max_jerk: 7.0 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml index 88dc1af426..0ea5a3bfa8 100644 --- a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 3.5 + max_jerk: 7.0 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index 872e906610..e5b7a7fbe2 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 3.5 + max_jerk: 7.0 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml index 438842defa..b2269a339f 100644 --- a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -35,10 +35,10 @@ brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.8 - smooth_stop_min_strong_acc: -1.3 - smooth_stop_weak_acc: -0.6 - smooth_stop_weak_stop_acc: -0.8 + smooth_stop_max_strong_acc: -0.73 + smooth_stop_min_strong_acc: -1.23 + smooth_stop_weak_acc: -0.53 + smooth_stop_weak_stop_acc: -0.73 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 smooth_stop_min_running_vel: 0.01 @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 3.5 + max_jerk: 7.0 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml index 88dc1af426..0ea5a3bfa8 100644 --- a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 3.5 + max_jerk: 7.0 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml index ec4bcee67a..f6415ed360 100644 --- a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 3.5 + max_jerk: 7.0 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml index 88dc1af426..0ea5a3bfa8 100644 --- a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 3.5 + max_jerk: 7.0 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml index 0aa3bdac68..6d1019ff32 100644 --- a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml @@ -35,10 +35,10 @@ brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.8 - smooth_stop_min_strong_acc: -1.3 + smooth_stop_max_strong_acc: -0.85 + smooth_stop_min_strong_acc: -1.35 smooth_stop_weak_acc: -0.6 - smooth_stop_weak_stop_acc: -0.8 + smooth_stop_weak_stop_acc: -0.7 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 smooth_stop_min_running_vel: 0.01 @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 3.5 + max_jerk: 7.0 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml index 88dc1af426..0ea5a3bfa8 100644 --- a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 3.5 + max_jerk: 7.0 min_jerk: -5.0 # pitch From fc0363b180c6a7c40740a544d55a6c8bfdd2418a Mon Sep 17 00:00:00 2001 From: Kenji Miyake Date: Thu, 24 Feb 2022 11:09:12 +0900 Subject: [PATCH 155/349] merge Signed-off-by: Kenji Miyake --- .github/workflows/sync-param-files.yaml | 15 ++-- autoware_launch/launch/autoware.launch.xml | 6 +- .../launch/logging_simulator.launch.xml | 8 ++- .../launch/planning_simulator.launch.xml | 4 +- .../1/lateral_controller.param.yaml | 71 ++++++++++++++++++ .../1/longitudinal_controller.param.yaml | 72 +++++++++++++++++++ .../10/lateral_controller.param.yaml | 71 ++++++++++++++++++ .../10/longitudinal_controller.param.yaml | 72 +++++++++++++++++++ .../2/lateral_controller.param.yaml | 71 ++++++++++++++++++ .../2/longitudinal_controller.param.yaml | 72 +++++++++++++++++++ .../3/lateral_controller.param.yaml | 71 ++++++++++++++++++ .../3/longitudinal_controller.param.yaml | 72 +++++++++++++++++++ .../4/lateral_controller.param.yaml | 71 ++++++++++++++++++ .../4/longitudinal_controller.param.yaml | 72 +++++++++++++++++++ .../lateral_controller.param.yaml} | 26 +++---- .../5/longitudinal_controller.param.yaml | 72 +++++++++++++++++++ .../6/lateral_controller.param.yaml | 71 ++++++++++++++++++ .../6/longitudinal_controller.param.yaml | 72 +++++++++++++++++++ .../7/lateral_controller.param.yaml | 71 ++++++++++++++++++ .../7/longitudinal_controller.param.yaml | 72 +++++++++++++++++++ .../9/lateral_controller.param.yaml | 71 ++++++++++++++++++ .../longitudinal_controller.param.yaml | 16 ++--- .../default/lateral_controller.param.yaml | 71 ++++++++++++++++++ .../longitudinal_controller.param.yaml | 72 +++++++++++++++++++ .../pure_pursuit.param.yaml | 9 --- control_launch/launch/control.launch.py | 9 ++- control_launch/launch/control.launch.xml | 4 +- .../launch/perception.launch.xml | 6 +- .../avoidance/avoidance.param.yaml | 2 +- .../lane_change/lane_change.param.yaml | 10 +-- .../obstacle_avoidance_planner.param.yaml | 4 +- .../adaptive_cruise_control.param.yaml | 32 ++++----- .../obstacle_stop_planner.param.yaml | 4 +- planning_launch/launch/planning.launch.xml | 4 ++ .../behavior_planning.launch.py | 44 ++++++++++-- .../behavior_planning.launch.xml | 14 +++- .../motion_planning/motion_planning.launch.py | 3 +- .../motion_planning.launch.xml | 1 + .../1/system_monitor/cpu_monitor.param.yaml | 9 +++ .../system_monitor/gpu_monitor.param.yaml | 0 .../system_monitor/hdd_monitor.param.yaml | 2 +- .../system_monitor/mem_monitor.param.yaml | 0 .../1/system_monitor/net_monitor.param.yaml | 5 ++ .../system_monitor/ntp_monitor.param.yaml | 0 .../system_monitor/process_monitor.param.yaml | 0 .../10/system_monitor/cpu_monitor.param.yaml | 9 +++ .../10/system_monitor/gpu_monitor.param.yaml | 8 +++ .../10/system_monitor/hdd_monitor.param.yaml | 11 +++ .../10/system_monitor/mem_monitor.param.yaml | 3 + .../10/system_monitor/net_monitor.param.yaml | 5 ++ .../10/system_monitor/ntp_monitor.param.yaml | 5 ++ .../system_monitor/process_monitor.param.yaml | 3 + .../2/system_monitor/cpu_monitor.param.yaml | 9 +++ .../2/system_monitor/gpu_monitor.param.yaml | 8 +++ .../2/system_monitor/hdd_monitor.param.yaml | 11 +++ .../2/system_monitor/mem_monitor.param.yaml | 3 + .../2/system_monitor/net_monitor.param.yaml | 5 ++ .../2/system_monitor/ntp_monitor.param.yaml | 5 ++ .../system_monitor/process_monitor.param.yaml | 3 + .../3/system_monitor/cpu_monitor.param.yaml | 9 +++ .../3/system_monitor/gpu_monitor.param.yaml | 8 +++ .../3/system_monitor/hdd_monitor.param.yaml | 11 +++ .../3/system_monitor/mem_monitor.param.yaml | 3 + .../3/system_monitor/net_monitor.param.yaml | 5 ++ .../3/system_monitor/ntp_monitor.param.yaml | 5 ++ .../system_monitor/process_monitor.param.yaml | 3 + .../4/system_monitor/cpu_monitor.param.yaml | 9 +++ .../4/system_monitor/gpu_monitor.param.yaml | 8 +++ .../4/system_monitor/hdd_monitor.param.yaml | 11 +++ .../4/system_monitor/mem_monitor.param.yaml | 3 + .../4/system_monitor/net_monitor.param.yaml | 5 ++ .../4/system_monitor/ntp_monitor.param.yaml | 5 ++ .../system_monitor/process_monitor.param.yaml | 3 + .../5/system_monitor/cpu_monitor.param.yaml | 9 +++ .../5/system_monitor/gpu_monitor.param.yaml | 8 +++ .../5/system_monitor/hdd_monitor.param.yaml | 11 +++ .../5/system_monitor/mem_monitor.param.yaml | 3 + .../5/system_monitor/net_monitor.param.yaml | 5 ++ .../5/system_monitor/ntp_monitor.param.yaml | 5 ++ .../system_monitor/process_monitor.param.yaml | 3 + .../6/system_monitor/cpu_monitor.param.yaml | 9 +++ .../6/system_monitor/gpu_monitor.param.yaml | 8 +++ .../6/system_monitor/hdd_monitor.param.yaml | 11 +++ .../6/system_monitor/mem_monitor.param.yaml | 3 + .../6/system_monitor/net_monitor.param.yaml | 5 ++ .../6/system_monitor/ntp_monitor.param.yaml | 5 ++ .../system_monitor/process_monitor.param.yaml | 3 + .../7/system_monitor/cpu_monitor.param.yaml | 9 +++ .../7/system_monitor/gpu_monitor.param.yaml | 8 +++ .../7/system_monitor/hdd_monitor.param.yaml | 11 +++ .../7/system_monitor/mem_monitor.param.yaml | 3 + .../7/system_monitor/net_monitor.param.yaml | 5 ++ .../7/system_monitor/ntp_monitor.param.yaml | 5 ++ .../system_monitor/process_monitor.param.yaml | 3 + .../8/system_monitor/cpu_monitor.param.yaml | 9 +++ .../8/system_monitor/gpu_monitor.param.yaml | 8 +++ .../8/system_monitor/hdd_monitor.param.yaml | 11 +++ .../8/system_monitor/mem_monitor.param.yaml | 3 + .../8/system_monitor/net_monitor.param.yaml | 5 ++ .../8/system_monitor/ntp_monitor.param.yaml | 5 ++ .../system_monitor/process_monitor.param.yaml | 3 + .../9/system_monitor/cpu_monitor.param.yaml | 9 +++ .../9/system_monitor/gpu_monitor.param.yaml | 8 +++ .../9/system_monitor/hdd_monitor.param.yaml | 11 +++ .../9/system_monitor/mem_monitor.param.yaml | 3 + .../9/system_monitor/net_monitor.param.yaml | 5 ++ .../9/system_monitor/ntp_monitor.param.yaml | 5 ++ .../system_monitor/process_monitor.param.yaml | 3 + .../ad_service_state_monitor.param.yaml | 8 ++- .../system_monitor/cpu_monitor.param.yaml | 0 .../system_monitor/gpu_monitor.param.yaml | 8 +++ .../system_monitor/hdd_monitor.param.yaml | 11 +++ .../system_monitor/mem_monitor.param.yaml | 3 + .../system_monitor/net_monitor.param.yaml | 0 .../system_monitor/ntp_monitor.param.yaml | 5 ++ .../system_monitor/process_monitor.param.yaml | 3 + .../config/system_error_monitor.param.yaml | 3 +- ...ror_monitor.planning_simulation.param.yaml | 3 +- system_launch/launch/system.launch.xml | 14 ++-- 119 files changed, 1883 insertions(+), 95 deletions(-) create mode 100644 control_launch/config/trajectory_follower/1/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/10/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/2/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/3/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/4/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml rename control_launch/config/trajectory_follower/{mpc_follower.param.yaml => 5/lateral_controller.param.yaml} (82%) create mode 100644 control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/6/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/7/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/9/lateral_controller.param.yaml rename control_launch/config/trajectory_follower/{ => 9}/longitudinal_controller.param.yaml (86%) create mode 100644 control_launch/config/trajectory_follower/default/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml delete mode 100644 control_launch/config/trajectory_follower/pure_pursuit.param.yaml create mode 100644 system_launch/config/1/system_monitor/cpu_monitor.param.yaml rename system_launch/config/{ => 1}/system_monitor/gpu_monitor.param.yaml (100%) rename system_launch/config/{ => 1}/system_monitor/hdd_monitor.param.yaml (92%) rename system_launch/config/{ => 1}/system_monitor/mem_monitor.param.yaml (100%) create mode 100644 system_launch/config/1/system_monitor/net_monitor.param.yaml rename system_launch/config/{ => 1}/system_monitor/ntp_monitor.param.yaml (100%) rename system_launch/config/{ => 1}/system_monitor/process_monitor.param.yaml (100%) create mode 100644 system_launch/config/10/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/process_monitor.param.yaml rename system_launch/config/{ => default}/system_monitor/cpu_monitor.param.yaml (100%) create mode 100644 system_launch/config/default/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/default/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/default/system_monitor/mem_monitor.param.yaml rename system_launch/config/{ => default}/system_monitor/net_monitor.param.yaml (100%) create mode 100644 system_launch/config/default/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/default/system_monitor/process_monitor.param.yaml diff --git a/.github/workflows/sync-param-files.yaml b/.github/workflows/sync-param-files.yaml index 763a8ee286..09d7f0629f 100644 --- a/.github/workflows/sync-param-files.yaml +++ b/.github/workflows/sync-param-files.yaml @@ -1,4 +1,4 @@ -name: sync-param-files +name: sync-upstream on: schedule: @@ -6,7 +6,7 @@ on: workflow_dispatch: jobs: - sync-param-files: + sync-upstream: runs-on: ubuntu-latest steps: - name: Generate token @@ -16,8 +16,13 @@ jobs: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} - - name: Run sync-files - uses: autowarefoundation/autoware-github-actions/sync-files@tier4/proposal + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@tier4/proposal with: token: ${{ steps.generate-token.outputs.token }} - config: .github/sync-param-files.yaml + base-branch: tier4/universe + sync-pr-branch: sync-upstream + sync-target-repository: https://github.com/tier4/autoware_launch.git + sync-target-branch: tier4/universe + pr-title: "chore: sync upstream" + auto-merge-method: merge diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 4a3793464e..f9f02ac7c9 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -10,6 +10,7 @@ + @@ -57,7 +58,7 @@ - + @@ -65,13 +66,14 @@ + - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index fa108fae75..9aa92f3a3f 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -19,11 +19,12 @@ - + + @@ -85,7 +86,7 @@ - + @@ -95,6 +96,7 @@ + @@ -103,7 +105,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 4f325124d9..a7e4c8136e 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -15,6 +15,7 @@ + @@ -44,13 +45,14 @@ + - + diff --git a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml new file mode 100644 index 0000000000..82175f2b1a --- /dev/null +++ b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.50 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..ffa0cc6d11 --- /dev/null +++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml @@ -0,0 +1,72 @@ +/**: + ros__parameters: + control_rate: 30.0 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.49 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.01 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.3 + min_d_effort: -0.3 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml new file mode 100644 index 0000000000..68cbabedae --- /dev/null +++ b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..88dc1af426 --- /dev/null +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -0,0 +1,72 @@ +/**: + ros__parameters: + control_rate: 30.0 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.49 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml new file mode 100644 index 0000000000..68cbabedae --- /dev/null +++ b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..88dc1af426 --- /dev/null +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -0,0 +1,72 @@ +/**: + ros__parameters: + control_rate: 30.0 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.49 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml new file mode 100644 index 0000000000..68cbabedae --- /dev/null +++ b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..872e906610 --- /dev/null +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -0,0 +1,72 @@ +/**: + ros__parameters: + control_rate: 30.0 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.49 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 1.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml new file mode 100644 index 0000000000..68cbabedae --- /dev/null +++ b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..438842defa --- /dev/null +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -0,0 +1,72 @@ +/**: + ros__parameters: + control_rate: 30.0 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.49 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.02 + kd: 0.1 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.3 + min_d_effort: -0.3 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/mpc_follower.param.yaml b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml similarity index 82% rename from control_launch/config/trajectory_follower/mpc_follower.param.yaml rename to control_launch/config/trajectory_follower/5/lateral_controller.param.yaml index 910aac218e..f669bbc090 100644 --- a/control_launch/config/trajectory_follower/mpc_follower.param.yaml +++ b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml @@ -11,30 +11,30 @@ # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_traj: 1 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.0 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero @@ -43,20 +43,20 @@ # -- 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] - steer_lim_deg: 40.0 # steering angle limit [deg] - steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] - acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 # stop state stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 + stop_state_entry_target_speed: 0.2 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..88dc1af426 --- /dev/null +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -0,0 +1,72 @@ +/**: + ros__parameters: + control_rate: 30.0 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.49 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml new file mode 100644 index 0000000000..68cbabedae --- /dev/null +++ b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..ec4bcee67a --- /dev/null +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -0,0 +1,72 @@ +/**: + ros__parameters: + control_rate: 30.0 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.49 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.01 + kd: 0.1 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.3 + min_d_effort: -0.3 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml new file mode 100644 index 0000000000..68cbabedae --- /dev/null +++ b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..88dc1af426 --- /dev/null +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -0,0 +1,72 @@ +/**: + ros__parameters: + control_rate: 30.0 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.49 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml new file mode 100644 index 0000000000..68cbabedae --- /dev/null +++ b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml similarity index 86% rename from control_launch/config/trajectory_follower/longitudinal_controller.param.yaml rename to control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml index 97fad61fac..0aa3bdac68 100644 --- a/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: control_rate: 30.0 - delay_compensation_time: 0.17 + delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: true @@ -10,7 +10,7 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.5 + stopping_state_stop_dist: 0.49 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 @@ -22,9 +22,9 @@ ki: 0.1 kd: 0.0 max_out: 1.0 - min_out: -1.0 + min_out: -5.0 max_p_effort: 1.0 - min_p_effort: -1.0 + min_p_effort: -5.0 max_i_effort: 0.3 min_i_effort: -0.3 max_d_effort: 0.0 @@ -35,9 +35,9 @@ brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -0.8 - smooth_stop_weak_acc: -0.3 + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 2.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml new file mode 100644 index 0000000000..68cbabedae --- /dev/null +++ b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..88dc1af426 --- /dev/null +++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml @@ -0,0 +1,72 @@ +/**: + ros__parameters: + control_rate: 30.0 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.49 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/pure_pursuit.param.yaml b/control_launch/config/trajectory_follower/pure_pursuit.param.yaml deleted file mode 100644 index acbb3a85a3..0000000000 --- a/control_launch/config/trajectory_follower/pure_pursuit.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - # -- system -- - control_period: 0.033 - - # --algorithm -- - lookahead_distance_ratio: 2.2 - min_lookahead_distance: 2.5 - reverse_min_lookahead_distance: 7.0 diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 1d5cf26548..94dfcde78c 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -22,6 +22,7 @@ from launch.conditions import LaunchConfigurationEquals from launch.conditions import UnlessCondition from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import EnvironmentVariable from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import LoadComposableNodes @@ -302,7 +303,9 @@ def add_launch_arg(name: str, default_value=None, description=None): "lat_controller_param_path", [ FindPackageShare("control_launch"), - "/config/trajectory_follower/mpc_follower.param.yaml", + "/config/trajectory_follower/", + EnvironmentVariable(name="VEHICLE_ID", default_value="default"), + "/lateral_controller.param.yaml", ], "path to the parameter file of lateral controller. default is `mpc_follower`", ) @@ -310,7 +313,9 @@ def add_launch_arg(name: str, default_value=None, description=None): "lon_controller_param_path", [ FindPackageShare("control_launch"), - "/config/trajectory_follower/longitudinal_controller.param.yaml", + "/config/trajectory_follower/", + EnvironmentVariable(name="VEHICLE_ID", default_value="default"), + "/longitudinal_controller.param.yaml", ], "path to the parameter file of longitudinal controller", ) diff --git a/control_launch/launch/control.launch.xml b/control_launch/launch/control.launch.xml index 9cf2f91a42..bbf12caff9 100644 --- a/control_launch/launch/control.launch.xml +++ b/control_launch/launch/control.launch.xml @@ -4,8 +4,8 @@ - - + + diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml index 69d301df48..7ee9e49872 100644 --- a/perception_launch/launch/perception.launch.xml +++ b/perception_launch/launch/perception.launch.xml @@ -3,7 +3,7 @@ - + @@ -108,10 +108,10 @@ - + diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 4ddd16a8f7..f9aed1030e 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -14,7 +14,7 @@ threshold_speed_object_is_stopped: 1.0 # [m/s] object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 2.0 # [m] - lateral_collision_margin: 1.0 # [m] + lateral_collision_margin: 1.8 # [m] lateral_collision_safety_buffer: 0.7 # [m] prepare_time: 2.0 # [s] diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 50934a7454..d725557e05 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -12,9 +12,9 @@ prediction_time_resolution: 0.5 static_obstacle_velocity_thresh: 1.5 maximum_deceleration: 1.0 - enable_abort_lane_change: false - enable_collision_check_at_prepare_phase: false - use_predicted_path_outside_lanelet: false - use_all_predicted_path: false - enable_blocked_by_obstacle: false + # enable_abort_lane_change: false + # enable_collision_check_at_prepare_phase: false + # use_predicted_path_outside_lanelet: false + # use_all_predicted_path: false + # enable_blocked_by_obstacle: false lane_change_search_distance: 30.0 diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 8150af7436..d6b3eaf08c 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -3,7 +3,7 @@ # trajectory total/fixing length trajectory_length: 300 # total trajectory length[m] forward_fixing_distance: 5.0 # forward fixing length from base_link[m] - backward_fixing_distance: 3.0 # backward fixing length from base_link[m] + backward_fixing_distance: 10.0 # backward fixing length from base_link[m] # clearance(distance) when generating trajectory clearance_from_road: 0.2 # clearance from road boundary[m] @@ -44,7 +44,7 @@ is_publishing_clearance_map: true # publish clearance map as nav_msgs::OccupancyGrid is_publishing_area_with_objects: true # publish occupancy map as nav_msgs::OccupancyGrid - enable_avoidance: true # enable avoidance function + # enable_avoidance: false # enable avoidance function is_using_vehicle_config: true # use vehicle config num_sampling_points: 100 # number of optimizing points num_joint_buffer_points: 3 # number of joint buffer points diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml index dd76f2c4e5..654e291cd2 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml @@ -7,32 +7,32 @@ consider_obj_velocity: true # consider forward vehicle velocity to ACC or not # general parameter for ACC - obstacle_velocity_thresh_to_start_acc: 1.5 # start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s] - obstacle_velocity_thresh_to_stop_acc: 1.0 # stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s] - emergency_stop_acceleration: -5.0 # supposed minimum acceleration (deceleration) in emergency stop [m/ss] + obstacle_velocity_thresh_to_start_acc: 3.5 # start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s] + obstacle_velocity_thresh_to_stop_acc: 3.0 # stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s] + emergency_stop_acceleration: -4.5 # supposed minimum acceleration (deceleration) in emergency stop [m/ss] emergency_stop_idling_time: 0.5 # supposed idling time to start emergency stop [s] - min_dist_stop: 4.0 # minimum distance of emergency stop [m] - max_standard_acceleration: 0.5 # supposed maximum acceleration in active cruise control [m/ss] - min_standard_acceleration: -1.0 # supposed minimum acceleration (deceleration) in active cruise control + min_dist_stop: 6.0 # minimum distance of emergency stop [m] + max_standard_acceleration: 1.0 # supposed maximum acceleration in active cruise control [m/ss] + min_standard_acceleration: -0.7 # supposed minimum acceleration (deceleration) in active cruise control standard_idling_time: 0.5 # supposed idling time to react object in active cruise control [s] - min_dist_standard: 4.0 # minimum distance in active cruise control [m] - obstacle_min_standard_acceleration: -1.5 # supposed minimum acceleration of forward obstacle [m/ss] - margin_rate_to_change_vel: 0.3 # margin to insert upper velocity [-] + min_dist_standard: 6.0 # minimum distance in active cruise control [m] + obstacle_min_standard_acceleration: -2.0 # supposed minimum acceleration of forward obstacle [m/ss] + margin_rate_to_change_vel: 0.7 # margin to insert upper velocity [-] # pid parameter for ACC - p_coefficient_positive: 0.1 # coefficient P in PID control (used when target dist -current_dist >=0) [-] + p_coefficient_positive: 0.25 # coefficient P in PID control (used when target dist -current_dist >=0) [-] p_coefficient_negative: 0.3 # coefficient P in PID control (used when target dist -current_dist <0) [-] - d_coefficient_positive: 0.0 # coefficient D in PID control (used when delta_dist >=0) [-] - d_coefficient_negative: 0.2 # coefficient D in PID control (used when delta_dist <0) [-] + d_coefficient_positive: 0.15 # coefficient D in PID control (used when delta_dist >=0) [-] + d_coefficient_negative: 0.0 # coefficient D in PID control (used when delta_dist <0) [-] # parameter for object velocity estimation - object_polygon_length_margin: 2.0 # The distance to extend the polygon length the object in pointcloud-object matching [m] - object_polygon_width_margin: 0.5 # The distance to extend the polygon width the object in pointcloud-object matching [m] + object_polygon_length_margin: 3.0 # The distance to extend the polygon length the object in pointcloud-object matching [m] + object_polygon_width_margin: 0.8 # The distance to extend the polygon width the object in pointcloud-object matching [m] valid_estimated_vel_diff_time: 1.0 # Maximum time difference treated as continuous points in speed estimation using a point cloud [s] valid_vel_que_time: 0.5 # Time width of information used for speed estimation in speed estimation using a point cloud [s] valid_estimated_vel_max: 20.0 # Maximum value of valid speed estimation results in speed estimation using a point cloud [m/s] valid_estimated_vel_min: -20.0 # Minimum value of valid speed estimation results in speed estimation using a point cloud [m/s] - thresh_vel_to_stop: 1.5 # Embed a stop line if the maximum speed calculated by ACC is lower than this speed [m/s] - lowpass_gain_of_upper_velocity: 0.75 # Lowpass-gain of upper velocity + thresh_vel_to_stop: 0.0 # Embed a stop line if the maximum speed calculated by ACC is lower than this speed [m/s] + lowpass_gain_of_upper_velocity: 0.90 # Lowpass-gain of upper velocity use_rough_velocity_estimation: false # Use rough estimated velocity if the velocity estimation is failed (#### If this parameter is true, the vehicle may collide with the front car. Be careful. ####) rough_velocity_rate: 0.9 # In the rough velocity estimation, the velocity of front car is estimated as self current velocity * this value diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index 82a7720334..26da30abd1 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -1,8 +1,8 @@ /**: ros__parameters: stop_planner: - stop_margin: 5.0 # stop margin distance from obstacle on the path [m] - min_behavior_stop_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m] + stop_margin: 6.0 # stop margin distance from obstacle on the path [m] + min_behavior_stop_margin: 3.0 # stop margin distance when any other stop point is inserted in stop margin [m] step_length: 1.0 # step length for pointcloud search range [m] extend_distance: 0.0 # extend trajectory to consider after goal obstacle in the extend_distance expand_stop_range: 0.0 # margin of vehicle footprint [m] diff --git a/planning_launch/launch/planning.launch.xml b/planning_launch/launch/planning.launch.xml index 640b3a234b..6cf7fdf67c 100644 --- a/planning_launch/launch/planning.launch.xml +++ b/planning_launch/launch/planning.launch.xml @@ -1,6 +1,10 @@ + + + + diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 28971c3842..b6207141ad 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -23,6 +23,7 @@ from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import SetParameter from launch_ros.descriptions import ComposableNode from launch_ros.substitutions import FindPackageShare import yaml @@ -168,11 +169,15 @@ def generate_launch_description(): pull_out_param, behavior_path_planner_param, { - "bt_tree_config_path": [ - FindPackageShare("behavior_path_planner"), - "/config/behavior_path_planner_tree.xml", - ], "planning_hz": 10.0, + "lane_change.enable_abort_lane_change": LaunchConfiguration("disuse_foa"), + "lane_change.enable_collision_check_at_prepare_phase": LaunchConfiguration( + "disuse_foa" + ), + "lane_change.use_predicted_path_outside_lanelet": LaunchConfiguration("disuse_foa"), + "lane_change.use_all_predicted_path": LaunchConfiguration("disuse_foa"), + "lane_change.enable_blocked_by_obstacle": LaunchConfiguration("disuse_foa"), + "bt_tree_config_path": LaunchConfiguration("bt_tree_config_path"), }, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], @@ -294,8 +299,8 @@ def generate_launch_description(): "launch_intersection": True, "launch_blind_spot": True, "launch_detection_area": True, - "launch_virtual_traffic_light": True, - "launch_occlusion_spot": True, + "launch_virtual_traffic_light": False, + "launch_occlusion_spot": False, "launch_no_stopping_area": True, "forward_path_length": 1000.0, "backward_path_length": 5.0, @@ -338,6 +343,18 @@ def generate_launch_description(): condition=IfCondition(LaunchConfiguration("use_multithread")), ) + set_bt_tree_config_path_without_foa = SetLaunchConfiguration( + "bt_tree_config_path", + [FindPackageShare("behavior_path_planner"), "/config/behavior_path_planner_tree.xml"], + condition=IfCondition(LaunchConfiguration("disuse_foa")), + ) + + set_bt_tree_config_path_with_foa = SetLaunchConfiguration( + "bt_tree_config_path", + [FindPackageShare("behavior_path_planner"), "/config/behavior_path_planner_tree.xml"], + condition=UnlessCondition(LaunchConfiguration("disuse_foa")), + ) + return launch.LaunchDescription( [ DeclareLaunchArgument( @@ -348,6 +365,18 @@ def generate_launch_description(): DeclareLaunchArgument("use_multithread", default_value="false"), set_container_executable, set_container_mt_executable, + SetParameter( + name="avoidance.threshold_distance_object_is_on_center", + value=0.5, + condition=IfCondition(LaunchConfiguration("disuse_foa")), + ), + SetParameter( + name="avoidance.threshold_distance_object_is_on_center", + value=0.0, + condition=UnlessCondition(LaunchConfiguration("disuse_foa")), + ), + set_bt_tree_config_path_without_foa, + set_bt_tree_config_path_with_foa, container, ExecuteProcess( cmd=[ @@ -360,7 +389,8 @@ def generate_launch_description(): "{approval: true}", "-r", "10", - ] + ], + condition=IfCondition(LaunchConfiguration("disuse_foa")), ), ] ) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index eaf8370d59..66dfc7399f 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -2,8 +2,13 @@ - + + + + + + @@ -23,6 +28,11 @@ + + + + + diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index 58b6859194..f20a06a643 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -63,6 +63,7 @@ def generate_launch_description(): ], parameters=[ obstacle_avoidance_planner_param, + {"enable_avoidance": LaunchConfiguration("disuse_foa")}, {"is_showing_debug_info": False}, {"is_stopping_if_outside_drivable_area": True}, ], @@ -214,7 +215,7 @@ def generate_launch_description(): "input_path_topic", default_value="/planning/scenario_planning/lane_driving/behavior_planning/path", ), - DeclareLaunchArgument("use_surround_obstacle_check", default_value="true"), + DeclareLaunchArgument("use_surround_obstacle_check", default_value="false"), DeclareLaunchArgument("use_intra_process", default_value="false"), DeclareLaunchArgument("use_multithread", default_value="false"), set_container_executable, diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index 0ace2bbcc6..14abc8238b 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -7,6 +7,7 @@ + diff --git a/system_launch/config/1/system_monitor/cpu_monitor.param.yaml b/system_launch/config/1/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..8ac703c76e --- /dev/null +++ b/system_launch/config/1/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_count: 2 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/system_monitor/gpu_monitor.param.yaml b/system_launch/config/1/system_monitor/gpu_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/gpu_monitor.param.yaml rename to system_launch/config/1/system_monitor/gpu_monitor.param.yaml diff --git a/system_launch/config/system_monitor/hdd_monitor.param.yaml b/system_launch/config/1/system_monitor/hdd_monitor.param.yaml similarity index 92% rename from system_launch/config/system_monitor/hdd_monitor.param.yaml rename to system_launch/config/1/system_monitor/hdd_monitor.param.yaml index 817ff68814..9b10d025d4 100644 --- a/system_launch/config/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/1/system_monitor/hdd_monitor.param.yaml @@ -4,7 +4,7 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: / + name: /dev/sda2 temp_warn: 55.0 temp_error: 70.0 free_warn: 5120 # MB(8hour) diff --git a/system_launch/config/system_monitor/mem_monitor.param.yaml b/system_launch/config/1/system_monitor/mem_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/mem_monitor.param.yaml rename to system_launch/config/1/system_monitor/mem_monitor.param.yaml diff --git a/system_launch/config/1/system_monitor/net_monitor.param.yaml b/system_launch/config/1/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/1/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/system_monitor/ntp_monitor.param.yaml b/system_launch/config/1/system_monitor/ntp_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/ntp_monitor.param.yaml rename to system_launch/config/1/system_monitor/ntp_monitor.param.yaml diff --git a/system_launch/config/system_monitor/process_monitor.param.yaml b/system_launch/config/1/system_monitor/process_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/process_monitor.param.yaml rename to system_launch/config/1/system_monitor/process_monitor.param.yaml diff --git a/system_launch/config/10/system_monitor/cpu_monitor.param.yaml b/system_launch/config/10/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..8ac703c76e --- /dev/null +++ b/system_launch/config/10/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_count: 2 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/10/system_monitor/gpu_monitor.param.yaml b/system_launch/config/10/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/10/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/10/system_monitor/hdd_monitor.param.yaml b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..9b10d025d4 --- /dev/null +++ b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda2 + temp_warn: 55.0 + temp_error: 70.0 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/10/system_monitor/mem_monitor.param.yaml b/system_launch/config/10/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/10/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/10/system_monitor/net_monitor.param.yaml b/system_launch/config/10/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/10/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/10/system_monitor/ntp_monitor.param.yaml b/system_launch/config/10/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/10/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/10/system_monitor/process_monitor.param.yaml b/system_launch/config/10/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/10/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/2/system_monitor/cpu_monitor.param.yaml b/system_launch/config/2/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..8ac703c76e --- /dev/null +++ b/system_launch/config/2/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_count: 2 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/2/system_monitor/gpu_monitor.param.yaml b/system_launch/config/2/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/2/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/2/system_monitor/hdd_monitor.param.yaml b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..9b10d025d4 --- /dev/null +++ b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda2 + temp_warn: 55.0 + temp_error: 70.0 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/2/system_monitor/mem_monitor.param.yaml b/system_launch/config/2/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/2/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/2/system_monitor/net_monitor.param.yaml b/system_launch/config/2/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/2/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/2/system_monitor/ntp_monitor.param.yaml b/system_launch/config/2/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/2/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/2/system_monitor/process_monitor.param.yaml b/system_launch/config/2/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/2/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/3/system_monitor/cpu_monitor.param.yaml b/system_launch/config/3/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..8ac703c76e --- /dev/null +++ b/system_launch/config/3/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_count: 2 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/3/system_monitor/gpu_monitor.param.yaml b/system_launch/config/3/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/3/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/3/system_monitor/hdd_monitor.param.yaml b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..9b10d025d4 --- /dev/null +++ b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda2 + temp_warn: 55.0 + temp_error: 70.0 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/3/system_monitor/mem_monitor.param.yaml b/system_launch/config/3/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/3/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/3/system_monitor/net_monitor.param.yaml b/system_launch/config/3/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/3/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/3/system_monitor/ntp_monitor.param.yaml b/system_launch/config/3/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/3/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/3/system_monitor/process_monitor.param.yaml b/system_launch/config/3/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/3/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/4/system_monitor/cpu_monitor.param.yaml b/system_launch/config/4/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..8ac703c76e --- /dev/null +++ b/system_launch/config/4/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_count: 2 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/4/system_monitor/gpu_monitor.param.yaml b/system_launch/config/4/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/4/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/4/system_monitor/hdd_monitor.param.yaml b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..9b10d025d4 --- /dev/null +++ b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda2 + temp_warn: 55.0 + temp_error: 70.0 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/4/system_monitor/mem_monitor.param.yaml b/system_launch/config/4/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/4/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/4/system_monitor/net_monitor.param.yaml b/system_launch/config/4/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/4/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/4/system_monitor/ntp_monitor.param.yaml b/system_launch/config/4/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/4/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/4/system_monitor/process_monitor.param.yaml b/system_launch/config/4/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/4/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/5/system_monitor/cpu_monitor.param.yaml b/system_launch/config/5/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..8ac703c76e --- /dev/null +++ b/system_launch/config/5/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_count: 2 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/5/system_monitor/gpu_monitor.param.yaml b/system_launch/config/5/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/5/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/5/system_monitor/hdd_monitor.param.yaml b/system_launch/config/5/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..6f4785bec2 --- /dev/null +++ b/system_launch/config/5/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/nvme0n1 + temp_warn: 55.0 + temp_error: 70.0 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/5/system_monitor/mem_monitor.param.yaml b/system_launch/config/5/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/5/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/5/system_monitor/net_monitor.param.yaml b/system_launch/config/5/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..a970c2e1a2 --- /dev/null +++ b/system_launch/config/5/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'enp103s0f0','enp103s0f1','enx00e04c000c1f' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/5/system_monitor/ntp_monitor.param.yaml b/system_launch/config/5/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/5/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/5/system_monitor/process_monitor.param.yaml b/system_launch/config/5/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/5/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/6/system_monitor/cpu_monitor.param.yaml b/system_launch/config/6/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..8ac703c76e --- /dev/null +++ b/system_launch/config/6/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_count: 2 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/6/system_monitor/gpu_monitor.param.yaml b/system_launch/config/6/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/6/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/6/system_monitor/hdd_monitor.param.yaml b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..9b10d025d4 --- /dev/null +++ b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda2 + temp_warn: 55.0 + temp_error: 70.0 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/6/system_monitor/mem_monitor.param.yaml b/system_launch/config/6/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/6/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/6/system_monitor/net_monitor.param.yaml b/system_launch/config/6/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/6/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/6/system_monitor/ntp_monitor.param.yaml b/system_launch/config/6/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/6/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/6/system_monitor/process_monitor.param.yaml b/system_launch/config/6/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/6/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/7/system_monitor/cpu_monitor.param.yaml b/system_launch/config/7/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..8ac703c76e --- /dev/null +++ b/system_launch/config/7/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_count: 2 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/7/system_monitor/gpu_monitor.param.yaml b/system_launch/config/7/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/7/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/7/system_monitor/hdd_monitor.param.yaml b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..9b10d025d4 --- /dev/null +++ b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda2 + temp_warn: 55.0 + temp_error: 70.0 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/7/system_monitor/mem_monitor.param.yaml b/system_launch/config/7/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/7/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/7/system_monitor/net_monitor.param.yaml b/system_launch/config/7/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/7/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/7/system_monitor/ntp_monitor.param.yaml b/system_launch/config/7/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/7/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/7/system_monitor/process_monitor.param.yaml b/system_launch/config/7/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/7/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/8/system_monitor/cpu_monitor.param.yaml b/system_launch/config/8/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..8ac703c76e --- /dev/null +++ b/system_launch/config/8/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_count: 2 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/8/system_monitor/gpu_monitor.param.yaml b/system_launch/config/8/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/8/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/8/system_monitor/hdd_monitor.param.yaml b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..9b10d025d4 --- /dev/null +++ b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda2 + temp_warn: 55.0 + temp_error: 70.0 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/8/system_monitor/mem_monitor.param.yaml b/system_launch/config/8/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/8/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/8/system_monitor/net_monitor.param.yaml b/system_launch/config/8/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/8/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/8/system_monitor/ntp_monitor.param.yaml b/system_launch/config/8/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/8/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/8/system_monitor/process_monitor.param.yaml b/system_launch/config/8/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/8/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/9/system_monitor/cpu_monitor.param.yaml b/system_launch/config/9/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..8ac703c76e --- /dev/null +++ b/system_launch/config/9/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_count: 2 + usage_avg: true + load1_warn: 0.90 + load5_warn: 0.80 + msr_reader_port: 7634 diff --git a/system_launch/config/9/system_monitor/gpu_monitor.param.yaml b/system_launch/config/9/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/9/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/9/system_monitor/hdd_monitor.param.yaml b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..9b10d025d4 --- /dev/null +++ b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda2 + temp_warn: 55.0 + temp_error: 70.0 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/9/system_monitor/mem_monitor.param.yaml b/system_launch/config/9/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/9/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/9/system_monitor/net_monitor.param.yaml b/system_launch/config/9/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/9/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/9/system_monitor/ntp_monitor.param.yaml b/system_launch/config/9/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/9/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/9/system_monitor/process_monitor.param.yaml b/system_launch/config/9/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/9/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/ad_service_state_monitor.param.yaml b/system_launch/config/ad_service_state_monitor.param.yaml index 03610e09f1..5e9c1dfeb3 100644 --- a/system_launch/config/ad_service_state_monitor.param.yaml +++ b/system_launch/config/ad_service_state_monitor.param.yaml @@ -24,10 +24,11 @@ names: [ "/map/vector_map", "/map/pointcloud_map", - "/perception/obstacle_segmentation/pointcloud", + "/sensing/imu/imu_data", "/initialpose3d", "/localization/pose_twist_fusion_filter/pose", "/perception/object_recognition/objects", + "/perception/obstacle_segmentation/pointcloud", "/planning/mission_planning/route", "/planning/scenario_planning/trajectory", "/control/trajectory_follower/control_cmd", @@ -58,6 +59,11 @@ warn_rate: 5.0 type: "sensor_msgs/msg/PointCloud2" best_effort: True + /sensing/imu/imu_data: + module: "sensing" + timeout: 1.0 + warn_rate: 10.0 + type: "sensor_msgs/msg/Imu" /initialpose3d: module: "localization" diff --git a/system_launch/config/system_monitor/cpu_monitor.param.yaml b/system_launch/config/default/system_monitor/cpu_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/cpu_monitor.param.yaml rename to system_launch/config/default/system_monitor/cpu_monitor.param.yaml diff --git a/system_launch/config/default/system_monitor/gpu_monitor.param.yaml b/system_launch/config/default/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/default/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/default/system_monitor/hdd_monitor.param.yaml b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..9b10d025d4 --- /dev/null +++ b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: /dev/sda2 + temp_warn: 55.0 + temp_error: 70.0 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/default/system_monitor/mem_monitor.param.yaml b/system_launch/config/default/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/default/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/system_monitor/net_monitor.param.yaml b/system_launch/config/default/system_monitor/net_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/net_monitor.param.yaml rename to system_launch/config/default/system_monitor/net_monitor.param.yaml diff --git a/system_launch/config/default/system_monitor/ntp_monitor.param.yaml b/system_launch/config/default/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/default/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/default/system_monitor/process_monitor.param.yaml b/system_launch/config/default/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/default/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/system_error_monitor.param.yaml b/system_launch/config/system_error_monitor.param.yaml index b9a5a4fa79..30739070d5 100644 --- a/system_launch/config/system_error_monitor.param.yaml +++ b/system_launch/config/system_error_monitor.param.yaml @@ -18,8 +18,9 @@ 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 # tmp /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/external_control/local_external_control/device_connection: default /autoware/localization/node_alive_monitoring: default /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } diff --git a/system_launch/config/system_error_monitor.planning_simulation.param.yaml b/system_launch/config/system_error_monitor.planning_simulation.param.yaml index ce081b75b2..b16c0b9938 100644 --- a/system_launch/config/system_error_monitor.planning_simulation.param.yaml +++ b/system_launch/config/system_error_monitor.planning_simulation.param.yaml @@ -18,8 +18,9 @@ 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 # tmp /autoware/control/control_command_gate/node_alive_monitoring: default + # /autoware/control/external_control/local_external_control/device_connection: default /autoware/localization/node_alive_monitoring: default # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml index 1292853c7e..50f9e7512d 100644 --- a/system_launch/launch/system.launch.xml +++ b/system_launch/launch/system.launch.xml @@ -12,13 +12,13 @@ - - - - - - - + + + + + + + From 0055104eeb37e4326cf5c894dbc1956da17e90c4 Mon Sep 17 00:00:00 2001 From: shiorikawata <73450134+shiorikawata@users.noreply.github.com> Date: Tue, 22 Feb 2022 21:19:10 +0900 Subject: [PATCH 156/349] change contol param (#210) --- .../trajectory_follower/1/lateral_controller.param.yaml | 6 +++--- .../1/longitudinal_controller.param.yaml | 4 ++-- .../trajectory_follower/10/lateral_controller.param.yaml | 4 ++-- .../10/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/2/lateral_controller.param.yaml | 4 ++-- .../2/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/3/lateral_controller.param.yaml | 4 ++-- .../3/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/4/lateral_controller.param.yaml | 6 +++--- .../4/longitudinal_controller.param.yaml | 4 ++-- .../trajectory_follower/5/lateral_controller.param.yaml | 4 ++-- .../5/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/6/lateral_controller.param.yaml | 4 ++-- .../6/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/7/lateral_controller.param.yaml | 4 ++-- .../7/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/9/lateral_controller.param.yaml | 4 ++-- .../9/longitudinal_controller.param.yaml | 6 +++--- 18 files changed, 33 insertions(+), 33 deletions(-) diff --git a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml index 82175f2b1a..f112edb09b 100644 --- a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml @@ -20,7 +20,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -28,9 +28,9 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 2.50 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml index fdf44d33ac..c9646d1909 100644 --- a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml @@ -10,7 +10,7 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.49 + stopping_state_stop_dist: 0.50 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 @@ -20,7 +20,7 @@ # drive state kp: 2.0 ki: 0.01 - kd: 0.0 + kd: 0.1 max_out: 1.0 min_out: -5.0 max_p_effort: 0.5 diff --git a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml index 68cbabedae..f112edb09b 100644 --- a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml @@ -20,7 +20,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -28,7 +28,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml index 0ea5a3bfa8..0be0097fe1 100644 --- a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -10,7 +10,7 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.49 + stopping_state_stop_dist: 0.50 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml index 68cbabedae..f112edb09b 100644 --- a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml @@ -20,7 +20,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -28,7 +28,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml index 0ea5a3bfa8..0be0097fe1 100644 --- a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -10,7 +10,7 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.49 + stopping_state_stop_dist: 0.50 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml index 68cbabedae..f112edb09b 100644 --- a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml @@ -20,7 +20,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -28,7 +28,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index e5b7a7fbe2..478b36d359 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -10,7 +10,7 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.49 + stopping_state_stop_dist: 0.50 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml index 68cbabedae..3f1aaf99f5 100644 --- a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml @@ -20,7 +20,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -28,9 +28,9 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.50 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml index b2269a339f..a9846cca38 100644 --- a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -10,7 +10,7 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.49 + stopping_state_stop_dist: 0.50 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 @@ -18,7 +18,7 @@ emergency_state_traj_rot_dev: 0.7854 # drive state - kp: 2.0 + kp: 2.2 ki: 0.02 kd: 0.1 max_out: 1.0 diff --git a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml index f669bbc090..d331b723d2 100644 --- a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml @@ -20,7 +20,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -28,7 +28,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml index 0ea5a3bfa8..0be0097fe1 100644 --- a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -10,7 +10,7 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.49 + stopping_state_stop_dist: 0.50 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml index 68cbabedae..f112edb09b 100644 --- a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml @@ -20,7 +20,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -28,7 +28,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml index f6415ed360..c9646d1909 100644 --- a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -10,7 +10,7 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.49 + stopping_state_stop_dist: 0.50 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml index 68cbabedae..f112edb09b 100644 --- a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml @@ -20,7 +20,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -28,7 +28,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml index 0ea5a3bfa8..0be0097fe1 100644 --- a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -10,7 +10,7 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.49 + stopping_state_stop_dist: 0.50 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml index 68cbabedae..f112edb09b 100644 --- a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml @@ -20,7 +20,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -28,7 +28,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point diff --git a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml index 6d1019ff32..4294d6b4ba 100644 --- a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml @@ -10,7 +10,7 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.49 + stopping_state_stop_dist: 0.50 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 @@ -22,9 +22,9 @@ ki: 0.1 kd: 0.0 max_out: 1.0 - min_out: -5.0 + min_out: -1.0 max_p_effort: 1.0 - min_p_effort: -5.0 + min_p_effort: -1.0 max_i_effort: 0.3 min_i_effort: -0.3 max_d_effort: 0.0 From 4ad9531fbd18cdf79ee7a1477ae466ca4896e1a9 Mon Sep 17 00:00:00 2001 From: TakumiKozaka-T4 <70260442+TakumiKozaka-T4@users.noreply.github.com> Date: Thu, 3 Mar 2022 18:15:10 +0900 Subject: [PATCH 157/349] feat: add launch description for cpu usage adaptor (#210) Signed-off-by: TakumiKozaka-T4 --- .../launch/include/external_api_adaptor.launch.py | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py index f81e88a77f..4f1295588a 100644 --- a/autoware_api_launch/launch/include/external_api_adaptor.launch.py +++ b/autoware_api_launch/launch/include/external_api_adaptor.launch.py @@ -29,6 +29,7 @@ def _create_api_node(node_name, class_name, **kwargs): def generate_launch_description(): components = [ + _create_api_node("cpu_usage", "CpuUsage"), _create_api_node("diagnostics", "Diagnostics"), _create_api_node("door", "Door"), _create_api_node("emergency", "Emergency"), From 935537df41cc5f32747336f2bb7d6a46e094b6a7 Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Fri, 11 Mar 2022 00:22:35 +0900 Subject: [PATCH 158/349] feat: add iou gate (#237) Signed-off-by: Yukihiro Saito --- .../data_association_matrix.param.yaml | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml index 393bb949d0..385eb335c3 100644 --- a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml +++ b/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml @@ -50,3 +50,13 @@ 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #PEDESTRIAN 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #ANIMAL + min_iou_matrix: + #UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL + [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN + 0.1, 0.3, 0.2, 0.2, 0.1, 0.1, 0.1, 0.1, #CAR + 0.1, 0.2, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, #TRUCK + 0.1, 0.2, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, #BUS + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #PEDESTRIAN + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] #ANIMAL From e1b0ba83468b92c5aac4c2075032ba252c6eba60 Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Fri, 11 Mar 2022 11:14:59 +0900 Subject: [PATCH 159/349] fix(detection by tracker): integration miss (#241) * fix bug Signed-off-by: Yukihiro Saito * fix bug Signed-off-by: Yukihiro Saito --- .../camera_lidar_fusion_based_detection.launch.xml | 14 ++++++++++---- .../detection/lidar_based_detection.launch.xml | 1 + 2 files changed, 11 insertions(+), 4 deletions(-) diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index 98bc1019d1..7aa581ee9a 100644 --- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -34,9 +34,10 @@ --> - + - + + @@ -56,7 +57,7 @@ - + @@ -113,7 +114,12 @@ - + + + + + + diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index a836c4198f..285290b7c5 100644 --- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -5,6 +5,7 @@ + From 2d41d9f0e929954b841d70e42006d4ce7e764318 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 17 Mar 2022 14:55:56 +0900 Subject: [PATCH 160/349] feat(side_shift): add parameter to configure shift request time (#226) * feat(side_shift): add parameter to configure shift request time Signed-off-by: Muhammad Zulfaqar Azmi * chore: parameter reconfigure Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_planner/side_shift/side_shift.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml index 79044041b4..815301d55a 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml @@ -6,3 +6,4 @@ shifting_lateral_jerk: 0.2 min_shifting_distance: 5.0 min_shifting_speed: 5.56 + shift_request_time_limit: 1.0 From 5044744bf8e914b3f451df851cc43a808b94ccc0 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 18 Mar 2022 10:02:46 +0900 Subject: [PATCH 161/349] fix(multi_object_tracker): data association parameter (#243) * fix(multi_object_tracker): data association parameter Signed-off-by: tomoya.kimura * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../data_association_matrix.param.yaml | 110 +++++++++--------- 1 file changed, 56 insertions(+), 54 deletions(-) diff --git a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml index 385eb335c3..6e7ac3e9ef 100644 --- a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml +++ b/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml @@ -1,62 +1,64 @@ /**: ros__parameters: can_assign_matrix: - #UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL - [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN - 1, 1, 1, 1, 0, 0, 0, 0, #CAR - 1, 1, 1, 1, 0, 0, 0, 0, #TRUCK - 1, 1, 1, 1, 0, 0, 0, 0, #BUS - 0, 0, 0, 0, 1, 1, 1, 0, #BICYCLE - 0, 0, 0, 0, 1, 1, 1, 0, #MOTORBIKE - 0, 0, 0, 0, 1, 1, 1, 0, #PEDESTRIAN - 0, 0, 0, 0, 0, 0, 0, 1] #ANIMAL + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE PEDESTRIAN + [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN + 1, 1, 1, 1, 1, 0, 0, 0, #CAR + 1, 1, 1, 1, 1, 0, 0, 0, #TRUCK + 1, 1, 1, 1, 1, 0, 0, 0, #BUS + 1, 1, 1, 1, 1, 0, 0, 0, #TRAILER + 0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE + 0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE + 0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN + max_dist_matrix: - #UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL - [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN - 4.0, 2.0, 5.0, 5.0, 1.0, 1.0, 1.0, 1.0, #CAR - 4.0, 2.0, 5.0, 5.0, 1.0, 1.0, 1.0, 1.0, #TRUCK - 4.0, 2.0, 5.0, 5.0, 1.0, 1.0, 1.0, 1.0, #BUS - 3.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #BICYCLE - 3.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #MOTORBIKE - 2.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #PEDESTRIAN - 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] #ANIMAL + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN + 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR + 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK + 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS + 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER + 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #MOTORBIKE + 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #BICYCLE + 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN max_area_matrix: - #UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL - [10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, #UNKNOWN - 12.10, 12.10, 19.75, 32.40, 10000.00, 10000.00, 10000.00, 10000.00, #CAR - 19.75, 12.10, 19.75, 32.40, 10000.00, 10000.00, 10000.00, 10000.00, #TRUCK - 32.40, 12.10, 19.75, 32.40, 10000.00, 10000.00, 10000.00, 10000.00, #BUS - 2.50, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, 10000.00, #BICYCLE - 3.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, 10000.00, #MOTORBIKE - 2.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00, 10000.00, #PEDESTRIAN - 2.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00] #ANIMAL + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, #UNKNOWN + 12.10, 12.10, 19.75, 32.40, 32.40, 10000.00, 10000.00, 10000.00, #CAR + 19.75, 12.10, 19.75, 32.40, 32.40, 10000.00, 10000.00, 10000.00, #TRUCK + 32.40, 12.10, 19.75, 32.40, 32.40, 10000.00, 10000.00, 10000.00, #BUS + 32.40, 12.10, 19.75, 32.40, 32.40, 10000.00, 10000.00, 10000.00, #TRAILER + 3.00, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #MOTORBIKE + 2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #BICYCLE + 2.00, 10000.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00] #PEDESTRIAN min_area_matrix: - #UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL - [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN - 3.600, 3.600, 6.000, 10.000, 0.000, 0.000, 0.000, 0.000, #CAR - 6.000, 3.600, 6.000, 10.000, 0.000, 0.000, 0.000, 0.000, #TRUCK - 10.000, 3.600, 6.000, 10.000, 0.000, 0.000, 0.000, 0.000, #BUS - 0.001, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, 0.000, #BICYCLE - 0.001, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, 0.000, #MOTORBIKE - 0.001, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, 0.000, #PEDESTRIAN - 0.500, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #ANIMAL + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN + 3.600, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #CAR + 6.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRUCK + 10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #BUS + 10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRAILER + 0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, #MOTORBIKE + 0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, #BICYCLE + 0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100] #PEDESTRIAN max_rad_matrix: # If value is greater than pi, it will be ignored. - #UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL - [3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN - 3.150, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, 3.150, #CAR - 3.150, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, 3.150, #TRUCK - 3.150, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, 3.150, #BUS - 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE - 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE - 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #PEDESTRIAN - 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #ANIMAL + #UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN + [3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN + min_iou_matrix: - #UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL - [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN - 0.1, 0.3, 0.2, 0.2, 0.1, 0.1, 0.1, 0.1, #CAR - 0.1, 0.2, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, #TRUCK - 0.1, 0.2, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, #BUS - 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE - 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE - 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #PEDESTRIAN - 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] #ANIMAL + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN + 0.1, 0.3, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] #PEDESTRIAN From 5f547535069c3cc574855f5dac0ab2bb8771e2cb Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Thu, 10 Mar 2022 11:30:50 +0900 Subject: [PATCH 162/349] fix(perception_launch): integration miss related to camera lidar fusion (#234) * fix(perception_launch): integration miss related to camera lidar fusion Signed-off-by: Yukihiro Saito * add detection by tracker Signed-off-by: Yukihiro Saito * Apply suggestions from code review Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> --- .../camera_lidar_fusion_based_detection.launch.xml | 13 ++++++++++--- .../detection/lidar_based_detection.launch.xml | 2 +- 2 files changed, 11 insertions(+), 4 deletions(-) diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index 7aa581ee9a..16fa7234a7 100644 --- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -69,10 +69,8 @@ - - @@ -102,7 +100,7 @@ - + @@ -112,6 +110,14 @@ + + + + + + + + @@ -122,4 +128,5 @@ + diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index 285290b7c5..579e38e8ff 100644 --- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -34,7 +34,7 @@ - + From 61620cf0b1332f08512a41840ab732f22da1d12c Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Tue, 29 Mar 2022 11:39:02 +0900 Subject: [PATCH 163/349] ci(pre-commit): update Black (#253) --- .pre-commit-config.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 0f5ae2f622..08901e6819 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -56,7 +56,7 @@ repos: - id: isort - repo: https://github.com/psf/black - rev: 22.1.0 + rev: 22.3.0 hooks: - id: black args: [--line-length=100] From cb5ee053a8c6638c4ebe5b89e6dfb61c963eb5af Mon Sep 17 00:00:00 2001 From: shiori kawata Date: Tue, 29 Mar 2022 10:54:17 +0900 Subject: [PATCH 164/349] fix max_jerk 7.0 -> 3.5 --- .../trajectory_follower/1/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/10/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/2/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/3/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/4/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/5/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/6/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/7/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/9/longitudinal_controller.param.yaml | 2 +- .../default/longitudinal_controller.param.yaml | 2 +- 10 files changed, 10 insertions(+), 10 deletions(-) diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml index c9646d1909..df24f7eb0e 100644 --- a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 7.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml index 0be0097fe1..9145dd27eb 100644 --- a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 7.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml index 0be0097fe1..9145dd27eb 100644 --- a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 7.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index 478b36d359..2733e24dbc 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 7.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml index a9846cca38..64c3ce71a2 100644 --- a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 7.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml index 0be0097fe1..9145dd27eb 100644 --- a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 7.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml index c9646d1909..df24f7eb0e 100644 --- a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 7.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml index 0be0097fe1..9145dd27eb 100644 --- a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 7.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml index 4294d6b4ba..655b7a9959 100644 --- a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 7.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml index 0ea5a3bfa8..88dc1af426 100644 --- a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml @@ -62,7 +62,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 7.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch From 615b3c08d74cd8abaf605f3680382722f4b32c23 Mon Sep 17 00:00:00 2001 From: shiori kawata Date: Tue, 29 Mar 2022 10:55:10 +0900 Subject: [PATCH 165/349] update smooth stop state param for JT3 --- .../3/longitudinal_controller.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index 2733e24dbc..64f556a852 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -35,10 +35,10 @@ brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.8 - smooth_stop_min_strong_acc: -1.3 - smooth_stop_weak_acc: -0.6 - smooth_stop_weak_stop_acc: -0.8 + smooth_stop_max_strong_acc: -0.85 + smooth_stop_min_strong_acc: -1.35 + smooth_stop_weak_acc: -0.625 + smooth_stop_weak_stop_acc: -0.75 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 smooth_stop_min_running_vel: 0.01 From 21bf08d352a91ba07091d99ab28a2cc643af201e Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Sat, 2 Apr 2022 18:29:14 +0900 Subject: [PATCH 166/349] feat: add debug data logger (#223) Signed-off-by: tomoya.kimura --- system_launch/config/system_error_monitor.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/system_launch/config/system_error_monitor.param.yaml b/system_launch/config/system_error_monitor.param.yaml index 30739070d5..4ec4806050 100644 --- a/system_launch/config/system_error_monitor.param.yaml +++ b/system_launch/config/system_error_monitor.param.yaml @@ -41,6 +41,8 @@ /autoware/vehicle/node_alive_monitoring: default + /autoware/system/debug_data_logger/storage_error: { sf_at: "warn", lf_at: "none", spf_at: "none" } + external_control: /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/control/external_control/external_command_selector/node_alive_monitoring: default From e6c47fa93588f1a145e92e52e75b7cbe21efb210 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 4 Apr 2022 13:48:42 +0900 Subject: [PATCH 167/349] feat: set auto operator change param (#224) Signed-off-by: tomoya.kimura --- .../launch/include/external_api_adaptor.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py index 4f1295588a..3db8dad5b4 100644 --- a/autoware_api_launch/launch/include/external_api_adaptor.launch.py +++ b/autoware_api_launch/launch/include/external_api_adaptor.launch.py @@ -33,7 +33,7 @@ def generate_launch_description(): _create_api_node("diagnostics", "Diagnostics"), _create_api_node("door", "Door"), _create_api_node("emergency", "Emergency"), - _create_api_node("engage", "Engage"), + _create_api_node("engage", "Engage", parameters=[{"auto_operator_change": True}]), _create_api_node("fail_safe_state", "FailSafeState"), _create_api_node("initial_pose", "InitialPose"), _create_api_node("map", "Map"), From e58132b232e20cf4953a1d7ce86570f8a01327b0 Mon Sep 17 00:00:00 2001 From: ito-san Date: Fri, 8 Apr 2022 14:37:09 +0900 Subject: [PATCH 168/349] fix(system_monitor): Update parameters --- .../config/1/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/1/system_monitor/hdd_monitor.param.yaml | 13 ++++++++----- .../config/10/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/10/system_monitor/hdd_monitor.param.yaml | 13 ++++++++----- .../config/2/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/2/system_monitor/hdd_monitor.param.yaml | 13 ++++++++----- .../config/3/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/3/system_monitor/hdd_monitor.param.yaml | 13 ++++++++----- .../config/4/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/4/system_monitor/hdd_monitor.param.yaml | 13 ++++++++----- .../config/5/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/5/system_monitor/hdd_monitor.param.yaml | 13 ++++++++----- .../config/6/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/6/system_monitor/hdd_monitor.param.yaml | 13 ++++++++----- .../config/7/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/7/system_monitor/hdd_monitor.param.yaml | 13 ++++++++----- .../config/8/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/8/system_monitor/hdd_monitor.param.yaml | 13 ++++++++----- .../config/9/system_monitor/cpu_monitor.param.yaml | 5 ++--- .../config/9/system_monitor/hdd_monitor.param.yaml | 13 ++++++++----- .../default/system_monitor/cpu_monitor.param.yaml | 3 ++- .../default/system_monitor/hdd_monitor.param.yaml | 13 ++++++++----- 22 files changed, 110 insertions(+), 86 deletions(-) diff --git a/system_launch/config/1/system_monitor/cpu_monitor.param.yaml b/system_launch/config/1/system_monitor/cpu_monitor.param.yaml index 8ac703c76e..cae88d6a96 100644 --- a/system_launch/config/1/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/1/system_monitor/cpu_monitor.param.yaml @@ -2,8 +2,7 @@ ros__parameters: usage_warn: 0.96 usage_error: 1.00 - usage_count: 2 + usage_warn_count: 2 + usage_error_count: 2 usage_avg: true - load1_warn: 0.90 - load5_warn: 0.80 msr_reader_port: 7634 diff --git a/system_launch/config/1/system_monitor/hdd_monitor.param.yaml b/system_launch/config/1/system_monitor/hdd_monitor.param.yaml index 9b10d025d4..214a693c59 100644 --- a/system_launch/config/1/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/1/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,11 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda2 - temp_warn: 55.0 - temp_error: 70.0 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 64000 # MB(8 hour: 64GB) + free_error: 8000 # MB(last 1 minute: 8GB) diff --git a/system_launch/config/10/system_monitor/cpu_monitor.param.yaml b/system_launch/config/10/system_monitor/cpu_monitor.param.yaml index 8ac703c76e..cae88d6a96 100644 --- a/system_launch/config/10/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/10/system_monitor/cpu_monitor.param.yaml @@ -2,8 +2,7 @@ ros__parameters: usage_warn: 0.96 usage_error: 1.00 - usage_count: 2 + usage_warn_count: 2 + usage_error_count: 2 usage_avg: true - load1_warn: 0.90 - load5_warn: 0.80 msr_reader_port: 7634 diff --git a/system_launch/config/10/system_monitor/hdd_monitor.param.yaml b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml index 9b10d025d4..214a693c59 100644 --- a/system_launch/config/10/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,11 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda2 - temp_warn: 55.0 - temp_error: 70.0 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 64000 # MB(8 hour: 64GB) + free_error: 8000 # MB(last 1 minute: 8GB) diff --git a/system_launch/config/2/system_monitor/cpu_monitor.param.yaml b/system_launch/config/2/system_monitor/cpu_monitor.param.yaml index 8ac703c76e..cae88d6a96 100644 --- a/system_launch/config/2/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/2/system_monitor/cpu_monitor.param.yaml @@ -2,8 +2,7 @@ ros__parameters: usage_warn: 0.96 usage_error: 1.00 - usage_count: 2 + usage_warn_count: 2 + usage_error_count: 2 usage_avg: true - load1_warn: 0.90 - load5_warn: 0.80 msr_reader_port: 7634 diff --git a/system_launch/config/2/system_monitor/hdd_monitor.param.yaml b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml index 9b10d025d4..214a693c59 100644 --- a/system_launch/config/2/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,11 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda2 - temp_warn: 55.0 - temp_error: 70.0 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 64000 # MB(8 hour: 64GB) + free_error: 8000 # MB(last 1 minute: 8GB) diff --git a/system_launch/config/3/system_monitor/cpu_monitor.param.yaml b/system_launch/config/3/system_monitor/cpu_monitor.param.yaml index 8ac703c76e..cae88d6a96 100644 --- a/system_launch/config/3/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/3/system_monitor/cpu_monitor.param.yaml @@ -2,8 +2,7 @@ ros__parameters: usage_warn: 0.96 usage_error: 1.00 - usage_count: 2 + usage_warn_count: 2 + usage_error_count: 2 usage_avg: true - load1_warn: 0.90 - load5_warn: 0.80 msr_reader_port: 7634 diff --git a/system_launch/config/3/system_monitor/hdd_monitor.param.yaml b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml index 9b10d025d4..214a693c59 100644 --- a/system_launch/config/3/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,11 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda2 - temp_warn: 55.0 - temp_error: 70.0 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 64000 # MB(8 hour: 64GB) + free_error: 8000 # MB(last 1 minute: 8GB) diff --git a/system_launch/config/4/system_monitor/cpu_monitor.param.yaml b/system_launch/config/4/system_monitor/cpu_monitor.param.yaml index 8ac703c76e..cae88d6a96 100644 --- a/system_launch/config/4/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/4/system_monitor/cpu_monitor.param.yaml @@ -2,8 +2,7 @@ ros__parameters: usage_warn: 0.96 usage_error: 1.00 - usage_count: 2 + usage_warn_count: 2 + usage_error_count: 2 usage_avg: true - load1_warn: 0.90 - load5_warn: 0.80 msr_reader_port: 7634 diff --git a/system_launch/config/4/system_monitor/hdd_monitor.param.yaml b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml index 9b10d025d4..214a693c59 100644 --- a/system_launch/config/4/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,11 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda2 - temp_warn: 55.0 - temp_error: 70.0 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 64000 # MB(8 hour: 64GB) + free_error: 8000 # MB(last 1 minute: 8GB) diff --git a/system_launch/config/5/system_monitor/cpu_monitor.param.yaml b/system_launch/config/5/system_monitor/cpu_monitor.param.yaml index 8ac703c76e..cae88d6a96 100644 --- a/system_launch/config/5/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/5/system_monitor/cpu_monitor.param.yaml @@ -2,8 +2,7 @@ ros__parameters: usage_warn: 0.96 usage_error: 1.00 - usage_count: 2 + usage_warn_count: 2 + usage_error_count: 2 usage_avg: true - load1_warn: 0.90 - load5_warn: 0.80 msr_reader_port: 7634 diff --git a/system_launch/config/5/system_monitor/hdd_monitor.param.yaml b/system_launch/config/5/system_monitor/hdd_monitor.param.yaml index 6f4785bec2..214a693c59 100644 --- a/system_launch/config/5/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/5/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,11 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/nvme0n1 - temp_warn: 55.0 - temp_error: 70.0 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 64000 # MB(8 hour: 64GB) + free_error: 8000 # MB(last 1 minute: 8GB) diff --git a/system_launch/config/6/system_monitor/cpu_monitor.param.yaml b/system_launch/config/6/system_monitor/cpu_monitor.param.yaml index 8ac703c76e..cae88d6a96 100644 --- a/system_launch/config/6/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/6/system_monitor/cpu_monitor.param.yaml @@ -2,8 +2,7 @@ ros__parameters: usage_warn: 0.96 usage_error: 1.00 - usage_count: 2 + usage_warn_count: 2 + usage_error_count: 2 usage_avg: true - load1_warn: 0.90 - load5_warn: 0.80 msr_reader_port: 7634 diff --git a/system_launch/config/6/system_monitor/hdd_monitor.param.yaml b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml index 9b10d025d4..214a693c59 100644 --- a/system_launch/config/6/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,11 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda2 - temp_warn: 55.0 - temp_error: 70.0 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 64000 # MB(8 hour: 64GB) + free_error: 8000 # MB(last 1 minute: 8GB) diff --git a/system_launch/config/7/system_monitor/cpu_monitor.param.yaml b/system_launch/config/7/system_monitor/cpu_monitor.param.yaml index 8ac703c76e..cae88d6a96 100644 --- a/system_launch/config/7/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/7/system_monitor/cpu_monitor.param.yaml @@ -2,8 +2,7 @@ ros__parameters: usage_warn: 0.96 usage_error: 1.00 - usage_count: 2 + usage_warn_count: 2 + usage_error_count: 2 usage_avg: true - load1_warn: 0.90 - load5_warn: 0.80 msr_reader_port: 7634 diff --git a/system_launch/config/7/system_monitor/hdd_monitor.param.yaml b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml index 9b10d025d4..214a693c59 100644 --- a/system_launch/config/7/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,11 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda2 - temp_warn: 55.0 - temp_error: 70.0 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 64000 # MB(8 hour: 64GB) + free_error: 8000 # MB(last 1 minute: 8GB) diff --git a/system_launch/config/8/system_monitor/cpu_monitor.param.yaml b/system_launch/config/8/system_monitor/cpu_monitor.param.yaml index 8ac703c76e..cae88d6a96 100644 --- a/system_launch/config/8/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/8/system_monitor/cpu_monitor.param.yaml @@ -2,8 +2,7 @@ ros__parameters: usage_warn: 0.96 usage_error: 1.00 - usage_count: 2 + usage_warn_count: 2 + usage_error_count: 2 usage_avg: true - load1_warn: 0.90 - load5_warn: 0.80 msr_reader_port: 7634 diff --git a/system_launch/config/8/system_monitor/hdd_monitor.param.yaml b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml index 9b10d025d4..214a693c59 100644 --- a/system_launch/config/8/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,11 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda2 - temp_warn: 55.0 - temp_error: 70.0 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 64000 # MB(8 hour: 64GB) + free_error: 8000 # MB(last 1 minute: 8GB) diff --git a/system_launch/config/9/system_monitor/cpu_monitor.param.yaml b/system_launch/config/9/system_monitor/cpu_monitor.param.yaml index 8ac703c76e..cae88d6a96 100644 --- a/system_launch/config/9/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/9/system_monitor/cpu_monitor.param.yaml @@ -2,8 +2,7 @@ ros__parameters: usage_warn: 0.96 usage_error: 1.00 - usage_count: 2 + usage_warn_count: 2 + usage_error_count: 2 usage_avg: true - load1_warn: 0.90 - load5_warn: 0.80 msr_reader_port: 7634 diff --git a/system_launch/config/9/system_monitor/hdd_monitor.param.yaml b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml index 9b10d025d4..214a693c59 100644 --- a/system_launch/config/9/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,11 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda2 - temp_warn: 55.0 - temp_error: 70.0 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 64000 # MB(8 hour: 64GB) + free_error: 8000 # MB(last 1 minute: 8GB) diff --git a/system_launch/config/default/system_monitor/cpu_monitor.param.yaml b/system_launch/config/default/system_monitor/cpu_monitor.param.yaml index 2f049519aa..cae88d6a96 100644 --- a/system_launch/config/default/system_monitor/cpu_monitor.param.yaml +++ b/system_launch/config/default/system_monitor/cpu_monitor.param.yaml @@ -2,6 +2,7 @@ ros__parameters: usage_warn: 0.96 usage_error: 1.00 - usage_count: 2 + usage_warn_count: 2 + usage_error_count: 2 usage_avg: true msr_reader_port: 7634 diff --git a/system_launch/config/default/system_monitor/hdd_monitor.param.yaml b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml index 9b10d025d4..214a693c59 100644 --- a/system_launch/config/default/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml @@ -4,8 +4,11 @@ num_disks: 1 disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: - name: /dev/sda2 - temp_warn: 55.0 - temp_error: 70.0 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 64000 # MB(8 hour: 64GB) + free_error: 8000 # MB(last 1 minute: 8GB) From df0a7be0e3d192050bc51c266eef9f6899adf4b2 Mon Sep 17 00:00:00 2001 From: ito-san Date: Fri, 8 Apr 2022 14:53:36 +0900 Subject: [PATCH 169/349] Correct hdd parameters --- system_launch/config/1/system_monitor/hdd_monitor.param.yaml | 4 ++-- system_launch/config/10/system_monitor/hdd_monitor.param.yaml | 4 ++-- system_launch/config/2/system_monitor/hdd_monitor.param.yaml | 4 ++-- system_launch/config/3/system_monitor/hdd_monitor.param.yaml | 4 ++-- system_launch/config/4/system_monitor/hdd_monitor.param.yaml | 4 ++-- system_launch/config/5/system_monitor/hdd_monitor.param.yaml | 4 ++-- system_launch/config/6/system_monitor/hdd_monitor.param.yaml | 4 ++-- system_launch/config/7/system_monitor/hdd_monitor.param.yaml | 4 ++-- system_launch/config/8/system_monitor/hdd_monitor.param.yaml | 4 ++-- system_launch/config/9/system_monitor/hdd_monitor.param.yaml | 4 ++-- .../config/default/system_monitor/hdd_monitor.param.yaml | 4 ++-- 11 files changed, 22 insertions(+), 22 deletions(-) diff --git a/system_launch/config/1/system_monitor/hdd_monitor.param.yaml b/system_launch/config/1/system_monitor/hdd_monitor.param.yaml index 214a693c59..91730c8f95 100644 --- a/system_launch/config/1/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/1/system_monitor/hdd_monitor.param.yaml @@ -10,5 +10,5 @@ power_on_hours_warn: 3000000 total_data_written_warn: 11417920 # =440TB (1unit=32MB) total_data_written_safety_factor: 0.05 - free_warn: 64000 # MB(8 hour: 64GB) - free_error: 8000 # MB(last 1 minute: 8GB) + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/10/system_monitor/hdd_monitor.param.yaml b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml index 214a693c59..91730c8f95 100644 --- a/system_launch/config/10/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml @@ -10,5 +10,5 @@ power_on_hours_warn: 3000000 total_data_written_warn: 11417920 # =440TB (1unit=32MB) total_data_written_safety_factor: 0.05 - free_warn: 64000 # MB(8 hour: 64GB) - free_error: 8000 # MB(last 1 minute: 8GB) + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/2/system_monitor/hdd_monitor.param.yaml b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml index 214a693c59..91730c8f95 100644 --- a/system_launch/config/2/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml @@ -10,5 +10,5 @@ power_on_hours_warn: 3000000 total_data_written_warn: 11417920 # =440TB (1unit=32MB) total_data_written_safety_factor: 0.05 - free_warn: 64000 # MB(8 hour: 64GB) - free_error: 8000 # MB(last 1 minute: 8GB) + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/3/system_monitor/hdd_monitor.param.yaml b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml index 214a693c59..91730c8f95 100644 --- a/system_launch/config/3/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml @@ -10,5 +10,5 @@ power_on_hours_warn: 3000000 total_data_written_warn: 11417920 # =440TB (1unit=32MB) total_data_written_safety_factor: 0.05 - free_warn: 64000 # MB(8 hour: 64GB) - free_error: 8000 # MB(last 1 minute: 8GB) + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/4/system_monitor/hdd_monitor.param.yaml b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml index 214a693c59..91730c8f95 100644 --- a/system_launch/config/4/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml @@ -10,5 +10,5 @@ power_on_hours_warn: 3000000 total_data_written_warn: 11417920 # =440TB (1unit=32MB) total_data_written_safety_factor: 0.05 - free_warn: 64000 # MB(8 hour: 64GB) - free_error: 8000 # MB(last 1 minute: 8GB) + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/5/system_monitor/hdd_monitor.param.yaml b/system_launch/config/5/system_monitor/hdd_monitor.param.yaml index 214a693c59..91730c8f95 100644 --- a/system_launch/config/5/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/5/system_monitor/hdd_monitor.param.yaml @@ -10,5 +10,5 @@ power_on_hours_warn: 3000000 total_data_written_warn: 11417920 # =440TB (1unit=32MB) total_data_written_safety_factor: 0.05 - free_warn: 64000 # MB(8 hour: 64GB) - free_error: 8000 # MB(last 1 minute: 8GB) + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/6/system_monitor/hdd_monitor.param.yaml b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml index 214a693c59..91730c8f95 100644 --- a/system_launch/config/6/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml @@ -10,5 +10,5 @@ power_on_hours_warn: 3000000 total_data_written_warn: 11417920 # =440TB (1unit=32MB) total_data_written_safety_factor: 0.05 - free_warn: 64000 # MB(8 hour: 64GB) - free_error: 8000 # MB(last 1 minute: 8GB) + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/7/system_monitor/hdd_monitor.param.yaml b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml index 214a693c59..91730c8f95 100644 --- a/system_launch/config/7/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml @@ -10,5 +10,5 @@ power_on_hours_warn: 3000000 total_data_written_warn: 11417920 # =440TB (1unit=32MB) total_data_written_safety_factor: 0.05 - free_warn: 64000 # MB(8 hour: 64GB) - free_error: 8000 # MB(last 1 minute: 8GB) + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/8/system_monitor/hdd_monitor.param.yaml b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml index 214a693c59..91730c8f95 100644 --- a/system_launch/config/8/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml @@ -10,5 +10,5 @@ power_on_hours_warn: 3000000 total_data_written_warn: 11417920 # =440TB (1unit=32MB) total_data_written_safety_factor: 0.05 - free_warn: 64000 # MB(8 hour: 64GB) - free_error: 8000 # MB(last 1 minute: 8GB) + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/9/system_monitor/hdd_monitor.param.yaml b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml index 214a693c59..91730c8f95 100644 --- a/system_launch/config/9/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml @@ -10,5 +10,5 @@ power_on_hours_warn: 3000000 total_data_written_warn: 11417920 # =440TB (1unit=32MB) total_data_written_safety_factor: 0.05 - free_warn: 64000 # MB(8 hour: 64GB) - free_error: 8000 # MB(last 1 minute: 8GB) + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/default/system_monitor/hdd_monitor.param.yaml b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml index 214a693c59..91730c8f95 100644 --- a/system_launch/config/default/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml @@ -10,5 +10,5 @@ power_on_hours_warn: 3000000 total_data_written_warn: 11417920 # =440TB (1unit=32MB) total_data_written_safety_factor: 0.05 - free_warn: 64000 # MB(8 hour: 64GB) - free_error: 8000 # MB(last 1 minute: 8GB) + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) From d47abe98715dc8d303069a015657f02fc3d8b632 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 11 Apr 2022 13:24:00 +0900 Subject: [PATCH 170/349] fix: max steer deg in avoidance param (#229) Signed-off-by: tomoya.kimura --- .../obstacle_avoidance_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 355db7e65f..c522297ad3 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -68,7 +68,7 @@ delta_arc_length_for_mpt_points: 0.5 # delta arc length when generating mpt [m] kinematics: - max_steer_deg: 40.0 # max steering angle [deg] + max_steer_deg: 37.0 # max steering angle [deg] # If this parameter is commented out, the parameter is set as below by default. # The logic could be `optimization_center_offset = vehicle_info.wheel_base * 0.8` From c629cd381880a197b359c02a1855b765b82ed904 Mon Sep 17 00:00:00 2001 From: shiori kawata Date: Mon, 11 Apr 2022 15:35:41 +0900 Subject: [PATCH 171/349] fix: lateral_collision_margin in avoidance param (1.8 -> 1.0) --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 33a3be7245..d691228589 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -14,7 +14,7 @@ threshold_speed_object_is_stopped: 1.0 # [m/s] object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 2.0 # [m] - lateral_collision_margin: 1.8 # [m] + lateral_collision_margin: 1.0 # [m] lateral_collision_safety_buffer: 0.7 # [m] prepare_time: 2.0 # [s] From 61df5f9de4332df532ac8d118cc2d96b78f54d26 Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Thu, 21 Apr 2022 15:00:12 +0900 Subject: [PATCH 172/349] feat(rviz): add date time for debug (#232) --- autoware_launch/rviz/autoware.rviz | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 3395c11bf4..c3c8333457 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -18,11 +18,8 @@ Panels: Splitter Ratio: 0.5 - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel Name: InitialPoseButtonPanel - - Class: rviz_common/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" + - Class: AutowareDateTimePanel + Name: AutowareDateTimePanel Preferences: PromptSaveOnExit: true Toolbars: From 4a5b23b4b3c84a4342bef2aef92431ee9e01369f Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Fri, 22 Apr 2022 12:05:49 +0900 Subject: [PATCH 173/349] fix core sync upstream Signed-off-by: tomoya.kimura --- .../trajectory_follower/1/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/10/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/2/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/3/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/4/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/5/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/6/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/7/longitudinal_controller.param.yaml | 3 ++- .../default/longitudinal_controller.param.yaml | 3 ++- perception_launch/launch/perception.launch.xml | 2 +- 10 files changed, 19 insertions(+), 10 deletions(-) diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml index df24f7eb0e..1bc801567a 100644 --- a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml @@ -10,7 +10,8 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.50 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml index 9145dd27eb..bf683b3f19 100644 --- a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -10,7 +10,8 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.50 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml index 9145dd27eb..bf683b3f19 100644 --- a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -10,7 +10,8 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.50 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index 64f556a852..ba221e65d3 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -10,7 +10,8 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.50 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml index 64c3ce71a2..d96541f335 100644 --- a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -10,7 +10,8 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.50 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml index 9145dd27eb..bf683b3f19 100644 --- a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -10,7 +10,8 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.50 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml index df24f7eb0e..1bc801567a 100644 --- a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -10,7 +10,8 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.50 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml index 9145dd27eb..bf683b3f19 100644 --- a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -10,7 +10,8 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.50 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml index 88dc1af426..bf683b3f19 100644 --- a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml @@ -10,7 +10,8 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.49 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml index 71a4e69105..9a43d6c615 100644 --- a/perception_launch/launch/perception.launch.xml +++ b/perception_launch/launch/perception.launch.xml @@ -2,7 +2,7 @@ - + From c6b124a8c99e5e110669196e6b7dfb27bd7bdc4b Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Mon, 9 May 2022 12:47:55 +0900 Subject: [PATCH 174/349] feat(system_launch): add diag related to traffic light (#234) Signed-off-by: tanaka3 --- system_launch/config/ad_service_state_monitor.param.yaml | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/system_launch/config/ad_service_state_monitor.param.yaml b/system_launch/config/ad_service_state_monitor.param.yaml index 3c6bd32356..728da9c481 100644 --- a/system_launch/config/ad_service_state_monitor.param.yaml +++ b/system_launch/config/ad_service_state_monitor.param.yaml @@ -29,6 +29,7 @@ "/localization/pose_twist_fusion_filter/pose", "/perception/object_recognition/objects", "/perception/obstacle_segmentation/pointcloud", + "/perception/traffic_light_recognition/traffic_signals", "/planning/mission_planning/route", "/planning/scenario_planning/trajectory", "/control/trajectory_follower/control_cmd", @@ -59,6 +60,7 @@ warn_rate: 5.0 type: "sensor_msgs/msg/PointCloud2" best_effort: True + /sensing/imu/imu_data: module: "sensing" timeout: 1.0 @@ -89,6 +91,13 @@ # to be defined for a topic. By default this is set to not use have features. # type: ["tier4_perception_msgs/msg/DynamicObjectArray", "tier4_perception_msgs/msg/DynamicObjectWithFeatureArray"] + # Topic rate for traffic light recognition + /perception/traffic_light_recognition/traffic_signals: + module: "perception" + timeout: 1.0 + warn_rate: 5.0 + type: "autoware_auto_perception_msgs/msg/TrafficSignalArray" + /planning/mission_planning/route: module: "planning" timeout: 0.0 From 02af375a25a99ee85e93fb0e3704d9f81dc0424e Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 13 May 2022 15:47:35 +0900 Subject: [PATCH 175/349] fix: longitudinal controller param (#238) Signed-off-by: tomoya.kimura --- .../trajectory_follower/1/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/10/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/2/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/3/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/4/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/5/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/6/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/7/longitudinal_controller.param.yaml | 2 +- .../default/longitudinal_controller.param.yaml | 2 +- 9 files changed, 9 insertions(+), 9 deletions(-) diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml index 1bc801567a..fe697a1e58 100644 --- a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - control_rate: 30.0 + longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml index bf683b3f19..fac22866c5 100644 --- a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - control_rate: 30.0 + longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml index bf683b3f19..fac22866c5 100644 --- a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - control_rate: 30.0 + longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index ba221e65d3..741d301cbf 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - control_rate: 30.0 + longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml index d96541f335..4254fdbbdc 100644 --- a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - control_rate: 30.0 + longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml index bf683b3f19..fac22866c5 100644 --- a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - control_rate: 30.0 + longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml index 1bc801567a..fe697a1e58 100644 --- a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - control_rate: 30.0 + longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml index bf683b3f19..fac22866c5 100644 --- a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - control_rate: 30.0 + longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml index bf683b3f19..fac22866c5 100644 --- a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - control_rate: 30.0 + longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true From 72b66a88feeee7de3d71feded8308e6176f00312 Mon Sep 17 00:00:00 2001 From: tanaka3 Date: Mon, 16 May 2022 23:21:06 +0900 Subject: [PATCH 176/349] fix: update detection error rate to 3.0 Signed-off-by: tanaka3 --- system_launch/config/ad_service_state_monitor.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system_launch/config/ad_service_state_monitor.param.yaml b/system_launch/config/ad_service_state_monitor.param.yaml index 728da9c481..03b6785be3 100644 --- a/system_launch/config/ad_service_state_monitor.param.yaml +++ b/system_launch/config/ad_service_state_monitor.param.yaml @@ -84,7 +84,7 @@ /perception/object_recognition/objects: module: "perception" timeout: 1.0 - warn_rate: 5.0 + warn_rate: 3.0 type: "autoware_auto_perception_msgs/msg/PredictedObjects" # This topic could have two different types depending on the launch flags used. # The implementation of subscriptions in ROS2 does not allow for multiple types From 07b6372b19031369692decf24eba1d30f7c7aaf3 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 19 May 2022 21:58:00 +0900 Subject: [PATCH 177/349] feat: add down-sample filter before detection module (#244) * feat: add down-sample filter before detection module Signed-off-by: tomoya.kimura * fix name Signed-off-by: tomoya.kimura * fix topic name Signed-off-by: tomoya.kimura --- ...ra_lidar_fusion_based_detection.launch.xml | 16 ++- .../detection/detection.launch.xml | 6 + .../detection/detection_preprocess.launch.py | 136 ++++++++++++++++++ .../lidar_based_detection.launch.xml | 16 ++- .../launch/perception.launch.xml | 2 + 5 files changed, 164 insertions(+), 12 deletions(-) create mode 100644 perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index af20464cdf..78db61de23 100644 --- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -21,6 +21,8 @@ + + - + - - - - - + + + + + + + diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml index 0fc359043d..b248a2786e 100644 --- a/perception_launch/launch/object_recognition/detection/detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/detection.launch.xml @@ -23,6 +23,8 @@ + + @@ -47,6 +49,8 @@ + + @@ -55,6 +59,8 @@ + + diff --git a/perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py b/perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py new file mode 100644 index 0000000000..0ed9100a48 --- /dev/null +++ b/perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py @@ -0,0 +1,136 @@ +# Copyright 2020 Tier IV, Inc. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +import launch +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes +from launch_ros.descriptions import ComposableNode + + +class DetectionPreProcessPipeline: + def __init__(self, context): + self.output_topic = ( + "/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" + ) + + def create_common_pipeline(self, output_topic): + components = [] + downsample_topic = "/perception/obstacle_segmentation/downsampled/pointcloud" + components.append( + ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent", + name="voxel_grid_downsample_filter", + remappings=[ + ("input", LaunchConfiguration("input_topic")), + ("output", downsample_topic), + ], + parameters=[ + { + "voxel_size_x": 0.1, + "voxel_size_y": 0.1, + "voxel_size_z": 0.1, + } + ], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ) + ) + + components.append( + ComposableNode( + package="compare_map_segmentation", + plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent", + name="voxel_based_compare_map_filter", + remappings=[ + ("input", downsample_topic), + ("map", "/map/pointcloud_map"), + ("output", output_topic), + ], + parameters=[ + { + "distance_threshold": 0.5, + } + ], + extra_arguments=[ + {"use_intra_process_comms": False}, + ], + ) + ) + return components + + +def launch_setup(context, *args, **kwargs): + pipeline = DetectionPreProcessPipeline(context) + + components = [] + components.extend( + pipeline.create_common_pipeline( + output_topic=pipeline.output_topic, + ) + ) + + individual_container = ComposableNodeContainer( + name=LaunchConfiguration("container_name"), + namespace="", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + composable_node_descriptions=components, + condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")), + output="screen", + ) + pointcloud_container_loader = LoadComposableNodes( + composable_node_descriptions=components, + target_container=LaunchConfiguration("container_name"), + condition=IfCondition(LaunchConfiguration("use_pointcloud_container")), + ) + return [individual_container, pointcloud_container_loader] + + +def generate_launch_description(): + + launch_arguments = [] + + def add_launch_arg(name: str, default_value=None): + launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value)) + + add_launch_arg("input_topic", "") + add_launch_arg("use_multithread", "False") + add_launch_arg("use_intra_process", "True") + add_launch_arg("use_pointcloud_container", "False") + add_launch_arg("container_name", "detection_preprocess_pipeline_container") + + set_container_executable = SetLaunchConfiguration( + "container_executable", + "component_container", + condition=UnlessCondition(LaunchConfiguration("use_multithread")), + ) + + set_container_mt_executable = SetLaunchConfiguration( + "container_executable", + "component_container_mt", + condition=IfCondition(LaunchConfiguration("use_multithread")), + ) + + return launch.LaunchDescription( + launch_arguments + + [set_container_executable, set_container_mt_executable] + + [OpaqueFunction(function=launch_setup)] + ) diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index e32dcac20b..aa5624c823 100644 --- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -4,14 +4,18 @@ + + - + - - - - - + + + + + + + diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml index 2a5dc3ca4d..64eac80723 100644 --- a/perception_launch/launch/perception.launch.xml +++ b/perception_launch/launch/perception.launch.xml @@ -85,6 +85,8 @@ + + From 3630f2b7a8998f754ac652f4b5bfea1df191b3e6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 20 May 2022 11:06:51 +0900 Subject: [PATCH 178/349] fix(planning_launch): modify EB QP parameter (#243) Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index a432f44740..bb65aebabf 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -109,7 +109,7 @@ common: num_joint_buffer_points: 3 # number of joint buffer points num_offset_for_begin_idx: 2 # number of shifting points for beginning non-fix idx - delta_arc_length_for_eb: 0.6 # 1.0 # delta arc length when optimizing[m] When the value is around 1.0, overshoot at the corner happens. + delta_arc_length_for_eb: 1.0 # delta arc length when optimizing[m] When the value is around 1.0, overshoot at the corner happens. num_sampling_points_for_eb: 95 # number of optimizing points # must be longer than mpt points clearance: From 68fde2404ccf2533fe8f8545a40ec4ccb4187931 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 20 May 2022 13:18:00 +0900 Subject: [PATCH 179/349] feat: change emergency param (#248) Signed-off-by: tomoya.kimura --- system_launch/config/ad_service_state_monitor.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system_launch/config/ad_service_state_monitor.param.yaml b/system_launch/config/ad_service_state_monitor.param.yaml index 03b6785be3..c4fb0453f3 100644 --- a/system_launch/config/ad_service_state_monitor.param.yaml +++ b/system_launch/config/ad_service_state_monitor.param.yaml @@ -84,7 +84,7 @@ /perception/object_recognition/objects: module: "perception" timeout: 1.0 - warn_rate: 3.0 + warn_rate: 2.0 type: "autoware_auto_perception_msgs/msg/PredictedObjects" # This topic could have two different types depending on the launch flags used. # The implementation of subscriptions in ROS2 does not allow for multiple types @@ -95,7 +95,7 @@ /perception/traffic_light_recognition/traffic_signals: module: "perception" timeout: 1.0 - warn_rate: 5.0 + warn_rate: 2.0 type: "autoware_auto_perception_msgs/msg/TrafficSignalArray" /planning/mission_planning/route: From 096ccbabe295624eef6178195458e1facd268bed Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Fri, 20 May 2022 14:56:33 +0900 Subject: [PATCH 180/349] feat(distortion_corrector): use distortion corrector (#246) * Merge commit '5750f63bce14aaa06b5b9b0b8f58a5d44989b333' Signed-off-by: tanaka3 * revert: detection change Signed-off-by: tanaka3 --- localization_launch/launch/localization.launch.xml | 2 +- perception_launch/launch/perception.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/localization_launch/launch/localization.launch.xml b/localization_launch/launch/localization.launch.xml index 20b29e5afe..91fbe6ac97 100644 --- a/localization_launch/launch/localization.launch.xml +++ b/localization_launch/launch/localization.launch.xml @@ -1,6 +1,6 @@ - + diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml index 64eac80723..9b525a1dcb 100644 --- a/perception_launch/launch/perception.launch.xml +++ b/perception_launch/launch/perception.launch.xml @@ -2,7 +2,7 @@ - + From 731449ed74831c9c63d0316db8cf518096c2f437 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 27 May 2022 16:49:01 +0900 Subject: [PATCH 181/349] feat: change ad_service_param (#251) Signed-off-by: tomoya.kimura --- system_launch/config/ad_service_state_monitor.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system_launch/config/ad_service_state_monitor.param.yaml b/system_launch/config/ad_service_state_monitor.param.yaml index c4fb0453f3..e0d1b8cdd1 100644 --- a/system_launch/config/ad_service_state_monitor.param.yaml +++ b/system_launch/config/ad_service_state_monitor.param.yaml @@ -57,7 +57,7 @@ /perception/obstacle_segmentation/pointcloud: module: "sensing" timeout: 1.0 - warn_rate: 5.0 + warn_rate: 2.0 type: "sensor_msgs/msg/PointCloud2" best_effort: True From 94d421d09901ebf5577f56f027430c7baccd2069 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Fri, 17 Jun 2022 17:09:30 +0900 Subject: [PATCH 182/349] Merge branch 'tier4/universe' Signed-off-by: tomoya.kimura --- .github/workflows/sync-param-files.yaml | 8 +- .../include/external_api_adaptor.launch.py | 2 +- autoware_launch/launch/autoware.launch.xml | 7 +- .../launch/logging_simulator.launch.xml | 5 +- .../launch/planning_simulator.launch.xml | 8 +- autoware_launch/rviz/autoware.rviz | 7 +- .../1/lateral_controller.param.yaml | 71 +++++++++ .../1/longitudinal_controller.param.yaml | 73 ++++++++++ .../10/lateral_controller.param.yaml | 71 +++++++++ .../10/longitudinal_controller.param.yaml | 73 ++++++++++ .../2/lateral_controller.param.yaml | 71 +++++++++ .../2/longitudinal_controller.param.yaml | 73 ++++++++++ .../3/lateral_controller.param.yaml | 71 +++++++++ .../3/longitudinal_controller.param.yaml | 73 ++++++++++ .../4/lateral_controller.param.yaml | 71 +++++++++ .../4/longitudinal_controller.param.yaml | 73 ++++++++++ .../5/lateral_controller.param.yaml | 71 +++++++++ .../5/longitudinal_controller.param.yaml | 73 ++++++++++ .../6/lateral_controller.param.yaml | 71 +++++++++ .../6/longitudinal_controller.param.yaml | 73 ++++++++++ .../7/lateral_controller.param.yaml | 71 +++++++++ .../7/longitudinal_controller.param.yaml | 73 ++++++++++ .../9/lateral_controller.param.yaml | 71 +++++++++ .../longitudinal_controller.param.yaml | 12 +- .../lateral_controller.param.yaml} | 30 ++-- .../longitudinal_controller.param.yaml | 73 ++++++++++ .../pure_pursuit.param.yaml | 9 -- control_launch/launch/control.launch.py | 9 +- control_launch/launch/control.launch.xml | 8 +- .../detection/detection_preprocess.param.yaml | 5 + ...ra_lidar_fusion_based_detection.launch.xml | 16 ++- .../detection/detection.launch.xml | 6 + .../detection/detection_preprocess.launch.py | 136 ++++++++++++++++++ .../lidar_based_detection.launch.xml | 16 ++- .../launch/perception.launch.xml | 10 +- .../lane_change/lane_change.param.yaml | 10 +- .../behavior_velocity_planner.param.yaml | 4 +- .../obstacle_avoidance_planner.param.yaml | 6 +- .../adaptive_cruise_control.param.yaml | 32 ++--- .../obstacle_stop_planner.param.yaml | 4 +- planning_launch/launch/planning.launch.xml | 4 + .../behavior_planning.launch.py | 40 +++++- .../behavior_planning.launch.xml | 14 +- .../motion_planning/motion_planning.launch.py | 3 +- .../motion_planning.launch.xml | 1 + .../system_monitor/cpu_monitor.param.yaml | 0 .../system_monitor/gpu_monitor.param.yaml | 0 .../system_monitor/hdd_monitor.param.yaml | 6 +- .../system_monitor/mem_monitor.param.yaml | 0 .../1/system_monitor/net_monitor.param.yaml | 5 + .../system_monitor/ntp_monitor.param.yaml | 0 .../system_monitor/process_monitor.param.yaml | 0 .../10/system_monitor/cpu_monitor.param.yaml | 8 ++ .../10/system_monitor/gpu_monitor.param.yaml | 8 ++ .../10/system_monitor/hdd_monitor.param.yaml | 14 ++ .../10/system_monitor/mem_monitor.param.yaml | 3 + .../10/system_monitor/net_monitor.param.yaml | 5 + .../10/system_monitor/ntp_monitor.param.yaml | 5 + .../system_monitor/process_monitor.param.yaml | 3 + .../2/system_monitor/cpu_monitor.param.yaml | 8 ++ .../2/system_monitor/gpu_monitor.param.yaml | 8 ++ .../2/system_monitor/hdd_monitor.param.yaml | 14 ++ .../2/system_monitor/mem_monitor.param.yaml | 3 + .../2/system_monitor/net_monitor.param.yaml | 5 + .../2/system_monitor/ntp_monitor.param.yaml | 5 + .../system_monitor/process_monitor.param.yaml | 3 + .../3/system_monitor/cpu_monitor.param.yaml | 8 ++ .../3/system_monitor/gpu_monitor.param.yaml | 8 ++ .../3/system_monitor/hdd_monitor.param.yaml | 14 ++ .../3/system_monitor/mem_monitor.param.yaml | 3 + .../3/system_monitor/net_monitor.param.yaml | 5 + .../3/system_monitor/ntp_monitor.param.yaml | 5 + .../system_monitor/process_monitor.param.yaml | 3 + .../4/system_monitor/cpu_monitor.param.yaml | 8 ++ .../4/system_monitor/gpu_monitor.param.yaml | 8 ++ .../4/system_monitor/hdd_monitor.param.yaml | 14 ++ .../4/system_monitor/mem_monitor.param.yaml | 3 + .../4/system_monitor/net_monitor.param.yaml | 5 + .../4/system_monitor/ntp_monitor.param.yaml | 5 + .../system_monitor/process_monitor.param.yaml | 3 + .../5/system_monitor/cpu_monitor.param.yaml | 8 ++ .../5/system_monitor/gpu_monitor.param.yaml | 8 ++ .../5/system_monitor/hdd_monitor.param.yaml | 14 ++ .../5/system_monitor/mem_monitor.param.yaml | 3 + .../5/system_monitor/net_monitor.param.yaml | 5 + .../5/system_monitor/ntp_monitor.param.yaml | 5 + .../system_monitor/process_monitor.param.yaml | 3 + .../6/system_monitor/cpu_monitor.param.yaml | 8 ++ .../6/system_monitor/gpu_monitor.param.yaml | 8 ++ .../6/system_monitor/hdd_monitor.param.yaml | 14 ++ .../6/system_monitor/mem_monitor.param.yaml | 3 + .../6/system_monitor/net_monitor.param.yaml | 5 + .../6/system_monitor/ntp_monitor.param.yaml | 5 + .../system_monitor/process_monitor.param.yaml | 3 + .../7/system_monitor/cpu_monitor.param.yaml | 8 ++ .../7/system_monitor/gpu_monitor.param.yaml | 8 ++ .../7/system_monitor/hdd_monitor.param.yaml | 14 ++ .../7/system_monitor/mem_monitor.param.yaml | 3 + .../7/system_monitor/net_monitor.param.yaml | 5 + .../7/system_monitor/ntp_monitor.param.yaml | 5 + .../system_monitor/process_monitor.param.yaml | 3 + .../8/system_monitor/cpu_monitor.param.yaml | 8 ++ .../8/system_monitor/gpu_monitor.param.yaml | 8 ++ .../8/system_monitor/hdd_monitor.param.yaml | 14 ++ .../8/system_monitor/mem_monitor.param.yaml | 3 + .../8/system_monitor/net_monitor.param.yaml | 5 + .../8/system_monitor/ntp_monitor.param.yaml | 5 + .../system_monitor/process_monitor.param.yaml | 3 + .../9/system_monitor/cpu_monitor.param.yaml | 8 ++ .../9/system_monitor/gpu_monitor.param.yaml | 8 ++ .../9/system_monitor/hdd_monitor.param.yaml | 14 ++ .../9/system_monitor/mem_monitor.param.yaml | 3 + .../9/system_monitor/net_monitor.param.yaml | 5 + .../9/system_monitor/ntp_monitor.param.yaml | 5 + .../system_monitor/process_monitor.param.yaml | 3 + .../ad_service_state_monitor.param.yaml | 21 ++- .../system_monitor/cpu_monitor.param.yaml | 8 ++ .../system_monitor/gpu_monitor.param.yaml | 8 ++ .../system_monitor/hdd_monitor.param.yaml | 14 ++ .../system_monitor/mem_monitor.param.yaml | 3 + .../system_monitor/net_monitor.param.yaml | 0 .../system_monitor/ntp_monitor.param.yaml | 5 + .../system_monitor/process_monitor.param.yaml | 3 + .../config/system_error_monitor.param.yaml | 5 +- system_launch/launch/system.launch.xml | 14 +- 125 files changed, 2099 insertions(+), 115 deletions(-) create mode 100644 control_launch/config/trajectory_follower/1/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/10/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/2/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/3/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/4/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/5/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/6/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/7/lateral_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml create mode 100644 control_launch/config/trajectory_follower/9/lateral_controller.param.yaml rename control_launch/config/trajectory_follower/{ => 9}/longitudinal_controller.param.yaml (89%) rename control_launch/config/trajectory_follower/{mpc_follower.param.yaml => default/lateral_controller.param.yaml} (80%) create mode 100644 control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml delete mode 100644 control_launch/config/trajectory_follower/pure_pursuit.param.yaml create mode 100644 perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml create mode 100644 perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py rename system_launch/config/{ => 1}/system_monitor/cpu_monitor.param.yaml (100%) rename system_launch/config/{ => 1}/system_monitor/gpu_monitor.param.yaml (100%) rename system_launch/config/{ => 1}/system_monitor/hdd_monitor.param.yaml (75%) rename system_launch/config/{ => 1}/system_monitor/mem_monitor.param.yaml (100%) create mode 100644 system_launch/config/1/system_monitor/net_monitor.param.yaml rename system_launch/config/{ => 1}/system_monitor/ntp_monitor.param.yaml (100%) rename system_launch/config/{ => 1}/system_monitor/process_monitor.param.yaml (100%) create mode 100644 system_launch/config/10/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/mem_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/net_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/process_monitor.param.yaml create mode 100644 system_launch/config/default/system_monitor/cpu_monitor.param.yaml create mode 100644 system_launch/config/default/system_monitor/gpu_monitor.param.yaml create mode 100644 system_launch/config/default/system_monitor/hdd_monitor.param.yaml create mode 100644 system_launch/config/default/system_monitor/mem_monitor.param.yaml rename system_launch/config/{ => default}/system_monitor/net_monitor.param.yaml (100%) create mode 100644 system_launch/config/default/system_monitor/ntp_monitor.param.yaml create mode 100644 system_launch/config/default/system_monitor/process_monitor.param.yaml diff --git a/.github/workflows/sync-param-files.yaml b/.github/workflows/sync-param-files.yaml index c119083f9d..06d580e9ff 100644 --- a/.github/workflows/sync-param-files.yaml +++ b/.github/workflows/sync-param-files.yaml @@ -1,4 +1,4 @@ -name: sync-param-files +name: sync-upstream on: schedule: @@ -6,7 +6,7 @@ on: workflow_dispatch: jobs: - sync-param-files: + sync-upstream: runs-on: ubuntu-latest steps: - name: Generate token @@ -16,8 +16,8 @@ jobs: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} - - name: Run sync-files - uses: autowarefoundation/autoware-github-actions/sync-files@v1 + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@tier4/proposal with: token: ${{ steps.generate-token.outputs.token }} config: .github/sync-param-files.yaml diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py index fb840f4edd..e01f47fc62 100644 --- a/autoware_api_launch/launch/include/external_api_adaptor.launch.py +++ b/autoware_api_launch/launch/include/external_api_adaptor.launch.py @@ -33,7 +33,7 @@ def generate_launch_description(): _create_api_node("diagnostics", "Diagnostics"), _create_api_node("door", "Door"), _create_api_node("emergency", "Emergency"), - _create_api_node("engage", "Engage"), + _create_api_node("engage", "Engage", parameters=[{"auto_operator_change": True}]), _create_api_node("fail_safe_state", "FailSafeState"), _create_api_node("initial_pose", "InitialPose"), _create_api_node("map", "Map"), diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 2b7bf1861f..664268a66c 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -10,6 +10,7 @@ + @@ -70,7 +71,7 @@ - + @@ -81,14 +82,16 @@ + - + + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 1cc48dbc85..0596343e5c 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -24,6 +24,7 @@ + @@ -86,7 +87,7 @@ - + @@ -97,6 +98,7 @@ + @@ -105,6 +107,7 @@ + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index e9cb8c5f1e..60cd042806 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -16,6 +16,7 @@ + @@ -55,14 +56,17 @@ - + + + - + + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 78ccffcb2e..e3eec0ebcb 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -18,11 +18,8 @@ Panels: Splitter Ratio: 0.5 - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel Name: InitialPoseButtonPanel - - Class: rviz_common/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" + - Class: AutowareDateTimePanel + Name: AutowareDateTimePanel Preferences: PromptSaveOnExit: true Toolbars: diff --git a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml new file mode 100644 index 0000000000..f112edb09b --- /dev/null +++ b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..fe697a1e58 --- /dev/null +++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml @@ -0,0 +1,73 @@ +/**: + ros__parameters: + longitudinal_ctrl_period: 0.03 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.01 + kd: 0.1 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.3 + min_d_effort: -0.3 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml new file mode 100644 index 0000000000..f112edb09b --- /dev/null +++ b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..fac22866c5 --- /dev/null +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -0,0 +1,73 @@ +/**: + ros__parameters: + longitudinal_ctrl_period: 0.03 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml new file mode 100644 index 0000000000..f112edb09b --- /dev/null +++ b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..fac22866c5 --- /dev/null +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -0,0 +1,73 @@ +/**: + ros__parameters: + longitudinal_ctrl_period: 0.03 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml new file mode 100644 index 0000000000..f112edb09b --- /dev/null +++ b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..741d301cbf --- /dev/null +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -0,0 +1,73 @@ +/**: + ros__parameters: + longitudinal_ctrl_period: 0.03 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 1.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.85 + smooth_stop_min_strong_acc: -1.35 + smooth_stop_weak_acc: -0.625 + smooth_stop_weak_stop_acc: -0.75 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml new file mode 100644 index 0000000000..3f1aaf99f5 --- /dev/null +++ b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.50 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..4254fdbbdc --- /dev/null +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -0,0 +1,73 @@ +/**: + ros__parameters: + longitudinal_ctrl_period: 0.03 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.2 + ki: 0.02 + kd: 0.1 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.3 + min_d_effort: -0.3 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.73 + smooth_stop_min_strong_acc: -1.23 + smooth_stop_weak_acc: -0.53 + smooth_stop_weak_stop_acc: -0.73 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml new file mode 100644 index 0000000000..d331b723d2 --- /dev/null +++ b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: false # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..fac22866c5 --- /dev/null +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -0,0 +1,73 @@ +/**: + ros__parameters: + longitudinal_ctrl_period: 0.03 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml new file mode 100644 index 0000000000..f112edb09b --- /dev/null +++ b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..fe697a1e58 --- /dev/null +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -0,0 +1,73 @@ +/**: + ros__parameters: + longitudinal_ctrl_period: 0.03 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.01 + kd: 0.1 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.3 + min_d_effort: -0.3 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml new file mode 100644 index 0000000000..f112edb09b --- /dev/null +++ b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..fac22866c5 --- /dev/null +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -0,0 +1,73 @@ +/**: + ros__parameters: + longitudinal_ctrl_period: 0.03 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml new file mode 100644 index 0000000000..f112edb09b --- /dev/null +++ b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml @@ -0,0 +1,71 @@ +/**: + ros__parameters: + + # -- system -- + ctrl_period: 0.03 # control period [s] + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + + # vehicle parameters + vehicle: + cg_to_front_m: 1.228 + cg_to_rear_m: 1.5618 + mass_kg: 2400.0 + mass_fl: 600.0 + mass_fr: 600.0 + mass_rl: 600.0 + mass_rr: 600.0 + cf: 155494.663 + cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml similarity index 89% rename from control_launch/config/trajectory_follower/longitudinal_controller.param.yaml rename to control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml index d6b987f542..c78d37b1a4 100644 --- a/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: longitudinal_ctrl_period: 0.03 - delay_compensation_time: 0.17 + delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: true @@ -36,10 +36,10 @@ brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -0.8 - smooth_stop_weak_acc: -0.3 - smooth_stop_weak_stop_acc: -0.8 + smooth_stop_max_strong_acc: -0.85 + smooth_stop_min_strong_acc: -1.35 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.7 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 smooth_stop_min_running_vel: 0.01 @@ -63,7 +63,7 @@ min_acc: -5.0 # jerk limit - max_jerk: 2.0 + max_jerk: 3.5 min_jerk: -5.0 # pitch diff --git a/control_launch/config/trajectory_follower/mpc_follower.param.yaml b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml similarity index 80% rename from control_launch/config/trajectory_follower/mpc_follower.param.yaml rename to control_launch/config/trajectory_follower/default/lateral_controller.param.yaml index f8a129af4d..68cbabedae 100644 --- a/control_launch/config/trajectory_follower/mpc_follower.param.yaml +++ b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml @@ -9,7 +9,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing + enable_path_smoothing: true # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) @@ -18,23 +18,23 @@ qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.0 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero @@ -43,20 +43,20 @@ # -- 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] - steer_lim_deg: 40.0 # steering angle limit [deg] - steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] - acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 37.0 # steering angle limit [deg] + steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 - # stop state: steering command is kept in the previous value in the stop state. - stop_state_entry_ego_speed: 0.001 - stop_state_entry_target_speed: 0.001 + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml new file mode 100644 index 0000000000..fac22866c5 --- /dev/null +++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml @@ -0,0 +1,73 @@ +/**: + ros__parameters: + longitudinal_ctrl_period: 0.03 + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: true + enable_slope_compensation: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/pure_pursuit.param.yaml b/control_launch/config/trajectory_follower/pure_pursuit.param.yaml deleted file mode 100644 index acbb3a85a3..0000000000 --- a/control_launch/config/trajectory_follower/pure_pursuit.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - # -- system -- - control_period: 0.033 - - # --algorithm -- - lookahead_distance_ratio: 2.2 - min_lookahead_distance: 2.5 - reverse_min_lookahead_distance: 7.0 diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index a4671689d1..ab920ddad8 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -22,6 +22,7 @@ from launch.conditions import LaunchConfigurationEquals from launch.conditions import UnlessCondition from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import EnvironmentVariable from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import LoadComposableNodes @@ -302,7 +303,9 @@ def add_launch_arg(name: str, default_value=None, description=None): "lat_controller_param_path", [ FindPackageShare("control_launch"), - "/config/trajectory_follower/mpc_follower.param.yaml", + "/config/trajectory_follower/", + EnvironmentVariable(name="VEHICLE_ID", default_value="default"), + "/lateral_controller.param.yaml", ], "path to the parameter file of lateral controller. default is `mpc_follower`", ) @@ -310,7 +313,9 @@ def add_launch_arg(name: str, default_value=None, description=None): "lon_controller_param_path", [ FindPackageShare("control_launch"), - "/config/trajectory_follower/longitudinal_controller.param.yaml", + "/config/trajectory_follower/", + EnvironmentVariable(name="VEHICLE_ID", default_value="default"), + "/longitudinal_controller.param.yaml", ], "path to the parameter file of longitudinal controller", ) diff --git a/control_launch/launch/control.launch.xml b/control_launch/launch/control.launch.xml index 282d9e52f5..3ca1a2d47b 100644 --- a/control_launch/launch/control.launch.xml +++ b/control_launch/launch/control.launch.xml @@ -1,8 +1,12 @@ + + + + - - + + diff --git a/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml b/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml new file mode 100644 index 0000000000..fb46a57fd5 --- /dev/null +++ b/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + use_down_sample_filter: True + down_sample_voxel_size: 0.1 + distance_threshold: 0.5 \ No newline at end of file diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index af20464cdf..78db61de23 100644 --- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -21,6 +21,8 @@ + + - + - - - - - + + + + + + + diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml index 0fc359043d..b248a2786e 100644 --- a/perception_launch/launch/object_recognition/detection/detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/detection.launch.xml @@ -23,6 +23,8 @@ + + @@ -47,6 +49,8 @@ + + @@ -55,6 +59,8 @@ + + diff --git a/perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py b/perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py new file mode 100644 index 0000000000..0ed9100a48 --- /dev/null +++ b/perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py @@ -0,0 +1,136 @@ +# Copyright 2020 Tier IV, Inc. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +import launch +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes +from launch_ros.descriptions import ComposableNode + + +class DetectionPreProcessPipeline: + def __init__(self, context): + self.output_topic = ( + "/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" + ) + + def create_common_pipeline(self, output_topic): + components = [] + downsample_topic = "/perception/obstacle_segmentation/downsampled/pointcloud" + components.append( + ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent", + name="voxel_grid_downsample_filter", + remappings=[ + ("input", LaunchConfiguration("input_topic")), + ("output", downsample_topic), + ], + parameters=[ + { + "voxel_size_x": 0.1, + "voxel_size_y": 0.1, + "voxel_size_z": 0.1, + } + ], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ) + ) + + components.append( + ComposableNode( + package="compare_map_segmentation", + plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent", + name="voxel_based_compare_map_filter", + remappings=[ + ("input", downsample_topic), + ("map", "/map/pointcloud_map"), + ("output", output_topic), + ], + parameters=[ + { + "distance_threshold": 0.5, + } + ], + extra_arguments=[ + {"use_intra_process_comms": False}, + ], + ) + ) + return components + + +def launch_setup(context, *args, **kwargs): + pipeline = DetectionPreProcessPipeline(context) + + components = [] + components.extend( + pipeline.create_common_pipeline( + output_topic=pipeline.output_topic, + ) + ) + + individual_container = ComposableNodeContainer( + name=LaunchConfiguration("container_name"), + namespace="", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + composable_node_descriptions=components, + condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")), + output="screen", + ) + pointcloud_container_loader = LoadComposableNodes( + composable_node_descriptions=components, + target_container=LaunchConfiguration("container_name"), + condition=IfCondition(LaunchConfiguration("use_pointcloud_container")), + ) + return [individual_container, pointcloud_container_loader] + + +def generate_launch_description(): + + launch_arguments = [] + + def add_launch_arg(name: str, default_value=None): + launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value)) + + add_launch_arg("input_topic", "") + add_launch_arg("use_multithread", "False") + add_launch_arg("use_intra_process", "True") + add_launch_arg("use_pointcloud_container", "False") + add_launch_arg("container_name", "detection_preprocess_pipeline_container") + + set_container_executable = SetLaunchConfiguration( + "container_executable", + "component_container", + condition=UnlessCondition(LaunchConfiguration("use_multithread")), + ) + + set_container_mt_executable = SetLaunchConfiguration( + "container_executable", + "component_container_mt", + condition=IfCondition(LaunchConfiguration("use_multithread")), + ) + + return launch.LaunchDescription( + launch_arguments + + [set_container_executable, set_container_mt_executable] + + [OpaqueFunction(function=launch_setup)] + ) diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index e32dcac20b..aa5624c823 100644 --- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -4,14 +4,18 @@ + + - + - - - - - + + + + + + + diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml index 1b5b2d750a..9b525a1dcb 100644 --- a/perception_launch/launch/perception.launch.xml +++ b/perception_launch/launch/perception.launch.xml @@ -2,8 +2,8 @@ - - + + @@ -85,6 +85,8 @@ + + @@ -110,10 +112,10 @@ - + diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 50934a7454..d725557e05 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -12,9 +12,9 @@ prediction_time_resolution: 0.5 static_obstacle_velocity_thresh: 1.5 maximum_deceleration: 1.0 - enable_abort_lane_change: false - enable_collision_check_at_prepare_phase: false - use_predicted_path_outside_lanelet: false - use_all_predicted_path: false - enable_blocked_by_obstacle: false + # enable_abort_lane_change: false + # enable_collision_check_at_prepare_phase: false + # use_predicted_path_outside_lanelet: false + # use_all_predicted_path: false + # enable_blocked_by_obstacle: false lane_change_search_distance: 30.0 diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index 1332e422cd..98955d7c52 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -6,8 +6,8 @@ launch_intersection: true launch_blind_spot: true launch_detection_area: true - launch_virtual_traffic_light: true - launch_occlusion_spot: true + launch_virtual_traffic_light: false + launch_occlusion_spot: false launch_no_stopping_area: true launch_run_out: false forward_path_length: 1000.0 diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 667d2644f1..79ae337b8e 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -26,7 +26,7 @@ # trajectory total/fixing length trajectory_length: 300.0 # total trajectory length[m] - forward_fixing_min_distance: 1.0 # number of fixing points around ego vehicle [m] + forward_fixing_min_distance: 5.0 # number of fixing points around ego vehicle [m] forward_fixing_min_time: 0.5 # forward fixing time with current velocity [s] backward_fixing_distance: 5.0 # backward fixing length from base_link [m] @@ -68,7 +68,7 @@ delta_arc_length_for_mpt_points: 0.5 # delta arc length when generating mpt [m] kinematics: - max_steer_deg: 40.0 # max steering angle [deg] + max_steer_deg: 37.0 # max steering angle [deg] # If this parameter is commented out, the parameter is set as below by default. # The logic could be `optimization_center_offset = vehicle_info.wheel_base * 0.8` @@ -87,7 +87,7 @@ common: num_joint_buffer_points: 3 # number of joint buffer points num_offset_for_begin_idx: 2 # number of shifting points for beginning non-fix idx - delta_arc_length_for_eb: 0.6 # 1.0 # delta arc length when optimizing[m] When the value is around 1.0, overshoot at the corner happens. + delta_arc_length_for_eb: 1.0 # delta arc length when optimizing[m] When the value is around 1.0, overshoot at the corner happens. num_sampling_points_for_eb: 95 # number of optimizing points # must be longer than mpt points clearance: diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml index dd76f2c4e5..654e291cd2 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml @@ -7,32 +7,32 @@ consider_obj_velocity: true # consider forward vehicle velocity to ACC or not # general parameter for ACC - obstacle_velocity_thresh_to_start_acc: 1.5 # start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s] - obstacle_velocity_thresh_to_stop_acc: 1.0 # stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s] - emergency_stop_acceleration: -5.0 # supposed minimum acceleration (deceleration) in emergency stop [m/ss] + obstacle_velocity_thresh_to_start_acc: 3.5 # start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s] + obstacle_velocity_thresh_to_stop_acc: 3.0 # stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s] + emergency_stop_acceleration: -4.5 # supposed minimum acceleration (deceleration) in emergency stop [m/ss] emergency_stop_idling_time: 0.5 # supposed idling time to start emergency stop [s] - min_dist_stop: 4.0 # minimum distance of emergency stop [m] - max_standard_acceleration: 0.5 # supposed maximum acceleration in active cruise control [m/ss] - min_standard_acceleration: -1.0 # supposed minimum acceleration (deceleration) in active cruise control + min_dist_stop: 6.0 # minimum distance of emergency stop [m] + max_standard_acceleration: 1.0 # supposed maximum acceleration in active cruise control [m/ss] + min_standard_acceleration: -0.7 # supposed minimum acceleration (deceleration) in active cruise control standard_idling_time: 0.5 # supposed idling time to react object in active cruise control [s] - min_dist_standard: 4.0 # minimum distance in active cruise control [m] - obstacle_min_standard_acceleration: -1.5 # supposed minimum acceleration of forward obstacle [m/ss] - margin_rate_to_change_vel: 0.3 # margin to insert upper velocity [-] + min_dist_standard: 6.0 # minimum distance in active cruise control [m] + obstacle_min_standard_acceleration: -2.0 # supposed minimum acceleration of forward obstacle [m/ss] + margin_rate_to_change_vel: 0.7 # margin to insert upper velocity [-] # pid parameter for ACC - p_coefficient_positive: 0.1 # coefficient P in PID control (used when target dist -current_dist >=0) [-] + p_coefficient_positive: 0.25 # coefficient P in PID control (used when target dist -current_dist >=0) [-] p_coefficient_negative: 0.3 # coefficient P in PID control (used when target dist -current_dist <0) [-] - d_coefficient_positive: 0.0 # coefficient D in PID control (used when delta_dist >=0) [-] - d_coefficient_negative: 0.2 # coefficient D in PID control (used when delta_dist <0) [-] + d_coefficient_positive: 0.15 # coefficient D in PID control (used when delta_dist >=0) [-] + d_coefficient_negative: 0.0 # coefficient D in PID control (used when delta_dist <0) [-] # parameter for object velocity estimation - object_polygon_length_margin: 2.0 # The distance to extend the polygon length the object in pointcloud-object matching [m] - object_polygon_width_margin: 0.5 # The distance to extend the polygon width the object in pointcloud-object matching [m] + object_polygon_length_margin: 3.0 # The distance to extend the polygon length the object in pointcloud-object matching [m] + object_polygon_width_margin: 0.8 # The distance to extend the polygon width the object in pointcloud-object matching [m] valid_estimated_vel_diff_time: 1.0 # Maximum time difference treated as continuous points in speed estimation using a point cloud [s] valid_vel_que_time: 0.5 # Time width of information used for speed estimation in speed estimation using a point cloud [s] valid_estimated_vel_max: 20.0 # Maximum value of valid speed estimation results in speed estimation using a point cloud [m/s] valid_estimated_vel_min: -20.0 # Minimum value of valid speed estimation results in speed estimation using a point cloud [m/s] - thresh_vel_to_stop: 1.5 # Embed a stop line if the maximum speed calculated by ACC is lower than this speed [m/s] - lowpass_gain_of_upper_velocity: 0.75 # Lowpass-gain of upper velocity + thresh_vel_to_stop: 0.0 # Embed a stop line if the maximum speed calculated by ACC is lower than this speed [m/s] + lowpass_gain_of_upper_velocity: 0.90 # Lowpass-gain of upper velocity use_rough_velocity_estimation: false # Use rough estimated velocity if the velocity estimation is failed (#### If this parameter is true, the vehicle may collide with the front car. Be careful. ####) rough_velocity_rate: 0.9 # In the rough velocity estimation, the velocity of front car is estimated as self current velocity * this value diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index 82a7720334..26da30abd1 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -1,8 +1,8 @@ /**: ros__parameters: stop_planner: - stop_margin: 5.0 # stop margin distance from obstacle on the path [m] - min_behavior_stop_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m] + stop_margin: 6.0 # stop margin distance from obstacle on the path [m] + min_behavior_stop_margin: 3.0 # stop margin distance when any other stop point is inserted in stop margin [m] step_length: 1.0 # step length for pointcloud search range [m] extend_distance: 0.0 # extend trajectory to consider after goal obstacle in the extend_distance expand_stop_range: 0.0 # margin of vehicle footprint [m] diff --git a/planning_launch/launch/planning.launch.xml b/planning_launch/launch/planning.launch.xml index f6a7abec76..0cae6cfd33 100644 --- a/planning_launch/launch/planning.launch.xml +++ b/planning_launch/launch/planning.launch.xml @@ -1,4 +1,5 @@ + @@ -6,6 +7,9 @@ + + + diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 9313960323..6d3f39cc3b 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -26,6 +26,7 @@ from launch.substitutions import LaunchConfiguration from launch.substitutions import PythonExpression from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import SetParameter from launch_ros.descriptions import ComposableNode from launch_ros.substitutions import FindPackageShare import yaml @@ -172,11 +173,15 @@ def generate_launch_description(): pull_out_param, behavior_path_planner_param, { - "bt_tree_config_path": [ - FindPackageShare("behavior_path_planner"), - "/config/behavior_path_planner_tree.xml", - ], "planning_hz": 10.0, + "lane_change.enable_abort_lane_change": LaunchConfiguration("disuse_foa"), + "lane_change.enable_collision_check_at_prepare_phase": LaunchConfiguration( + "disuse_foa" + ), + "lane_change.use_predicted_path_outside_lanelet": LaunchConfiguration("disuse_foa"), + "lane_change.use_all_predicted_path": LaunchConfiguration("disuse_foa"), + "lane_change.enable_blocked_by_obstacle": LaunchConfiguration("disuse_foa"), + "bt_tree_config_path": LaunchConfiguration("bt_tree_config_path"), }, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], @@ -462,6 +467,18 @@ def generate_launch_description(): ), ) + set_bt_tree_config_path_without_foa = SetLaunchConfiguration( + "bt_tree_config_path", + [FindPackageShare("behavior_path_planner"), "/config/behavior_path_planner_tree.xml"], + condition=IfCondition(LaunchConfiguration("disuse_foa")), + ) + + set_bt_tree_config_path_with_foa = SetLaunchConfiguration( + "bt_tree_config_path", + [FindPackageShare("behavior_path_planner"), "/config/behavior_path_planner_tree.xml"], + condition=UnlessCondition(LaunchConfiguration("disuse_foa")), + ) + return launch.LaunchDescription( [ DeclareLaunchArgument( @@ -472,6 +489,18 @@ def generate_launch_description(): DeclareLaunchArgument("use_multithread", default_value="false"), set_container_executable, set_container_mt_executable, + SetParameter( + name="avoidance.threshold_distance_object_is_on_center", + value=0.5, + condition=IfCondition(LaunchConfiguration("disuse_foa")), + ), + SetParameter( + name="avoidance.threshold_distance_object_is_on_center", + value=0.0, + condition=UnlessCondition(LaunchConfiguration("disuse_foa")), + ), + set_bt_tree_config_path_without_foa, + set_bt_tree_config_path_with_foa, container, load_compare_map, ExecuteProcess( @@ -485,7 +514,8 @@ def generate_launch_description(): "{approval: true}", "-r", "10", - ] + ], + condition=IfCondition(LaunchConfiguration("disuse_foa")), ), ] ) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index eaf8370d59..66dfc7399f 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -2,8 +2,13 @@ - + + + + + + @@ -23,6 +28,11 @@ + + + + + diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index 4c341a0670..1cbc3c1824 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -64,6 +64,7 @@ def generate_launch_description(): ], parameters=[ obstacle_avoidance_planner_param, + {"enable_avoidance": LaunchConfiguration("disuse_foa")}, {"is_showing_debug_info": False}, {"is_stopping_if_outside_drivable_area": True}, ], @@ -259,7 +260,7 @@ def generate_launch_description(): "input_path_topic", default_value="/planning/scenario_planning/lane_driving/behavior_planning/path", ), - DeclareLaunchArgument("use_surround_obstacle_check", default_value="true"), + DeclareLaunchArgument("use_surround_obstacle_check", default_value="false"), DeclareLaunchArgument( "cruise_planner", default_value="obstacle_stop_planner" ), # select from "obstacle_stop_planner", "obstacle_cruise_planner", "none" diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index de101a8040..9b8db026e4 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -7,6 +7,7 @@ + diff --git a/system_launch/config/system_monitor/cpu_monitor.param.yaml b/system_launch/config/1/system_monitor/cpu_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/cpu_monitor.param.yaml rename to system_launch/config/1/system_monitor/cpu_monitor.param.yaml diff --git a/system_launch/config/system_monitor/gpu_monitor.param.yaml b/system_launch/config/1/system_monitor/gpu_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/gpu_monitor.param.yaml rename to system_launch/config/1/system_monitor/gpu_monitor.param.yaml diff --git a/system_launch/config/system_monitor/hdd_monitor.param.yaml b/system_launch/config/1/system_monitor/hdd_monitor.param.yaml similarity index 75% rename from system_launch/config/system_monitor/hdd_monitor.param.yaml rename to system_launch/config/1/system_monitor/hdd_monitor.param.yaml index 70f8dc5ffa..91730c8f95 100644 --- a/system_launch/config/system_monitor/hdd_monitor.param.yaml +++ b/system_launch/config/1/system_monitor/hdd_monitor.param.yaml @@ -5,10 +5,10 @@ disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} disk0: name: / - temp_warn: 55.0 - temp_error: 70.0 + temp_warn: 75.0 + temp_error: 85.0 power_on_hours_warn: 3000000 - total_data_written_warn: 4915200 # =150TB (1unit=32MB) + total_data_written_warn: 11417920 # =440TB (1unit=32MB) total_data_written_safety_factor: 0.05 free_warn: 5120 # MB(8hour) free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/system_monitor/mem_monitor.param.yaml b/system_launch/config/1/system_monitor/mem_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/mem_monitor.param.yaml rename to system_launch/config/1/system_monitor/mem_monitor.param.yaml diff --git a/system_launch/config/1/system_monitor/net_monitor.param.yaml b/system_launch/config/1/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/1/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/system_monitor/ntp_monitor.param.yaml b/system_launch/config/1/system_monitor/ntp_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/ntp_monitor.param.yaml rename to system_launch/config/1/system_monitor/ntp_monitor.param.yaml diff --git a/system_launch/config/system_monitor/process_monitor.param.yaml b/system_launch/config/1/system_monitor/process_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/process_monitor.param.yaml rename to system_launch/config/1/system_monitor/process_monitor.param.yaml diff --git a/system_launch/config/10/system_monitor/cpu_monitor.param.yaml b/system_launch/config/10/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..cae88d6a96 --- /dev/null +++ b/system_launch/config/10/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_warn_count: 2 + usage_error_count: 2 + usage_avg: true + msr_reader_port: 7634 diff --git a/system_launch/config/10/system_monitor/gpu_monitor.param.yaml b/system_launch/config/10/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/10/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/10/system_monitor/hdd_monitor.param.yaml b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..91730c8f95 --- /dev/null +++ b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/10/system_monitor/mem_monitor.param.yaml b/system_launch/config/10/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/10/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/10/system_monitor/net_monitor.param.yaml b/system_launch/config/10/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/10/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/10/system_monitor/ntp_monitor.param.yaml b/system_launch/config/10/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/10/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/10/system_monitor/process_monitor.param.yaml b/system_launch/config/10/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/10/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/2/system_monitor/cpu_monitor.param.yaml b/system_launch/config/2/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..cae88d6a96 --- /dev/null +++ b/system_launch/config/2/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_warn_count: 2 + usage_error_count: 2 + usage_avg: true + msr_reader_port: 7634 diff --git a/system_launch/config/2/system_monitor/gpu_monitor.param.yaml b/system_launch/config/2/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/2/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/2/system_monitor/hdd_monitor.param.yaml b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..91730c8f95 --- /dev/null +++ b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/2/system_monitor/mem_monitor.param.yaml b/system_launch/config/2/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/2/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/2/system_monitor/net_monitor.param.yaml b/system_launch/config/2/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/2/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/2/system_monitor/ntp_monitor.param.yaml b/system_launch/config/2/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/2/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/2/system_monitor/process_monitor.param.yaml b/system_launch/config/2/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/2/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/3/system_monitor/cpu_monitor.param.yaml b/system_launch/config/3/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..cae88d6a96 --- /dev/null +++ b/system_launch/config/3/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_warn_count: 2 + usage_error_count: 2 + usage_avg: true + msr_reader_port: 7634 diff --git a/system_launch/config/3/system_monitor/gpu_monitor.param.yaml b/system_launch/config/3/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/3/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/3/system_monitor/hdd_monitor.param.yaml b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..91730c8f95 --- /dev/null +++ b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/3/system_monitor/mem_monitor.param.yaml b/system_launch/config/3/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/3/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/3/system_monitor/net_monitor.param.yaml b/system_launch/config/3/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/3/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/3/system_monitor/ntp_monitor.param.yaml b/system_launch/config/3/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/3/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/3/system_monitor/process_monitor.param.yaml b/system_launch/config/3/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/3/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/4/system_monitor/cpu_monitor.param.yaml b/system_launch/config/4/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..cae88d6a96 --- /dev/null +++ b/system_launch/config/4/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_warn_count: 2 + usage_error_count: 2 + usage_avg: true + msr_reader_port: 7634 diff --git a/system_launch/config/4/system_monitor/gpu_monitor.param.yaml b/system_launch/config/4/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/4/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/4/system_monitor/hdd_monitor.param.yaml b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..91730c8f95 --- /dev/null +++ b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/4/system_monitor/mem_monitor.param.yaml b/system_launch/config/4/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/4/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/4/system_monitor/net_monitor.param.yaml b/system_launch/config/4/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/4/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/4/system_monitor/ntp_monitor.param.yaml b/system_launch/config/4/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/4/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/4/system_monitor/process_monitor.param.yaml b/system_launch/config/4/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/4/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/5/system_monitor/cpu_monitor.param.yaml b/system_launch/config/5/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..cae88d6a96 --- /dev/null +++ b/system_launch/config/5/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_warn_count: 2 + usage_error_count: 2 + usage_avg: true + msr_reader_port: 7634 diff --git a/system_launch/config/5/system_monitor/gpu_monitor.param.yaml b/system_launch/config/5/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/5/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/5/system_monitor/hdd_monitor.param.yaml b/system_launch/config/5/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..91730c8f95 --- /dev/null +++ b/system_launch/config/5/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/5/system_monitor/mem_monitor.param.yaml b/system_launch/config/5/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/5/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/5/system_monitor/net_monitor.param.yaml b/system_launch/config/5/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..a970c2e1a2 --- /dev/null +++ b/system_launch/config/5/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'enp103s0f0','enp103s0f1','enx00e04c000c1f' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/5/system_monitor/ntp_monitor.param.yaml b/system_launch/config/5/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/5/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/5/system_monitor/process_monitor.param.yaml b/system_launch/config/5/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/5/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/6/system_monitor/cpu_monitor.param.yaml b/system_launch/config/6/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..cae88d6a96 --- /dev/null +++ b/system_launch/config/6/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_warn_count: 2 + usage_error_count: 2 + usage_avg: true + msr_reader_port: 7634 diff --git a/system_launch/config/6/system_monitor/gpu_monitor.param.yaml b/system_launch/config/6/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/6/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/6/system_monitor/hdd_monitor.param.yaml b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..91730c8f95 --- /dev/null +++ b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/6/system_monitor/mem_monitor.param.yaml b/system_launch/config/6/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/6/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/6/system_monitor/net_monitor.param.yaml b/system_launch/config/6/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/6/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/6/system_monitor/ntp_monitor.param.yaml b/system_launch/config/6/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/6/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/6/system_monitor/process_monitor.param.yaml b/system_launch/config/6/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/6/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/7/system_monitor/cpu_monitor.param.yaml b/system_launch/config/7/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..cae88d6a96 --- /dev/null +++ b/system_launch/config/7/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_warn_count: 2 + usage_error_count: 2 + usage_avg: true + msr_reader_port: 7634 diff --git a/system_launch/config/7/system_monitor/gpu_monitor.param.yaml b/system_launch/config/7/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/7/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/7/system_monitor/hdd_monitor.param.yaml b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..91730c8f95 --- /dev/null +++ b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/7/system_monitor/mem_monitor.param.yaml b/system_launch/config/7/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/7/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/7/system_monitor/net_monitor.param.yaml b/system_launch/config/7/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/7/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/7/system_monitor/ntp_monitor.param.yaml b/system_launch/config/7/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/7/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/7/system_monitor/process_monitor.param.yaml b/system_launch/config/7/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/7/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/8/system_monitor/cpu_monitor.param.yaml b/system_launch/config/8/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..cae88d6a96 --- /dev/null +++ b/system_launch/config/8/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_warn_count: 2 + usage_error_count: 2 + usage_avg: true + msr_reader_port: 7634 diff --git a/system_launch/config/8/system_monitor/gpu_monitor.param.yaml b/system_launch/config/8/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/8/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/8/system_monitor/hdd_monitor.param.yaml b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..91730c8f95 --- /dev/null +++ b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/8/system_monitor/mem_monitor.param.yaml b/system_launch/config/8/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/8/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/8/system_monitor/net_monitor.param.yaml b/system_launch/config/8/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/8/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/8/system_monitor/ntp_monitor.param.yaml b/system_launch/config/8/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/8/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/8/system_monitor/process_monitor.param.yaml b/system_launch/config/8/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/8/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/9/system_monitor/cpu_monitor.param.yaml b/system_launch/config/9/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..cae88d6a96 --- /dev/null +++ b/system_launch/config/9/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_warn_count: 2 + usage_error_count: 2 + usage_avg: true + msr_reader_port: 7634 diff --git a/system_launch/config/9/system_monitor/gpu_monitor.param.yaml b/system_launch/config/9/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/9/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/9/system_monitor/hdd_monitor.param.yaml b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..91730c8f95 --- /dev/null +++ b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/9/system_monitor/mem_monitor.param.yaml b/system_launch/config/9/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/9/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/9/system_monitor/net_monitor.param.yaml b/system_launch/config/9/system_monitor/net_monitor.param.yaml new file mode 100644 index 0000000000..db92bdde87 --- /dev/null +++ b/system_launch/config/9/system_monitor/net_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" diff --git a/system_launch/config/9/system_monitor/ntp_monitor.param.yaml b/system_launch/config/9/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/9/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/9/system_monitor/process_monitor.param.yaml b/system_launch/config/9/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/9/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/ad_service_state_monitor.param.yaml b/system_launch/config/ad_service_state_monitor.param.yaml index bfbb6beeaf..e0d1b8cdd1 100644 --- a/system_launch/config/ad_service_state_monitor.param.yaml +++ b/system_launch/config/ad_service_state_monitor.param.yaml @@ -24,10 +24,12 @@ names: [ "/map/vector_map", "/map/pointcloud_map", - "/perception/obstacle_segmentation/pointcloud", + "/sensing/imu/imu_data", "/initialpose3d", "/localization/pose_twist_fusion_filter/pose", "/perception/object_recognition/objects", + "/perception/obstacle_segmentation/pointcloud", + "/perception/traffic_light_recognition/traffic_signals", "/planning/mission_planning/route", "/planning/scenario_planning/trajectory", "/control/trajectory_follower/control_cmd", @@ -55,10 +57,16 @@ /perception/obstacle_segmentation/pointcloud: module: "sensing" timeout: 1.0 - warn_rate: 5.0 + warn_rate: 2.0 type: "sensor_msgs/msg/PointCloud2" best_effort: True + /sensing/imu/imu_data: + module: "sensing" + timeout: 1.0 + warn_rate: 10.0 + type: "sensor_msgs/msg/Imu" + /initialpose3d: module: "localization" timeout: 0.0 @@ -76,13 +84,20 @@ /perception/object_recognition/objects: module: "perception" timeout: 1.0 - warn_rate: 5.0 + warn_rate: 2.0 type: "autoware_auto_perception_msgs/msg/PredictedObjects" # This topic could have two different types depending on the launch flags used. # The implementation of subscriptions in ROS2 does not allow for multiple types # to be defined for a topic. By default this is set to not use have features. # type: ["tier4_perception_msgs/msg/DynamicObjectArray", "tier4_perception_msgs/msg/DynamicObjectWithFeatureArray"] + # Topic rate for traffic light recognition + /perception/traffic_light_recognition/traffic_signals: + module: "perception" + timeout: 1.0 + warn_rate: 2.0 + type: "autoware_auto_perception_msgs/msg/TrafficSignalArray" + /planning/mission_planning/route: module: "planning" timeout: 0.0 diff --git a/system_launch/config/default/system_monitor/cpu_monitor.param.yaml b/system_launch/config/default/system_monitor/cpu_monitor.param.yaml new file mode 100644 index 0000000000..cae88d6a96 --- /dev/null +++ b/system_launch/config/default/system_monitor/cpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + usage_warn: 0.96 + usage_error: 1.00 + usage_warn_count: 2 + usage_error_count: 2 + usage_avg: true + msr_reader_port: 7634 diff --git a/system_launch/config/default/system_monitor/gpu_monitor.param.yaml b/system_launch/config/default/system_monitor/gpu_monitor.param.yaml new file mode 100644 index 0000000000..d96b9f2464 --- /dev/null +++ b/system_launch/config/default/system_monitor/gpu_monitor.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + temp_warn: 90.0 + temp_error: 95.0 + gpu_usage_warn: 0.90 + gpu_usage_error: 1.00 + memory_usage_warn: 0.95 + memory_usage_error: 0.99 diff --git a/system_launch/config/default/system_monitor/hdd_monitor.param.yaml b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml new file mode 100644 index 0000000000..91730c8f95 --- /dev/null +++ b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + hdd_reader_port: 7635 + num_disks: 1 + disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} + disk0: + name: / + temp_warn: 75.0 + temp_error: 85.0 + power_on_hours_warn: 3000000 + total_data_written_warn: 11417920 # =440TB (1unit=32MB) + total_data_written_safety_factor: 0.05 + free_warn: 5120 # MB(8hour) + free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/default/system_monitor/mem_monitor.param.yaml b/system_launch/config/default/system_monitor/mem_monitor.param.yaml new file mode 100644 index 0000000000..f2da3972be --- /dev/null +++ b/system_launch/config/default/system_monitor/mem_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + available_size: 1024 # MB diff --git a/system_launch/config/system_monitor/net_monitor.param.yaml b/system_launch/config/default/system_monitor/net_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/net_monitor.param.yaml rename to system_launch/config/default/system_monitor/net_monitor.param.yaml diff --git a/system_launch/config/default/system_monitor/ntp_monitor.param.yaml b/system_launch/config/default/system_monitor/ntp_monitor.param.yaml new file mode 100644 index 0000000000..db54f70d1c --- /dev/null +++ b/system_launch/config/default/system_monitor/ntp_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + server: ntp.nict.jp + offset_warn: 0.1 + offset_error: 5.0 diff --git a/system_launch/config/default/system_monitor/process_monitor.param.yaml b/system_launch/config/default/system_monitor/process_monitor.param.yaml new file mode 100644 index 0000000000..3d6d82fae5 --- /dev/null +++ b/system_launch/config/default/system_monitor/process_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + num_of_procs: 5 diff --git a/system_launch/config/system_error_monitor.param.yaml b/system_launch/config/system_error_monitor.param.yaml index b9a5a4fa79..4ec4806050 100644 --- a/system_launch/config/system_error_monitor.param.yaml +++ b/system_launch/config/system_error_monitor.param.yaml @@ -18,8 +18,9 @@ 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 # tmp /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/external_control/local_external_control/device_connection: default /autoware/localization/node_alive_monitoring: default /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } @@ -40,6 +41,8 @@ /autoware/vehicle/node_alive_monitoring: default + /autoware/system/debug_data_logger/storage_error: { sf_at: "warn", lf_at: "none", spf_at: "none" } + external_control: /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/control/external_control/external_command_selector/node_alive_monitoring: default diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml index 88aaca8527..eca6cb3a08 100644 --- a/system_launch/launch/system.launch.xml +++ b/system_launch/launch/system.launch.xml @@ -12,13 +12,13 @@ - - - - - - - + + + + + + + From c37949aecf8e790d3900cc6a0836d6d454d8e14a Mon Sep 17 00:00:00 2001 From: pre-commit Date: Fri, 17 Jun 2022 08:16:20 +0000 Subject: [PATCH 183/349] pre-commit fixes --- .../detection/detection_preprocess.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml b/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml index fb46a57fd5..815e70e392 100644 --- a/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml +++ b/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml @@ -2,4 +2,4 @@ ros__parameters: use_down_sample_filter: True down_sample_voxel_size: 0.1 - distance_threshold: 0.5 \ No newline at end of file + distance_threshold: 0.5 From 3ea4f198fe3e403423484ef245f4c8966b3671a7 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 24 Jun 2022 12:23:48 +0900 Subject: [PATCH 184/349] feat: change warn_rate of state_monitor (#256) Signed-off-by: tomoya.kimura --- system_launch/config/ad_service_state_monitor.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/system_launch/config/ad_service_state_monitor.param.yaml b/system_launch/config/ad_service_state_monitor.param.yaml index e0d1b8cdd1..728da9c481 100644 --- a/system_launch/config/ad_service_state_monitor.param.yaml +++ b/system_launch/config/ad_service_state_monitor.param.yaml @@ -57,7 +57,7 @@ /perception/obstacle_segmentation/pointcloud: module: "sensing" timeout: 1.0 - warn_rate: 2.0 + warn_rate: 5.0 type: "sensor_msgs/msg/PointCloud2" best_effort: True @@ -84,7 +84,7 @@ /perception/object_recognition/objects: module: "perception" timeout: 1.0 - warn_rate: 2.0 + warn_rate: 5.0 type: "autoware_auto_perception_msgs/msg/PredictedObjects" # This topic could have two different types depending on the launch flags used. # The implementation of subscriptions in ROS2 does not allow for multiple types @@ -95,7 +95,7 @@ /perception/traffic_light_recognition/traffic_signals: module: "perception" timeout: 1.0 - warn_rate: 2.0 + warn_rate: 5.0 type: "autoware_auto_perception_msgs/msg/TrafficSignalArray" /planning/mission_planning/route: From 390e9965b9160ae8d6aafb37d8dff0a4ad2b7d2f Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 30 Jun 2022 22:06:40 +0900 Subject: [PATCH 185/349] feat(control_launch): add disable emergency option in velocity_controller Signed-off-by: Takamasa Horibe --- .../trajectory_follower/1/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/10/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/2/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/3/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/4/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/5/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/6/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/7/longitudinal_controller.param.yaml | 3 ++- .../trajectory_follower/9/longitudinal_controller.param.yaml | 3 ++- .../default/longitudinal_controller.param.yaml | 3 ++- 10 files changed, 20 insertions(+), 10 deletions(-) diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml index fe697a1e58..d5e67c2cca 100644 --- a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml @@ -4,7 +4,8 @@ delay_compensation_time: 0.40 enable_smooth_stop: true - enable_overshoot_emergency: true + enable_overshoot_emergency: false + enable_large_tracking_error_emergency: false enable_slope_compensation: true # state transition diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml index fac22866c5..4c63f2a86d 100644 --- a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -4,7 +4,8 @@ delay_compensation_time: 0.40 enable_smooth_stop: true - enable_overshoot_emergency: true + enable_overshoot_emergency: false + enable_large_tracking_error_emergency: false enable_slope_compensation: true # state transition diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml index fac22866c5..4c63f2a86d 100644 --- a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -4,7 +4,8 @@ delay_compensation_time: 0.40 enable_smooth_stop: true - enable_overshoot_emergency: true + enable_overshoot_emergency: false + enable_large_tracking_error_emergency: false enable_slope_compensation: true # state transition diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index 741d301cbf..c2d2406ecf 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -4,7 +4,8 @@ delay_compensation_time: 0.40 enable_smooth_stop: true - enable_overshoot_emergency: true + enable_overshoot_emergency: false + enable_large_tracking_error_emergency: false enable_slope_compensation: true # state transition diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml index 4254fdbbdc..b70ab79b50 100644 --- a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -4,7 +4,8 @@ delay_compensation_time: 0.40 enable_smooth_stop: true - enable_overshoot_emergency: true + enable_overshoot_emergency: false + enable_large_tracking_error_emergency: false enable_slope_compensation: true # state transition diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml index fac22866c5..4c63f2a86d 100644 --- a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -4,7 +4,8 @@ delay_compensation_time: 0.40 enable_smooth_stop: true - enable_overshoot_emergency: true + enable_overshoot_emergency: false + enable_large_tracking_error_emergency: false enable_slope_compensation: true # state transition diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml index fe697a1e58..d5e67c2cca 100644 --- a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -4,7 +4,8 @@ delay_compensation_time: 0.40 enable_smooth_stop: true - enable_overshoot_emergency: true + enable_overshoot_emergency: false + enable_large_tracking_error_emergency: false enable_slope_compensation: true # state transition diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml index fac22866c5..4c63f2a86d 100644 --- a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -4,7 +4,8 @@ delay_compensation_time: 0.40 enable_smooth_stop: true - enable_overshoot_emergency: true + enable_overshoot_emergency: false + enable_large_tracking_error_emergency: false enable_slope_compensation: true # state transition diff --git a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml index c78d37b1a4..5bc0997d94 100644 --- a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml @@ -4,7 +4,8 @@ delay_compensation_time: 0.40 enable_smooth_stop: true - enable_overshoot_emergency: true + enable_overshoot_emergency: false + enable_large_tracking_error_emergency: false enable_slope_compensation: true # state transition diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml index fac22866c5..4c63f2a86d 100644 --- a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml @@ -4,7 +4,8 @@ delay_compensation_time: 0.40 enable_smooth_stop: true - enable_overshoot_emergency: true + enable_overshoot_emergency: false + enable_large_tracking_error_emergency: false enable_slope_compensation: true # state transition From 1bdc35a1a42550099852572b9f220ad01f1a80df Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Fri, 1 Jul 2022 16:10:54 +0900 Subject: [PATCH 186/349] feat(autoware_api_launch): disable auto_operator_change (#265) Signed-off-by: Takamasa Horibe --- .../launch/include/external_api_adaptor.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py index e01f47fc62..bd9e64b4a0 100644 --- a/autoware_api_launch/launch/include/external_api_adaptor.launch.py +++ b/autoware_api_launch/launch/include/external_api_adaptor.launch.py @@ -33,7 +33,7 @@ def generate_launch_description(): _create_api_node("diagnostics", "Diagnostics"), _create_api_node("door", "Door"), _create_api_node("emergency", "Emergency"), - _create_api_node("engage", "Engage", parameters=[{"auto_operator_change": True}]), + _create_api_node("engage", "Engage", parameters=[{"auto_operator_change": False}]), _create_api_node("fail_safe_state", "FailSafeState"), _create_api_node("initial_pose", "InitialPose"), _create_api_node("map", "Map"), From 90f96a3d412f39eebb53708537f092a100e24811 Mon Sep 17 00:00:00 2001 From: Yusuke Muramatsu Date: Mon, 4 Jul 2022 18:52:16 +0900 Subject: [PATCH 187/349] fix: change container_name in detection module (#269) Signed-off-by: yukke42 --- .../detection/camera_lidar_fusion_based_detection.launch.xml | 2 +- .../detection/lidar_based_detection.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index 78db61de23..093c6b7322 100644 --- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -45,7 +45,7 @@ - + diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index aa5624c823..cde5fc181f 100644 --- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -15,7 +15,7 @@ - + From af85b4434de6dc51a0d04fbfbadab47444343059 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 4 Jul 2022 22:15:10 +0900 Subject: [PATCH 188/349] feat(planning_launch): disable enable avoidance (#270) Signed-off-by: Takayuki Murooka --- .../lane_driving/motion_planning/motion_planning.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index 1cbc3c1824..a581e37394 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -64,7 +64,7 @@ def generate_launch_description(): ], parameters=[ obstacle_avoidance_planner_param, - {"enable_avoidance": LaunchConfiguration("disuse_foa")}, + {"enable_avoidance": False}, {"is_showing_debug_info": False}, {"is_stopping_if_outside_drivable_area": True}, ], From 1a9c7db895b6f928b011b03a53078d7afa1af622 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 7 Jul 2022 12:13:46 +0900 Subject: [PATCH 189/349] fix: net_monitor.param.yaml for JT5 (#271) Co-authored-by: shiori kawata --- system_launch/config/5/system_monitor/net_monitor.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system_launch/config/5/system_monitor/net_monitor.param.yaml b/system_launch/config/5/system_monitor/net_monitor.param.yaml index a970c2e1a2..db92bdde87 100644 --- a/system_launch/config/5/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/5/system_monitor/net_monitor.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - devices: [ 'enp103s0f0','enp103s0f1','enx00e04c000c1f' ] + devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" From 601fab11f6c7615bed62d0343ec0cc1512fa2fde Mon Sep 17 00:00:00 2001 From: shiorikawata <73450134+shiorikawata@users.noreply.github.com> Date: Fri, 8 Jul 2022 11:14:26 +0900 Subject: [PATCH 190/349] feat: update smooth stop state for JT3 (#278) Signed-off-by: shiori kawata --- .../trajectory_follower/3/longitudinal_controller.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index c2d2406ecf..3731ccf9a2 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -37,8 +37,8 @@ brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.85 - smooth_stop_min_strong_acc: -1.35 + smooth_stop_max_strong_acc: -0.90 + smooth_stop_min_strong_acc: -1.40 smooth_stop_weak_acc: -0.625 smooth_stop_weak_stop_acc: -0.75 smooth_stop_strong_stop_acc: -3.4 From ad8f7f2374dbda4689db39e3761d38f61a292362 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 8 Jul 2022 12:10:57 +0900 Subject: [PATCH 191/349] feat: enable camera lidar fusion (#279) Signed-off-by: tomoya.kimura --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 664268a66c..c2c862c6c8 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -71,7 +71,7 @@ - + From 1aeec12e1854df482f059b2da37b59de57582e55 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 11 Jul 2022 10:12:26 +0900 Subject: [PATCH 192/349] feat(planning_launch): use obstacle_cruise_planner (#283) Signed-off-by: Takayuki Murooka --- .../lane_driving/motion_planning/motion_planning.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index a581e37394..8c15ab1ff8 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -262,7 +262,7 @@ def generate_launch_description(): ), DeclareLaunchArgument("use_surround_obstacle_check", default_value="false"), DeclareLaunchArgument( - "cruise_planner", default_value="obstacle_stop_planner" + "cruise_planner", default_value="obstacle_cruise_planner" ), # select from "obstacle_stop_planner", "obstacle_cruise_planner", "none" DeclareLaunchArgument("use_intra_process", default_value="false"), DeclareLaunchArgument("use_multithread", default_value="false"), From f3be0f421701dd5287dd9644012d59caadad92be Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi Date: Mon, 11 Jul 2022 11:26:02 +0900 Subject: [PATCH 193/349] chore: fix longitudinal_controller.param.yaml Signed-off-by: Shumpei Wakabayashi --- .../trajectory_follower/1/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/10/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/2/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/3/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/4/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/5/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/6/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/7/longitudinal_controller.param.yaml | 2 +- .../default/longitudinal_controller.param.yaml | 2 +- 9 files changed, 9 insertions(+), 9 deletions(-) diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml index d5e67c2cca..571d66174f 100644 --- a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml @@ -1,12 +1,12 @@ /**: ros__parameters: - longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true + enable_keep_stopped_until_steer_convergence: false # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml index 4c63f2a86d..1c71fa9b09 100644 --- a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -1,12 +1,12 @@ /**: ros__parameters: - longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true + enable_keep_stopped_until_steer_convergence: false # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml index 4c63f2a86d..1c71fa9b09 100644 --- a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -1,12 +1,12 @@ /**: ros__parameters: - longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true + enable_keep_stopped_until_steer_convergence: false # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index 3731ccf9a2..9cefc359d6 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -1,12 +1,12 @@ /**: ros__parameters: - longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true + enable_keep_stopped_until_steer_convergence: false # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml index b70ab79b50..7848f47c4f 100644 --- a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -1,12 +1,12 @@ /**: ros__parameters: - longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true + enable_keep_stopped_until_steer_convergence: false # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml index 4c63f2a86d..1c71fa9b09 100644 --- a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -1,12 +1,12 @@ /**: ros__parameters: - longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true + enable_keep_stopped_until_steer_convergence: false # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml index d5e67c2cca..571d66174f 100644 --- a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -1,12 +1,12 @@ /**: ros__parameters: - longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true + enable_keep_stopped_until_steer_convergence: false # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml index 4c63f2a86d..1c71fa9b09 100644 --- a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -1,12 +1,12 @@ /**: ros__parameters: - longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true + enable_keep_stopped_until_steer_convergence: false # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml index 4c63f2a86d..1c71fa9b09 100644 --- a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml @@ -1,12 +1,12 @@ /**: ros__parameters: - longitudinal_ctrl_period: 0.03 delay_compensation_time: 0.40 enable_smooth_stop: true enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true + enable_keep_stopped_until_steer_convergence: false # state transition drive_state_stop_dist: 0.5 From 7672f47da422e47a621afc2c2ca6f3ef61a27b83 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi Date: Mon, 11 Jul 2022 11:43:19 +0900 Subject: [PATCH 194/349] chore: fix lateral_controller.param.yaml Signed-off-by: Shumpei Wakabayashi --- .../trajectory_follower/1/lateral_controller.param.yaml | 9 ++++++--- .../trajectory_follower/10/lateral_controller.param.yaml | 9 ++++++--- .../trajectory_follower/2/lateral_controller.param.yaml | 9 ++++++--- .../trajectory_follower/3/lateral_controller.param.yaml | 9 ++++++--- .../trajectory_follower/4/lateral_controller.param.yaml | 9 ++++++--- .../trajectory_follower/5/lateral_controller.param.yaml | 9 ++++++--- .../trajectory_follower/6/lateral_controller.param.yaml | 9 ++++++--- .../trajectory_follower/7/lateral_controller.param.yaml | 9 ++++++--- .../trajectory_follower/9/lateral_controller.param.yaml | 9 ++++++--- 9 files changed, 54 insertions(+), 27 deletions(-) diff --git a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml index f112edb09b..a92f958bd8 100644 --- a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml @@ -1,8 +1,6 @@ /**: ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value @@ -40,6 +38,7 @@ mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + mpc_min_prediction_length: 5.0 # minimum prediction length # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics @@ -54,9 +53,13 @@ steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 - # stop state + # stop state: steering command is kept in the previous value in the stop state. stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 + converged_steer_rad: 0.1 + keep_steer_control_until_converged: false + new_traj_duration_time: 1.0 + new_traj_end_dist: 0.3 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml index f112edb09b..a92f958bd8 100644 --- a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml @@ -1,8 +1,6 @@ /**: ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value @@ -40,6 +38,7 @@ mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + mpc_min_prediction_length: 5.0 # minimum prediction length # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics @@ -54,9 +53,13 @@ steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 - # stop state + # stop state: steering command is kept in the previous value in the stop state. stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 + converged_steer_rad: 0.1 + keep_steer_control_until_converged: false + new_traj_duration_time: 1.0 + new_traj_end_dist: 0.3 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml index f112edb09b..a92f958bd8 100644 --- a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml @@ -1,8 +1,6 @@ /**: ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value @@ -40,6 +38,7 @@ mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + mpc_min_prediction_length: 5.0 # minimum prediction length # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics @@ -54,9 +53,13 @@ steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 - # stop state + # stop state: steering command is kept in the previous value in the stop state. stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 + converged_steer_rad: 0.1 + keep_steer_control_until_converged: false + new_traj_duration_time: 1.0 + new_traj_end_dist: 0.3 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml index f112edb09b..a92f958bd8 100644 --- a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml @@ -1,8 +1,6 @@ /**: ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value @@ -40,6 +38,7 @@ mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + mpc_min_prediction_length: 5.0 # minimum prediction length # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics @@ -54,9 +53,13 @@ steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 - # stop state + # stop state: steering command is kept in the previous value in the stop state. stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 + converged_steer_rad: 0.1 + keep_steer_control_until_converged: false + new_traj_duration_time: 1.0 + new_traj_end_dist: 0.3 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml index 3f1aaf99f5..b979878ab3 100644 --- a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml @@ -1,8 +1,6 @@ /**: ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value @@ -40,6 +38,7 @@ mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + mpc_min_prediction_length: 5.0 # minimum prediction length # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics @@ -54,9 +53,13 @@ steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 - # stop state + # stop state: steering command is kept in the previous value in the stop state. stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 + converged_steer_rad: 0.1 + keep_steer_control_until_converged: false + new_traj_duration_time: 1.0 + new_traj_end_dist: 0.3 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml index d331b723d2..440ef62427 100644 --- a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml @@ -1,8 +1,6 @@ /**: ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value @@ -40,6 +38,7 @@ mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + mpc_min_prediction_length: 5.0 # minimum prediction length # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics @@ -54,9 +53,13 @@ steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 - # stop state + # stop state: steering command is kept in the previous value in the stop state. stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 + converged_steer_rad: 0.1 + keep_steer_control_until_converged: false + new_traj_duration_time: 1.0 + new_traj_end_dist: 0.3 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml index f112edb09b..a92f958bd8 100644 --- a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml @@ -1,8 +1,6 @@ /**: ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value @@ -40,6 +38,7 @@ mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + mpc_min_prediction_length: 5.0 # minimum prediction length # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics @@ -54,9 +53,13 @@ steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 - # stop state + # stop state: steering command is kept in the previous value in the stop state. stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 + converged_steer_rad: 0.1 + keep_steer_control_until_converged: false + new_traj_duration_time: 1.0 + new_traj_end_dist: 0.3 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml index f112edb09b..a92f958bd8 100644 --- a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml @@ -1,8 +1,6 @@ /**: ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value @@ -40,6 +38,7 @@ mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + mpc_min_prediction_length: 5.0 # minimum prediction length # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics @@ -54,9 +53,13 @@ steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 - # stop state + # stop state: steering command is kept in the previous value in the stop state. stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 + converged_steer_rad: 0.1 + keep_steer_control_until_converged: false + new_traj_duration_time: 1.0 + new_traj_end_dist: 0.3 # vehicle parameters vehicle: diff --git a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml index f112edb09b..a92f958bd8 100644 --- a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml @@ -1,8 +1,6 @@ /**: ros__parameters: - # -- system -- - ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value @@ -40,6 +38,7 @@ mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + mpc_min_prediction_length: 5.0 # minimum prediction length # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics @@ -54,9 +53,13 @@ steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 - # stop state + # stop state: steering command is kept in the previous value in the stop state. stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 + converged_steer_rad: 0.1 + keep_steer_control_until_converged: false + new_traj_duration_time: 1.0 + new_traj_end_dist: 0.3 # vehicle parameters vehicle: From ddeece84338ef16b63f2a4beacceecda57301853 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 11 Jul 2022 12:10:15 +0900 Subject: [PATCH 195/349] feat: add engage-on-driving param for xx1 (#276) Signed-off-by: tomoya.kimura Co-authored-by: tomoya.kimura --- .../operation_mode_transition_manager.param.yaml | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml index d42e2392be..8c84421a87 100644 --- a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml +++ b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml @@ -1,9 +1,11 @@ +# These parameters are tuned for xx1 + /**: ros__parameters: frequency_hz: 10.0 engage_acceptable_limits: allow_autonomous_in_stopped: true # no check if the velocity is zero, always allowed. - dist_threshold: 1.5 + dist_threshold: 0.5 yaw_threshold: 0.524 speed_upper_threshold: 10.0 speed_lower_threshold: -10.0 @@ -11,8 +13,8 @@ lateral_acc_threshold: 1.0 lateral_acc_diff_threshold: 0.5 stable_check: - duration: 0.1 - dist_threshold: 1.5 + duration: 3.0 + dist_threshold: 0.5 speed_upper_threshold: 2.0 speed_lower_threshold: -2.0 yaw_threshold: 0.262 From c1b5e09e8a5775f63ab3fa1ff54d1a355e5be9c1 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 11 Jul 2022 12:29:12 +0900 Subject: [PATCH 196/349] feat: change control param for xx1 (#284) * change plan_from_ego to true Signed-off-by: tomoya.kimura * enable_keep_stopped_until_steer_convergence: true Signed-off-by: tomoya.kimura * keep_steer_control_until_converged: true Signed-off-by: tomoya.kimura --- .../config/trajectory_follower/1/lateral_controller.param.yaml | 2 +- .../trajectory_follower/1/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/10/lateral_controller.param.yaml | 2 +- .../trajectory_follower/10/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/2/lateral_controller.param.yaml | 2 +- .../trajectory_follower/2/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/3/lateral_controller.param.yaml | 2 +- .../trajectory_follower/3/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/4/lateral_controller.param.yaml | 2 +- .../trajectory_follower/4/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/5/lateral_controller.param.yaml | 2 +- .../trajectory_follower/5/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/6/lateral_controller.param.yaml | 2 +- .../trajectory_follower/6/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/7/lateral_controller.param.yaml | 2 +- .../trajectory_follower/7/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/9/lateral_controller.param.yaml | 2 +- .../trajectory_follower/9/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/default/lateral_controller.param.yaml | 2 +- .../default/longitudinal_controller.param.yaml | 2 +- .../obstacle_avoidance_planner.param.yaml | 2 +- 21 files changed, 21 insertions(+), 21 deletions(-) diff --git a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml index a92f958bd8..fe77dd829d 100644 --- a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml @@ -57,7 +57,7 @@ stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 converged_steer_rad: 0.1 - keep_steer_control_until_converged: false + keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml index 571d66174f..0077637d07 100644 --- a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml @@ -6,7 +6,7 @@ enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true - enable_keep_stopped_until_steer_convergence: false + enable_keep_stopped_until_steer_convergence: true # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml index a92f958bd8..fe77dd829d 100644 --- a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml @@ -57,7 +57,7 @@ stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 converged_steer_rad: 0.1 - keep_steer_control_until_converged: false + keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml index 1c71fa9b09..8c98424e6a 100644 --- a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -6,7 +6,7 @@ enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true - enable_keep_stopped_until_steer_convergence: false + enable_keep_stopped_until_steer_convergence: true # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml index a92f958bd8..fe77dd829d 100644 --- a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml @@ -57,7 +57,7 @@ stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 converged_steer_rad: 0.1 - keep_steer_control_until_converged: false + keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml index 1c71fa9b09..8c98424e6a 100644 --- a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -6,7 +6,7 @@ enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true - enable_keep_stopped_until_steer_convergence: false + enable_keep_stopped_until_steer_convergence: true # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml index a92f958bd8..fe77dd829d 100644 --- a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml @@ -57,7 +57,7 @@ stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 converged_steer_rad: 0.1 - keep_steer_control_until_converged: false + keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index 9cefc359d6..55ea426c1f 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -6,7 +6,7 @@ enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true - enable_keep_stopped_until_steer_convergence: false + enable_keep_stopped_until_steer_convergence: true # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml index b979878ab3..46ee0fa0a9 100644 --- a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml @@ -57,7 +57,7 @@ stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 converged_steer_rad: 0.1 - keep_steer_control_until_converged: false + keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml index 7848f47c4f..be9e35ce4b 100644 --- a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -6,7 +6,7 @@ enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true - enable_keep_stopped_until_steer_convergence: false + enable_keep_stopped_until_steer_convergence: true # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml index 440ef62427..93cb952819 100644 --- a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml @@ -57,7 +57,7 @@ stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 converged_steer_rad: 0.1 - keep_steer_control_until_converged: false + keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml index 1c71fa9b09..8c98424e6a 100644 --- a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -6,7 +6,7 @@ enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true - enable_keep_stopped_until_steer_convergence: false + enable_keep_stopped_until_steer_convergence: true # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml index a92f958bd8..fe77dd829d 100644 --- a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml @@ -57,7 +57,7 @@ stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 converged_steer_rad: 0.1 - keep_steer_control_until_converged: false + keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml index 571d66174f..0077637d07 100644 --- a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -6,7 +6,7 @@ enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true - enable_keep_stopped_until_steer_convergence: false + enable_keep_stopped_until_steer_convergence: true # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml index a92f958bd8..fe77dd829d 100644 --- a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml @@ -57,7 +57,7 @@ stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 converged_steer_rad: 0.1 - keep_steer_control_until_converged: false + keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml index 1c71fa9b09..8c98424e6a 100644 --- a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -6,7 +6,7 @@ enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true - enable_keep_stopped_until_steer_convergence: false + enable_keep_stopped_until_steer_convergence: true # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml index a92f958bd8..fe77dd829d 100644 --- a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml @@ -57,7 +57,7 @@ stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 converged_steer_rad: 0.1 - keep_steer_control_until_converged: false + keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 diff --git a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml index 032e9d7d25..aa477f75df 100644 --- a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml @@ -6,7 +6,7 @@ enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true - enable_keep_stopped_until_steer_convergence: false + enable_keep_stopped_until_steer_convergence: true # state transition drive_state_stop_dist: 0.5 diff --git a/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml index 133b794b39..d7543de53f 100644 --- a/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml @@ -57,7 +57,7 @@ stop_state_entry_ego_speed: 0.2 stop_state_entry_target_speed: 0.2 converged_steer_rad: 0.1 - keep_steer_control_until_converged: false + keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml index 1c71fa9b09..8c98424e6a 100644 --- a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml @@ -6,7 +6,7 @@ enable_overshoot_emergency: false enable_large_tracking_error_emergency: false enable_slope_compensation: true - enable_keep_stopped_until_steer_convergence: false + enable_keep_stopped_until_steer_convergence: true # state transition drive_state_stop_dist: 0.5 diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 6df9e2af49..a7c17f07b2 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -58,7 +58,7 @@ option: steer_limit_constraint: true fix_points_around_ego: true - plan_from_ego: false + plan_from_ego: true max_plan_from_ego_length: 10.0 visualize_sampling_num: 1 enable_manual_warm_start: true From c0fdb823255e73cc8ecddafe97d3b58eacff34cc Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 11 Jul 2022 14:31:46 +0900 Subject: [PATCH 197/349] feat: add rtc_auto_approver_foa (#286) Signed-off-by: tomoya.kimura --- .../rtc_auto_approver_foa.param.yaml | 18 ++++++++++++++++++ planning_launch/launch/planning.launch.xml | 1 + .../scenario_planning/lane_driving.launch.xml | 4 +++- .../scenario_planning.launch.xml | 2 ++ 4 files changed, 24 insertions(+), 1 deletion(-) create mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver_foa.param.yaml diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver_foa.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver_foa.param.yaml new file mode 100644 index 0000000000..836208df42 --- /dev/null +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver_foa.param.yaml @@ -0,0 +1,18 @@ +/**: + ros__parameters: + module_list: + - "behavior_velocity_planner/blind_spot" + - "behavior_velocity_planner/crosswalk" + - "behavior_velocity_planner/detection_area" + - "behavior_velocity_planner/intersection" + - "behavior_velocity_planner/no_stopping_area" + - "behavior_velocity_planner/traffic_light" + - "behavior_path_planner/lane_change_left" + - "behavior_path_planner/lane_change_right" + - "behavior_path_planner/avoidance_left" + - "behavior_path_planner/avoidance_right" + - "behavior_path_planner/pull_over" + - "behavior_path_planner/pull_out" + + default_enable_list: + - "behavior_velocity_planner/blind_spot" diff --git a/planning_launch/launch/planning.launch.xml b/planning_launch/launch/planning.launch.xml index 0cae6cfd33..c497af390c 100644 --- a/planning_launch/launch/planning.launch.xml +++ b/planning_launch/launch/planning.launch.xml @@ -24,6 +24,7 @@ + diff --git a/planning_launch/launch/scenario_planning/lane_driving.launch.xml b/planning_launch/launch/scenario_planning/lane_driving.launch.xml index a0e35c5874..37d9f1784a 100644 --- a/planning_launch/launch/scenario_planning/lane_driving.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving.launch.xml @@ -5,6 +5,7 @@ + @@ -17,7 +18,8 @@ - + /> + /> diff --git a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml index 538607f04a..5ba4800a55 100644 --- a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml @@ -5,6 +5,7 @@ + @@ -45,6 +46,7 @@ + From 21f632b2ae6dce7ff39dce02cad54410f76a41b7 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 11 Jul 2022 14:55:15 +0900 Subject: [PATCH 198/349] feat: remove detection preprocess (#285) Signed-off-by: tomoya.kimura --- .../detection/detection_preprocess.param.yaml | 5 - .../pointcloud_map_filter.param.yaml | 2 +- ...ra_lidar_fusion_based_detection.launch.xml | 5 +- .../detection/detection_preprocess.launch.py | 136 ------------------ .../lidar_based_detection.launch.xml | 6 +- 5 files changed, 7 insertions(+), 147 deletions(-) delete mode 100644 perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml delete mode 100644 perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py diff --git a/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml b/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml deleted file mode 100644 index 815e70e392..0000000000 --- a/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - use_down_sample_filter: True - down_sample_voxel_size: 0.1 - distance_threshold: 0.5 diff --git a/perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml b/perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml index a07a9416c2..815e70e392 100644 --- a/perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml +++ b/perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - use_down_sample_filter: False + use_down_sample_filter: True down_sample_voxel_size: 0.1 distance_threshold: 0.5 diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index 0031f3663b..b0731edd74 100644 --- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -39,11 +39,12 @@ --> - + - + + diff --git a/perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py b/perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py deleted file mode 100644 index 0ed9100a48..0000000000 --- a/perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py +++ /dev/null @@ -1,136 +0,0 @@ -# Copyright 2020 Tier IV, Inc. All rights reserved. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -import launch -from launch.actions import DeclareLaunchArgument -from launch.actions import OpaqueFunction -from launch.actions import SetLaunchConfiguration -from launch.conditions import IfCondition -from launch.conditions import UnlessCondition -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer -from launch_ros.actions import LoadComposableNodes -from launch_ros.descriptions import ComposableNode - - -class DetectionPreProcessPipeline: - def __init__(self, context): - self.output_topic = ( - "/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" - ) - - def create_common_pipeline(self, output_topic): - components = [] - downsample_topic = "/perception/obstacle_segmentation/downsampled/pointcloud" - components.append( - ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent", - name="voxel_grid_downsample_filter", - remappings=[ - ("input", LaunchConfiguration("input_topic")), - ("output", downsample_topic), - ], - parameters=[ - { - "voxel_size_x": 0.1, - "voxel_size_y": 0.1, - "voxel_size_z": 0.1, - } - ], - extra_arguments=[ - {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} - ], - ) - ) - - components.append( - ComposableNode( - package="compare_map_segmentation", - plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent", - name="voxel_based_compare_map_filter", - remappings=[ - ("input", downsample_topic), - ("map", "/map/pointcloud_map"), - ("output", output_topic), - ], - parameters=[ - { - "distance_threshold": 0.5, - } - ], - extra_arguments=[ - {"use_intra_process_comms": False}, - ], - ) - ) - return components - - -def launch_setup(context, *args, **kwargs): - pipeline = DetectionPreProcessPipeline(context) - - components = [] - components.extend( - pipeline.create_common_pipeline( - output_topic=pipeline.output_topic, - ) - ) - - individual_container = ComposableNodeContainer( - name=LaunchConfiguration("container_name"), - namespace="", - package="rclcpp_components", - executable=LaunchConfiguration("container_executable"), - composable_node_descriptions=components, - condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")), - output="screen", - ) - pointcloud_container_loader = LoadComposableNodes( - composable_node_descriptions=components, - target_container=LaunchConfiguration("container_name"), - condition=IfCondition(LaunchConfiguration("use_pointcloud_container")), - ) - return [individual_container, pointcloud_container_loader] - - -def generate_launch_description(): - - launch_arguments = [] - - def add_launch_arg(name: str, default_value=None): - launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value)) - - add_launch_arg("input_topic", "") - add_launch_arg("use_multithread", "False") - add_launch_arg("use_intra_process", "True") - add_launch_arg("use_pointcloud_container", "False") - add_launch_arg("container_name", "detection_preprocess_pipeline_container") - - set_container_executable = SetLaunchConfiguration( - "container_executable", - "component_container", - condition=UnlessCondition(LaunchConfiguration("use_multithread")), - ) - - set_container_mt_executable = SetLaunchConfiguration( - "container_executable", - "component_container_mt", - condition=IfCondition(LaunchConfiguration("use_multithread")), - ) - - return launch.LaunchDescription( - launch_arguments - + [set_container_executable, set_container_mt_executable] - + [OpaqueFunction(function=launch_setup)] - ) diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index da55d0b355..2bb79fdb33 100644 --- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -9,18 +9,18 @@ - + - + + - From a360f6083d53ba78ad5adca83914e05450dd29ae Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Mon, 11 Jul 2022 20:22:59 +0900 Subject: [PATCH 199/349] fix: input pointcloud (#289) Signed-off-by: Shumpei Wakabayashi --- perception_launch/launch/perception.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml index 28e6e7b14a..0a5114200a 100644 --- a/perception_launch/launch/perception.launch.xml +++ b/perception_launch/launch/perception.launch.xml @@ -2,7 +2,7 @@ - + From 5ac3e5c6fd5312818c530b5e58e388ce8889f6fc Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 12 Jul 2022 19:28:21 +0900 Subject: [PATCH 200/349] chore(autoware_api_launch): removed unnecessary param Signed-off-by: Takayuki Murooka --- .../launch/include/external_api_adaptor.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py index 0ee9778270..a97ef50049 100644 --- a/autoware_api_launch/launch/include/external_api_adaptor.launch.py +++ b/autoware_api_launch/launch/include/external_api_adaptor.launch.py @@ -34,7 +34,7 @@ def generate_launch_description(): _create_api_node("diagnostics", "Diagnostics"), _create_api_node("door", "Door"), _create_api_node("emergency", "Emergency"), - _create_api_node("engage", "Engage", parameters=[{"auto_operator_change": False}]), + _create_api_node("engage", "Engage"), _create_api_node("fail_safe_state", "FailSafeState"), _create_api_node("initial_pose", "InitialPose"), _create_api_node("map", "Map"), From a0bc77520c63b2527fcf6783f9f3881c84c4d9f5 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Thu, 14 Jul 2022 14:08:24 +0900 Subject: [PATCH 201/349] Update perception.launch.xml --- perception_launch/launch/perception.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml index 5798b8657e..273c7c32e0 100644 --- a/perception_launch/launch/perception.launch.xml +++ b/perception_launch/launch/perception.launch.xml @@ -122,5 +122,5 @@ - + --> From 166181270b6232b23c3377a1bf03b388794a01fd Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Thu, 14 Jul 2022 15:06:53 +0900 Subject: [PATCH 202/349] Update perception.launch.xml --- perception_launch/launch/perception.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml index 273c7c32e0..20190cdf9b 100644 --- a/perception_launch/launch/perception.launch.xml +++ b/perception_launch/launch/perception.launch.xml @@ -121,6 +121,6 @@ + --> + From 10c4c01a98bdb03a57f526330129bdf92eed85f1 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 19 Jul 2022 09:54:19 +0900 Subject: [PATCH 203/349] feat: add use_perfect_lane_change option (#293) Signed-off-by: tomoya.kimura --- autoware_launch/launch/autoware.launch.xml | 1 + .../launch/planning_simulator.launch.xml | 2 ++ planning_launch/launch/planning.launch.xml | 3 +++ .../scenario_planning/lane_driving.launch.xml | 1 + .../behavior_planning.launch.py | 19 ++++--------------- .../behavior_planning.launch.xml | 13 +++++-------- .../scenario_planning.launch.xml | 2 ++ 7 files changed, 18 insertions(+), 23 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 46cca66416..eba8e31e30 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -12,6 +12,7 @@ + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 60cd042806..5b2e95ce8f 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -17,6 +17,7 @@ + @@ -58,6 +59,7 @@ + diff --git a/planning_launch/launch/planning.launch.xml b/planning_launch/launch/planning.launch.xml index c497af390c..b482290ea7 100644 --- a/planning_launch/launch/planning.launch.xml +++ b/planning_launch/launch/planning.launch.xml @@ -1,5 +1,7 @@ + + @@ -25,6 +27,7 @@ + diff --git a/planning_launch/launch/scenario_planning/lane_driving.launch.xml b/planning_launch/launch/scenario_planning/lane_driving.launch.xml index 37d9f1784a..c1e895509b 100644 --- a/planning_launch/launch/scenario_planning/lane_driving.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving.launch.xml @@ -6,6 +6,7 @@ + diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 6d3f39cc3b..ea96deef3d 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -174,13 +174,12 @@ def generate_launch_description(): behavior_path_planner_param, { "planning_hz": 10.0, - "lane_change.enable_abort_lane_change": LaunchConfiguration("disuse_foa"), + "lane_change.enable_abort_lane_change": LaunchConfiguration("use_perfect_lane_change"), "lane_change.enable_collision_check_at_prepare_phase": LaunchConfiguration( - "disuse_foa" + "use_perfect_lane_change" ), - "lane_change.use_predicted_path_outside_lanelet": LaunchConfiguration("disuse_foa"), - "lane_change.use_all_predicted_path": LaunchConfiguration("disuse_foa"), - "lane_change.enable_blocked_by_obstacle": LaunchConfiguration("disuse_foa"), + "lane_change.use_predicted_path_outside_lanelet": LaunchConfiguration("use_perfect_lane_change"), + "lane_change.use_all_predicted_path": LaunchConfiguration("use_perfect_lane_change"), "bt_tree_config_path": LaunchConfiguration("bt_tree_config_path"), }, ], @@ -489,16 +488,6 @@ def generate_launch_description(): DeclareLaunchArgument("use_multithread", default_value="false"), set_container_executable, set_container_mt_executable, - SetParameter( - name="avoidance.threshold_distance_object_is_on_center", - value=0.5, - condition=IfCondition(LaunchConfiguration("disuse_foa")), - ), - SetParameter( - name="avoidance.threshold_distance_object_is_on_center", - value=0.0, - condition=UnlessCondition(LaunchConfiguration("disuse_foa")), - ), set_bt_tree_config_path_without_foa, set_bt_tree_config_path_with_foa, container, diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index 66dfc7399f..2780d9381d 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -7,9 +7,6 @@ tier4_planning_msgs/msg/Approval 'approval: true' -r 10"/> - - - @@ -28,11 +25,11 @@ - - - - - + + + + + diff --git a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml index 5ba4800a55..d24c2d4c05 100644 --- a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml @@ -6,6 +6,7 @@ + @@ -47,6 +48,7 @@ + From e55149aaf7fdc10c1f67e00998856e0184afe1dd Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 21 Jul 2022 11:10:10 +0900 Subject: [PATCH 204/349] feat: expand crop box range (#280) Signed-off-by: tomoya.kimura --- .../config/crop_box_filter_measurement_range.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/localization_launch/config/crop_box_filter_measurement_range.param.yaml b/localization_launch/config/crop_box_filter_measurement_range.param.yaml index ad55423154..be5a50ef0f 100644 --- a/localization_launch/config/crop_box_filter_measurement_range.param.yaml +++ b/localization_launch/config/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 From f39e19598ae83c8997a4400a16f6f24ce3130542 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 22 Jul 2022 01:03:33 +0900 Subject: [PATCH 205/349] fix: fix decel param (#294) Signed-off-by: tomoya.kimura --- .../behavior_velocity_planner.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index 98955d7c52..bf75e3d577 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -12,7 +12,7 @@ launch_run_out: false forward_path_length: 1000.0 backward_path_length: 5.0 - max_accel: -2.8 + max_accel: -3.0 max_jerk: -5.0 system_delay: 0.5 - delay_response_time: 1.3 + delay_response_time: 0.5 From 14176cbc7af9413aafff1fa8df6a0f0a2b9e1beb Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Fri, 22 Jul 2022 10:37:51 +0900 Subject: [PATCH 206/349] fix(perception_launch): fix namespace mismatch in perception launcher (#295) * fix perception namespace mismatch Signed-off-by: Shunsuke Miura * Fix in camera lidar fusion Signed-off-by: Shunsuke Miura --- .../detection/camera_lidar_fusion_based_detection.launch.xml | 1 - .../detection/lidar_based_detection.launch.xml | 1 - 2 files changed, 2 deletions(-) diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index 1fe28fad59..bc9977d83e 100644 --- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -41,7 +41,6 @@ - diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index 76441d4bda..704a2d8106 100644 --- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -11,7 +11,6 @@ - From a58e9ee52c233b62912a2eed1f0f4034baa6211b Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 25 Jul 2022 10:59:28 +0900 Subject: [PATCH 207/349] feat: change unknown max area (#296) Signed-off-by: tomoya.kimura --- .../multi_object_tracker/data_association_matrix.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml index 6fb495c258..5272d4a977 100644 --- a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml +++ b/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml @@ -23,7 +23,7 @@ 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN max_area_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, #UNKNOWN + [ 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, #UNKNOWN 12.10, 12.10, 19.75, 40.00, 40.00, 10000.00, 10000.00, 10000.00, #CAR 19.75, 12.10, 19.75, 40.00, 40.00, 10000.00, 10000.00, 10000.00, #TRUCK 40.00, 12.10, 19.75, 40.00, 40.00, 10000.00, 10000.00, 10000.00, #BUS From 7be48467692aba44986cd637f18583b05196787f Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed, 27 Jul 2022 13:49:49 +0900 Subject: [PATCH 208/349] feat: change unknown max area smaller (#298) Signed-off-by: Shumpei Wakabayashi --- .../multi_object_tracker/data_association_matrix.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml index 5272d4a977..7f13238938 100644 --- a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml +++ b/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml @@ -23,7 +23,7 @@ 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN max_area_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [ 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, #UNKNOWN + [ 90.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, #UNKNOWN 12.10, 12.10, 19.75, 40.00, 40.00, 10000.00, 10000.00, 10000.00, #CAR 19.75, 12.10, 19.75, 40.00, 40.00, 10000.00, 10000.00, 10000.00, #TRUCK 40.00, 12.10, 19.75, 40.00, 40.00, 10000.00, 10000.00, 10000.00, #BUS From b6ede8c1b42484c70550b0dbfc6813b07b6b1f3a Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 1 Aug 2022 17:37:21 +0900 Subject: [PATCH 209/349] feat: add accel_brake_map_calib diag to system_error_monitor (#299) * feat: add accel_brake_map_calib diag to system_error_monitor Signed-off-by: tomoya.kimura * fix vehicle param Signed-off-by: tomoya.kimura --- .../diagnostic_aggregator/vehicle.param.yaml | 19 +++++++++++++++++++ .../config/system_error_monitor.param.yaml | 2 ++ 2 files changed, 21 insertions(+) diff --git a/system_launch/config/diagnostic_aggregator/vehicle.param.yaml b/system_launch/config/diagnostic_aggregator/vehicle.param.yaml index e96e3b3b05..ce098b82fb 100644 --- a/system_launch/config/diagnostic_aggregator/vehicle.param.yaml +++ b/system_launch/config/diagnostic_aggregator/vehicle.param.yaml @@ -9,3 +9,22 @@ path: vehicle_errors contains: [": vehicle_errors"] timeout: 1.0 + node_alive_monitoring: + type: diagnostic_aggregator/AnalyzerGroup + path: node_alive_monitoring + analyzers: + # TODO(Tier IV): Consider splitting sensor input and control command output + topic_status: + type: diagnostic_aggregator/GenericAnalyzer + path: topic_status + contains: [": vehicle_topic_status"] + timeout: 1.0 + calibration: + type: diagnostic_aggregator/AnalyzerGroup + path: calibration + analyzers: + accel_brake_map_calibrator: + type: diagnostic_aggregator/GenericAnalyzer + path: accel_brake_map_calibrator + contains: [": accel_brake_map_calibrator"] + timeout: 1.0 \ No newline at end of file diff --git a/system_launch/config/system_error_monitor.param.yaml b/system_launch/config/system_error_monitor.param.yaml index 4ec4806050..65ca416834 100644 --- a/system_launch/config/system_error_monitor.param.yaml +++ b/system_launch/config/system_error_monitor.param.yaml @@ -43,6 +43,8 @@ /autoware/system/debug_data_logger/storage_error: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/vehicle/calibration: { sf_at: "warn", lf_at: "none", spf_at: "none" } + external_control: /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/control/external_control/external_command_selector/node_alive_monitoring: default From bcbcbb676ce62d2b77a7bd2fd91e238f1f229d62 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 10 Aug 2022 17:04:58 +0900 Subject: [PATCH 210/349] feat: change the threshold valud of nvtl in ndt_scan_matcher (#304) Signed-off-by: tomoya.kimura --- localization_launch/config/ndt_scan_matcher.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization_launch/config/ndt_scan_matcher.param.yaml b/localization_launch/config/ndt_scan_matcher.param.yaml index f5b454a887..5ab5f8800b 100644 --- a/localization_launch/config/ndt_scan_matcher.param.yaml +++ b/localization_launch/config/ndt_scan_matcher.param.yaml @@ -34,7 +34,7 @@ # 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: 2.2 # The number of particles to estimate initial pose initial_estimate_particles_num: 100 From 72cca47713fdaabf8afba072f52729842442eba9 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Fri, 19 Aug 2022 13:22:35 +0900 Subject: [PATCH 211/349] delete steer lim deg Signed-off-by: tomoya.kimura --- .../config/trajectory_follower/1/lateral_controller.param.yaml | 1 - .../config/trajectory_follower/10/lateral_controller.param.yaml | 1 - .../config/trajectory_follower/2/lateral_controller.param.yaml | 1 - .../config/trajectory_follower/3/lateral_controller.param.yaml | 1 - .../config/trajectory_follower/4/lateral_controller.param.yaml | 1 - .../config/trajectory_follower/5/lateral_controller.param.yaml | 1 - .../config/trajectory_follower/6/lateral_controller.param.yaml | 1 - .../config/trajectory_follower/7/lateral_controller.param.yaml | 1 - .../config/trajectory_follower/9/lateral_controller.param.yaml | 1 - 9 files changed, 9 deletions(-) diff --git a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml index fe77dd829d..84103c7c55 100644 --- a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml @@ -44,7 +44,6 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml index fe77dd829d..84103c7c55 100644 --- a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml @@ -44,7 +44,6 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml index fe77dd829d..84103c7c55 100644 --- a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml @@ -44,7 +44,6 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml index fe77dd829d..84103c7c55 100644 --- a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml @@ -44,7 +44,6 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml index 46ee0fa0a9..7d1db4bdd9 100644 --- a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml @@ -44,7 +44,6 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml index 93cb952819..2d5b7efa5f 100644 --- a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml @@ -44,7 +44,6 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml index fe77dd829d..84103c7c55 100644 --- a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml @@ -44,7 +44,6 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml index fe77dd829d..84103c7c55 100644 --- a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml @@ -44,7 +44,6 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml index fe77dd829d..84103c7c55 100644 --- a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml @@ -44,7 +44,6 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 37.0 # steering angle limit [deg] steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] From 353b0fd75b2473f15715a768c49e48e71585af2d Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Fri, 19 Aug 2022 17:24:01 +0900 Subject: [PATCH 212/349] chore(localization_launch): update error monitor param (#305) Signed-off-by: Shumpei Wakabayashi Signed-off-by: Shumpei Wakabayashi --- .../config/localization_error_monitor.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/localization_launch/config/localization_error_monitor.param.yaml b/localization_launch/config/localization_error_monitor.param.yaml index 026daf0532..585f4f1757 100644 --- a/localization_launch/config/localization_error_monitor.param.yaml +++ b/localization_launch/config/localization_error_monitor.param.yaml @@ -3,5 +3,5 @@ scale: 3.0 error_ellipse_size: 1.0 warn_ellipse_size: 0.8 - error_ellipse_size_lateral_direction: 0.3 - warn_ellipse_size_lateral_direction: 0.2 + error_ellipse_size_lateral_direction: 0.6 + warn_ellipse_size_lateral_direction: 0.4 From a388ed48dd2620edbd2041c86de4a880c2c82a12 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 22 Aug 2022 13:38:28 +0900 Subject: [PATCH 213/349] feat: add cruise target to bicycle (#307) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index a8821c75bb..8370bac998 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -26,7 +26,7 @@ bus: true trailer: true motorcycle: true - bicycle: false + bicycle: true pedestrian: false stop_obstacle_type: From 3f519e72d0dc5cdf8b0c8463385be2d0c67788ae Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 23 Aug 2022 13:23:37 +0900 Subject: [PATCH 214/349] feat: change perception error rate (#310) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- system_launch/config/ad_service_state_monitor.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system_launch/config/ad_service_state_monitor.param.yaml b/system_launch/config/ad_service_state_monitor.param.yaml index 728da9c481..03b6785be3 100644 --- a/system_launch/config/ad_service_state_monitor.param.yaml +++ b/system_launch/config/ad_service_state_monitor.param.yaml @@ -84,7 +84,7 @@ /perception/object_recognition/objects: module: "perception" timeout: 1.0 - warn_rate: 5.0 + warn_rate: 3.0 type: "autoware_auto_perception_msgs/msg/PredictedObjects" # This topic could have two different types depending on the launch flags used. # The implementation of subscriptions in ROS2 does not allow for multiple types From 6be5a801528900787cb4c9b6da8d54db7e96685c Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 1 Sep 2022 18:43:56 +0900 Subject: [PATCH 215/349] feat: change planning error rate (#313) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- system_launch/config/ad_service_state_monitor.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system_launch/config/ad_service_state_monitor.param.yaml b/system_launch/config/ad_service_state_monitor.param.yaml index 03b6785be3..74c327e1ee 100644 --- a/system_launch/config/ad_service_state_monitor.param.yaml +++ b/system_launch/config/ad_service_state_monitor.param.yaml @@ -108,7 +108,7 @@ /planning/scenario_planning/trajectory: module: "planning" timeout: 1.0 - warn_rate: 5.0 + warn_rate: 3.0 type: "autoware_auto_planning_msgs/msg/Trajectory" /control/trajectory_follower/control_cmd: From c711d947c231aa9ae57b8b11cac2262937881573 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 2 Sep 2022 11:55:04 +0900 Subject: [PATCH 216/349] feat: change lateral thresh distance for avoidance (#314) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 1b820b2c2b..12120a7326 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -10,7 +10,7 @@ enable_avoidance_over_same_direction: true enable_avoidance_over_opposite_direction: true - threshold_distance_object_is_on_center: 1.0 # [m] + threshold_distance_object_is_on_center: 0.9 # [m] threshold_speed_object_is_stopped: 1.0 # [m/s] object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 2.0 # [m] From 2136dd76a37259dd153eefdef7d65c492c7e2869 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 8 Sep 2022 14:16:51 +0900 Subject: [PATCH 217/349] fix: add calib_diag to dummy_diag_publisher (#316) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- system_launch/launch/dummy_diag_publisher/vehicle.launch.xml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml b/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml index 3848c9e7e9..85164333a4 100644 --- a/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml +++ b/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml @@ -4,4 +4,8 @@ + + + + From 567f7d4a2a4c8f04cd6431ba41db8f9f69096ab7 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue, 13 Sep 2022 18:47:03 +0900 Subject: [PATCH 218/349] feat(localization_error_monitor): calibrated threshold (#312) Signed-off-by: kminoda Signed-off-by: kminoda --- .../config/localization_error_monitor.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/localization_launch/config/localization_error_monitor.param.yaml b/localization_launch/config/localization_error_monitor.param.yaml index 585f4f1757..f56fd03893 100644 --- a/localization_launch/config/localization_error_monitor.param.yaml +++ b/localization_launch/config/localization_error_monitor.param.yaml @@ -3,5 +3,5 @@ scale: 3.0 error_ellipse_size: 1.0 warn_ellipse_size: 0.8 - error_ellipse_size_lateral_direction: 0.6 - warn_ellipse_size_lateral_direction: 0.4 + error_ellipse_size_lateral_direction: 0.35 + warn_ellipse_size_lateral_direction: 0.3 From 53804541245cf8177684386fbd65193372bf099c Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 13 Sep 2022 18:48:12 +0900 Subject: [PATCH 219/349] feat: change velocity threshold of avoidance target (#315) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 12120a7326..3b2f6f310a 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -11,7 +11,7 @@ enable_avoidance_over_opposite_direction: true threshold_distance_object_is_on_center: 0.9 # [m] - threshold_speed_object_is_stopped: 1.0 # [m/s] + threshold_speed_object_is_stopped: 3.0 # [m/s] object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 2.0 # [m] lateral_collision_margin: 1.0 # [m] From dc12d6b8129435d861383872a7e8628916b06505 Mon Sep 17 00:00:00 2001 From: tanaka3 Date: Wed, 14 Sep 2022 13:57:42 +0900 Subject: [PATCH 220/349] feat: add planning debug tools Signed-off-by: tanaka3 --- planning_launch/launch/planning.launch.xml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/planning_launch/launch/planning.launch.xml b/planning_launch/launch/planning.launch.xml index b482290ea7..68df5332c4 100644 --- a/planning_launch/launch/planning.launch.xml +++ b/planning_launch/launch/planning.launch.xml @@ -37,5 +37,12 @@ + + + + + + + From 671a1242135ddb95c09cb6b9164b224b836fab7f Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 20 Sep 2022 13:54:34 +0900 Subject: [PATCH 221/349] feat: disable deceleration in crosswalk (#323) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- .../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 2cc5260e4e..fbd22308fd 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 - 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) + min_slow_down_velocity: 11.11 # [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) From 416a0090a1aaf3288a1264858565b37e1d8fee2d Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Tue, 27 Sep 2022 13:22:55 +0900 Subject: [PATCH 222/349] add can device args (#328) Signed-off-by: Takeshi Miura Signed-off-by: Takeshi Miura --- vehicle_launch/launch/vehicle.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/vehicle_launch/launch/vehicle.launch.xml b/vehicle_launch/launch/vehicle.launch.xml index 24a3a19d81..6ab0c59927 100644 --- a/vehicle_launch/launch/vehicle.launch.xml +++ b/vehicle_launch/launch/vehicle.launch.xml @@ -5,6 +5,7 @@ + @@ -22,6 +23,7 @@ + From 625188923e9b72eb03c7241cdac65dd3bb2d17d9 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Fri, 7 Oct 2022 12:00:35 +0900 Subject: [PATCH 223/349] fix comment Signed-off-by: 1222-takeshi --- perception_launch/launch/perception.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml index 18f1a02018..99ace601eb 100644 --- a/perception_launch/launch/perception.launch.xml +++ b/perception_launch/launch/perception.launch.xml @@ -125,6 +125,6 @@ - + From 6d1b706df7e37c69d3d532b46bc9ad2a36d79bf8 Mon Sep 17 00:00:00 2001 From: Yusuke Muramatsu Date: Fri, 14 Oct 2022 16:29:11 +0900 Subject: [PATCH 224/349] feat(perception_launch): change centerpoint model (#334) Signed-off-by: yukke42 Signed-off-by: yukke42 --- .../detection/camera_lidar_fusion_based_detection.launch.xml | 3 +++ .../detection/lidar_based_detection.launch.xml | 3 +++ 2 files changed, 6 insertions(+) diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index 3b6c8388e8..14d4b658a7 100644 --- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -151,6 +151,9 @@ + + + diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index af19764293..81efe826b8 100644 --- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -61,6 +61,9 @@ + + + From 57a4f6ac941a98a03f9711af357b21f15bb80f48 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 24 Oct 2022 16:49:17 +0900 Subject: [PATCH 225/349] feat: use control.launch.xml instead of control.launch.py (#340) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- autoware_launch/launch/autoware.launch.xml | 2 +- autoware_launch/launch/planning_simulator.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 3d439e1c88..6cf8fc0b2f 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -90,7 +90,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 70d209f93c..5fb45fc503 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -65,7 +65,7 @@ - + From 28dea54e1122d484a98726802c02b96f9698269f Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 26 Oct 2022 10:58:28 +0900 Subject: [PATCH 226/349] feat: change obstacle cruise parameter (#342) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- .../obstacle_cruise_planner.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 3b1f556b8d..91a6462bd0 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -49,8 +49,8 @@ collision_time_margin : 8.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] outside_rough_detection_area_expand_width : 0.5 # rough lateral margin for rough detection area expansion for obstacles outside the trajectory [m] - outside_obstacle_min_velocity_threshold : 3.0 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] - ego_obstacle_overlap_time_threshold : 1.0 # time threshold to decide cut-in obstacle for cruise or stop [s] + outside_obstacle_min_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] + ego_obstacle_overlap_time_threshold : 2.0 # time threshold to decide cut-in obstacle for cruise or stop [s] max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego prediction_resampling_time_interval: 0.1 From 453416fa4749ab936db1f1034c83862ae177addc Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 27 Oct 2022 10:11:38 +0900 Subject: [PATCH 227/349] feat: use concatenated pointcloud in perception module (#345) --- perception_launch/launch/perception.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml index 99ace601eb..2fe026061f 100644 --- a/perception_launch/launch/perception.launch.xml +++ b/perception_launch/launch/perception.launch.xml @@ -1,7 +1,7 @@ - + From 0619e52c0d0fe36d06db93542bce3d43b0fc660c Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 27 Oct 2022 10:17:32 +0900 Subject: [PATCH 228/349] feat(revert): disable deceleration in crosswalk (#323) (#344) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- .../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 fbd22308fd..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 - min_slow_down_velocity: 11.11 # [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) From 479ff5827349b3ea6e69c313a33069ed7e251ae1 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 31 Oct 2022 14:16:20 +0900 Subject: [PATCH 229/349] fix: rtc foa param (#336) * feat: move rtc_auto_approver_foa param Signed-off-by: tomoya.kimura * fix: fix module list in auto_mode_manager param Signed-off-by: tomoya.kimura * feat: use different rtc_auto_mode_maneger params depending on disuse_foa Signed-off-by: tomoya.kimura * fix: fix parameter file name Signed-off-by: tomoya.kimura * fix: fix let description Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- .../rtc_auto_approver_foa.param.yaml | 18 ------------------ .../rtc_auto_mode_manager_foa.param.yaml | 18 ++++++++++++++++++ .../scenario_planning/lane_driving.launch.xml | 3 ++- 3 files changed, 20 insertions(+), 19 deletions(-) delete mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver_foa.param.yaml create mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver_foa.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver_foa.param.yaml deleted file mode 100644 index 836208df42..0000000000 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver_foa.param.yaml +++ /dev/null @@ -1,18 +0,0 @@ -/**: - ros__parameters: - module_list: - - "behavior_velocity_planner/blind_spot" - - "behavior_velocity_planner/crosswalk" - - "behavior_velocity_planner/detection_area" - - "behavior_velocity_planner/intersection" - - "behavior_velocity_planner/no_stopping_area" - - "behavior_velocity_planner/traffic_light" - - "behavior_path_planner/lane_change_left" - - "behavior_path_planner/lane_change_right" - - "behavior_path_planner/avoidance_left" - - "behavior_path_planner/avoidance_right" - - "behavior_path_planner/pull_over" - - "behavior_path_planner/pull_out" - - default_enable_list: - - "behavior_velocity_planner/blind_spot" diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml new file mode 100644 index 0000000000..1f0c261b6b --- /dev/null +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml @@ -0,0 +1,18 @@ +/**: + ros__parameters: + module_list: + - "blind_spot" + - "crosswalk" + - "detection_area" + - "intersection" + - "no_stopping_area" + - "traffic_light" + - "lane_change_left" + - "lane_change_right" + - "avoidance_left" + - "avoidance_right" + - "pull_over" + - "pull_out" + + default_enable_list: + - "blind_spot" diff --git a/planning_launch/launch/scenario_planning/lane_driving.launch.xml b/planning_launch/launch/scenario_planning/lane_driving.launch.xml index bc6354e58e..175241a9aa 100644 --- a/planning_launch/launch/scenario_planning/lane_driving.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving.launch.xml @@ -19,7 +19,8 @@ - + + From e6c564c5b521de78b9625d23081fa713f38ec995 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 31 Oct 2022 14:16:51 +0900 Subject: [PATCH 230/349] chore(deps): bump styfle/cancel-workflow-action from 0.10.1 to 0.11.0 (#333) Bumps [styfle/cancel-workflow-action](https://github.com/styfle/cancel-workflow-action) from 0.10.1 to 0.11.0. - [Release notes](https://github.com/styfle/cancel-workflow-action/releases) - [Commits](https://github.com/styfle/cancel-workflow-action/compare/0.10.1...0.11.0) --- updated-dependencies: - dependency-name: styfle/cancel-workflow-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/cancel-previous-workflows.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml index b28a4ec0bb..f9c29b81b6 100644 --- a/.github/workflows/cancel-previous-workflows.yaml +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -8,7 +8,7 @@ jobs: runs-on: ubuntu-latest steps: - name: Cancel previous runs - uses: styfle/cancel-workflow-action@0.10.1 + uses: styfle/cancel-workflow-action@0.11.0 with: workflow_id: all all_but_latest: true From 7f4eca01aa2db76f37c7e0945a51d15e8f0108eb Mon Sep 17 00:00:00 2001 From: MASATO SUGAWARA Date: Wed, 2 Nov 2022 16:32:57 +0900 Subject: [PATCH 231/349] feat(planning_launch): change stop margin of traffic light and stop line module (#348) Signed-off-by: masato sugawara Signed-off-by: masato sugawara --- .../behavior_velocity_planner/stop_line.param.yaml | 2 +- .../behavior_velocity_planner/traffic_light.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) 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 0118452b72..b4a7904941 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 @@ -1,7 +1,7 @@ /**: ros__parameters: stop_line: - stop_margin: 0.0 + stop_margin: 1.4 stop_duration_sec: 1.0 hold_stop_margin_distance: 2.0 use_initialization_stop_line_state: true diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml index f5db276c9e..ef2b098009 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: traffic_light: - stop_margin: 0.0 + stop_margin: 2.0 tl_state_timeout: 1.0 external_tl_state_timeout: 1.0 yellow_lamp_period: 2.75 From 998d5f729e69482962607c919738e593a3a6be03 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 28 Nov 2022 15:37:48 +0900 Subject: [PATCH 232/349] fix(system_launch): fix component_state_monitor parameter (#355) * fix(system_launch): fix component_state_monitor parameter Signed-off-by: tomoya.kimura * pre-commit fixes Signed-off-by: tomoya.kimura Co-authored-by: github-actions --- .../behavior_planning/behavior_planning.launch.py | 12 +++++++++--- .../config/component_state_monitor/topics.yaml | 4 ++-- .../config/diagnostic_aggregator/vehicle.param.yaml | 2 +- 3 files changed, 12 insertions(+), 6 deletions(-) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 681194d629..5fc11bab24 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -173,12 +173,18 @@ def generate_launch_description(): behavior_path_planner_param, { "planning_hz": 10.0, - "lane_change.enable_abort_lane_change": LaunchConfiguration("use_perfect_lane_change"), + "lane_change.enable_abort_lane_change": LaunchConfiguration( + "use_perfect_lane_change" + ), "lane_change.enable_collision_check_at_prepare_phase": LaunchConfiguration( "use_perfect_lane_change" ), - "lane_change.use_predicted_path_outside_lanelet": LaunchConfiguration("use_perfect_lane_change"), - "lane_change.use_all_predicted_path": LaunchConfiguration("use_perfect_lane_change"), + "lane_change.use_predicted_path_outside_lanelet": LaunchConfiguration( + "use_perfect_lane_change" + ), + "lane_change.use_all_predicted_path": LaunchConfiguration( + "use_perfect_lane_change" + ), "bt_tree_config_path": LaunchConfiguration("bt_tree_config_path"), }, ], diff --git a/system_launch/config/component_state_monitor/topics.yaml b/system_launch/config/component_state_monitor/topics.yaml index 4d6a596412..adba908584 100644 --- a/system_launch/config/component_state_monitor/topics.yaml +++ b/system_launch/config/component_state_monitor/topics.yaml @@ -64,7 +64,7 @@ timeout: 1.0 - module: perception - mode: [online] + mode: [online, planning_simulation] type: launch args: node_name_suffix: obstacle_segmentation_pointcloud @@ -90,7 +90,7 @@ timeout: 1.0 - module: perception - mode: [online, planning_simulation] + mode: [online] type: autonomous args: node_name_suffix: traffic_light_recognition_objects diff --git a/system_launch/config/diagnostic_aggregator/vehicle.param.yaml b/system_launch/config/diagnostic_aggregator/vehicle.param.yaml index ce098b82fb..2ad7970c77 100644 --- a/system_launch/config/diagnostic_aggregator/vehicle.param.yaml +++ b/system_launch/config/diagnostic_aggregator/vehicle.param.yaml @@ -27,4 +27,4 @@ type: diagnostic_aggregator/GenericAnalyzer path: accel_brake_map_calibrator contains: [": accel_brake_map_calibrator"] - timeout: 1.0 \ No newline at end of file + timeout: 1.0 From 9eba03380e383c43e64693b54b40f8bedc4fe6c0 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 28 Nov 2022 18:16:15 +0900 Subject: [PATCH 233/349] fix(control_launch): fix transition_timeout parameter (#356) * fix(control_launch): fix transition_timeout parameter Signed-off-by: tomoya.kimura * pre-commit fixes Signed-off-by: tomoya.kimura Co-authored-by: github-actions --- .../operation_mode_transition_manager.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml index 4cd52ae41f..661a1f1127 100644 --- a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml +++ b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml @@ -2,7 +2,7 @@ /**: ros__parameters: - transition_timeout: 3.0 + transition_timeout: 6.0 frequency_hz: 10.0 engage_acceptable_limits: allow_autonomous_in_stopped: true # no check if the velocity is zero, always allowed. From 0e78645aa10b5b728715c786c43e890e68666453 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 28 Nov 2022 13:49:13 +0900 Subject: [PATCH 234/349] fix(planning_launch): enable clipping fixed traj for pull over Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 2920afbd52..ef0c0e2e1f 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -39,6 +39,8 @@ num_fix_points_for_extending: 50 # number of fixing points when extending max_dist_for_extending_end_point: 0.0001 # minimum delta dist thres for extending last point [m] + enable_clipping_fixed_traj: true + object: # avoiding object max_avoiding_objects_velocity_ms: 0.5 # maximum velocity for avoiding objects [m/s] max_avoiding_ego_velocity_ms: 6.0 # maximum ego velocity when avoiding objects [m/s] From 5616ae478fe199e31345748246f301caae1baa58 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sat, 10 Dec 2022 23:19:18 +0900 Subject: [PATCH 235/349] feat: add sync from autoware_launch:awf-latest -> autoware_launch.xx1:awf-latest-xx1 Signed-off-by: Takayuki Murooka --- .github/workflows/sync-awf-latest-xx1.yaml | 31 ++++++++++++++++++++++ 1 file changed, 31 insertions(+) create mode 100644 .github/workflows/sync-awf-latest-xx1.yaml diff --git a/.github/workflows/sync-awf-latest-xx1.yaml b/.github/workflows/sync-awf-latest-xx1.yaml new file mode 100644 index 0000000000..f6d9da8591 --- /dev/null +++ b/.github/workflows/sync-awf-latest-xx1.yaml @@ -0,0 +1,31 @@ +name: sync-awf-latest-xx1 + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + sync-awf-latest-xx1: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: awf-latest-xx1 + sync-pr-branch: sync-awf-latest-xx1 + sync-target-repository: https://github.com/tier4/autoware_launch.git + sync-target-branch: awf-latest + pr-title: "chore: sync awf-latest-xx1" + pr-labels: | + bot + sync-awf-latest-xx1 + auto-merge-method: merge From 2c79ca2b9f3b2e8438353de195d04964fa9999d8 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 13 Dec 2022 14:52:53 +0900 Subject: [PATCH 236/349] Revert "feat: add sync from autoware_launch:awf-latest -> autoware_launch.xx1:awf-latest-xx1" This reverts commit 5616ae478fe199e31345748246f301caae1baa58. --- .github/workflows/sync-awf-latest-xx1.yaml | 31 ---------------------- 1 file changed, 31 deletions(-) delete mode 100644 .github/workflows/sync-awf-latest-xx1.yaml diff --git a/.github/workflows/sync-awf-latest-xx1.yaml b/.github/workflows/sync-awf-latest-xx1.yaml deleted file mode 100644 index f6d9da8591..0000000000 --- a/.github/workflows/sync-awf-latest-xx1.yaml +++ /dev/null @@ -1,31 +0,0 @@ -name: sync-awf-latest-xx1 - -on: - schedule: - - cron: 0 0 * * * - workflow_dispatch: - -jobs: - sync-awf-latest-xx1: - runs-on: ubuntu-latest - steps: - - name: Generate token - id: generate-token - uses: tibdex/github-app-token@v1 - with: - app_id: ${{ secrets.APP_ID }} - private_key: ${{ secrets.PRIVATE_KEY }} - - - name: Run sync-branches - uses: autowarefoundation/autoware-github-actions/sync-branches@v1 - with: - token: ${{ steps.generate-token.outputs.token }} - base-branch: awf-latest-xx1 - sync-pr-branch: sync-awf-latest-xx1 - sync-target-repository: https://github.com/tier4/autoware_launch.git - sync-target-branch: awf-latest - pr-title: "chore: sync awf-latest-xx1" - pr-labels: | - bot - sync-awf-latest-xx1 - auto-merge-method: merge From 314ed4f29f5e8b51ca3363f2b71cb35aadd8b5cf Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 14 Dec 2022 13:39:20 +0900 Subject: [PATCH 237/349] fix(behavior_velocity_planner): set accel and jerk parameter to analytical smoother (#368) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- .../common/motion_velocity_smoother/Analytical.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml index 329714e3d3..f847e81cfa 100644 --- a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml +++ b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml @@ -11,9 +11,9 @@ forward: max_acc: 1.0 - min_acc: -1.0 - max_jerk: 0.3 - min_jerk: -0.3 + min_acc: -0.5 + max_jerk: 1.0 + min_jerk: -0.5 kp: 0.3 backward: From 3fa76ac54bdaf1b4475b9168ce1baf9b56d33d0c Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 19 Dec 2022 17:18:16 +0900 Subject: [PATCH 238/349] feat: use top pointcloud in perception module (#370) * feat: use top pointcloud in perception module Signed-off-by: tomoya.kimura * misc Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- perception_launch/launch/perception.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml index 682536956e..814e663371 100644 --- a/perception_launch/launch/perception.launch.xml +++ b/perception_launch/launch/perception.launch.xml @@ -1,7 +1,7 @@ - + From c32d93d2c035b3b12e2883c7912234be2ebccc04 Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Mon, 19 Dec 2022 17:20:13 +0900 Subject: [PATCH 239/349] fix voltage_monitor param path (#371) Signed-off-by: 1222-takeshi Signed-off-by: 1222-takeshi --- .../config/1/system_monitor/voltage_monitor.param.yaml | 5 +++++ .../config/10/system_monitor/voltage_monitor.param.yaml | 5 +++++ .../config/2/system_monitor/voltage_monitor.param.yaml | 5 +++++ .../config/3/system_monitor/voltage_monitor.param.yaml | 5 +++++ .../config/4/system_monitor/voltage_monitor.param.yaml | 5 +++++ .../config/5/system_monitor/voltage_monitor.param.yaml | 5 +++++ .../config/6/system_monitor/voltage_monitor.param.yaml | 5 +++++ .../config/7/system_monitor/voltage_monitor.param.yaml | 5 +++++ .../config/8/system_monitor/voltage_monitor.param.yaml | 5 +++++ .../config/9/system_monitor/voltage_monitor.param.yaml | 5 +++++ system_launch/launch/system.launch.xml | 2 +- 11 files changed, 51 insertions(+), 1 deletion(-) create mode 100644 system_launch/config/1/system_monitor/voltage_monitor.param.yaml create mode 100644 system_launch/config/10/system_monitor/voltage_monitor.param.yaml create mode 100644 system_launch/config/2/system_monitor/voltage_monitor.param.yaml create mode 100644 system_launch/config/3/system_monitor/voltage_monitor.param.yaml create mode 100644 system_launch/config/4/system_monitor/voltage_monitor.param.yaml create mode 100644 system_launch/config/5/system_monitor/voltage_monitor.param.yaml create mode 100644 system_launch/config/6/system_monitor/voltage_monitor.param.yaml create mode 100644 system_launch/config/7/system_monitor/voltage_monitor.param.yaml create mode 100644 system_launch/config/8/system_monitor/voltage_monitor.param.yaml create mode 100644 system_launch/config/9/system_monitor/voltage_monitor.param.yaml diff --git a/system_launch/config/1/system_monitor/voltage_monitor.param.yaml b/system_launch/config/1/system_monitor/voltage_monitor.param.yaml new file mode 100644 index 0000000000..e55410be39 --- /dev/null +++ b/system_launch/config/1/system_monitor/voltage_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + cmos_battery_warn: 2.90 + cmos_battery_error: 2.70 + cmos_battery_label: "" diff --git a/system_launch/config/10/system_monitor/voltage_monitor.param.yaml b/system_launch/config/10/system_monitor/voltage_monitor.param.yaml new file mode 100644 index 0000000000..e55410be39 --- /dev/null +++ b/system_launch/config/10/system_monitor/voltage_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + cmos_battery_warn: 2.90 + cmos_battery_error: 2.70 + cmos_battery_label: "" diff --git a/system_launch/config/2/system_monitor/voltage_monitor.param.yaml b/system_launch/config/2/system_monitor/voltage_monitor.param.yaml new file mode 100644 index 0000000000..e55410be39 --- /dev/null +++ b/system_launch/config/2/system_monitor/voltage_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + cmos_battery_warn: 2.90 + cmos_battery_error: 2.70 + cmos_battery_label: "" diff --git a/system_launch/config/3/system_monitor/voltage_monitor.param.yaml b/system_launch/config/3/system_monitor/voltage_monitor.param.yaml new file mode 100644 index 0000000000..e55410be39 --- /dev/null +++ b/system_launch/config/3/system_monitor/voltage_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + cmos_battery_warn: 2.90 + cmos_battery_error: 2.70 + cmos_battery_label: "" diff --git a/system_launch/config/4/system_monitor/voltage_monitor.param.yaml b/system_launch/config/4/system_monitor/voltage_monitor.param.yaml new file mode 100644 index 0000000000..e55410be39 --- /dev/null +++ b/system_launch/config/4/system_monitor/voltage_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + cmos_battery_warn: 2.90 + cmos_battery_error: 2.70 + cmos_battery_label: "" diff --git a/system_launch/config/5/system_monitor/voltage_monitor.param.yaml b/system_launch/config/5/system_monitor/voltage_monitor.param.yaml new file mode 100644 index 0000000000..e55410be39 --- /dev/null +++ b/system_launch/config/5/system_monitor/voltage_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + cmos_battery_warn: 2.90 + cmos_battery_error: 2.70 + cmos_battery_label: "" diff --git a/system_launch/config/6/system_monitor/voltage_monitor.param.yaml b/system_launch/config/6/system_monitor/voltage_monitor.param.yaml new file mode 100644 index 0000000000..e55410be39 --- /dev/null +++ b/system_launch/config/6/system_monitor/voltage_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + cmos_battery_warn: 2.90 + cmos_battery_error: 2.70 + cmos_battery_label: "" diff --git a/system_launch/config/7/system_monitor/voltage_monitor.param.yaml b/system_launch/config/7/system_monitor/voltage_monitor.param.yaml new file mode 100644 index 0000000000..e55410be39 --- /dev/null +++ b/system_launch/config/7/system_monitor/voltage_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + cmos_battery_warn: 2.90 + cmos_battery_error: 2.70 + cmos_battery_label: "" diff --git a/system_launch/config/8/system_monitor/voltage_monitor.param.yaml b/system_launch/config/8/system_monitor/voltage_monitor.param.yaml new file mode 100644 index 0000000000..e55410be39 --- /dev/null +++ b/system_launch/config/8/system_monitor/voltage_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + cmos_battery_warn: 2.90 + cmos_battery_error: 2.70 + cmos_battery_label: "" diff --git a/system_launch/config/9/system_monitor/voltage_monitor.param.yaml b/system_launch/config/9/system_monitor/voltage_monitor.param.yaml new file mode 100644 index 0000000000..e55410be39 --- /dev/null +++ b/system_launch/config/9/system_monitor/voltage_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + cmos_battery_warn: 2.90 + cmos_battery_error: 2.70 + cmos_battery_label: "" diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml index a7b98cd1c0..7403491721 100644 --- a/system_launch/launch/system.launch.xml +++ b/system_launch/launch/system.launch.xml @@ -19,7 +19,7 @@ - + From 4a132b8e6c6bec19ea26116fd3166634ad55e6e0 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Tue, 20 Dec 2022 11:10:33 +0900 Subject: [PATCH 240/349] feat: update parameters related to sync-upstream Signed-off-by: tomoya.kimura --- .../config/trajectory_follower/1/lateral_controller.param.yaml | 3 +++ .../trajectory_follower/10/lateral_controller.param.yaml | 3 +++ .../config/trajectory_follower/2/lateral_controller.param.yaml | 3 +++ .../config/trajectory_follower/3/lateral_controller.param.yaml | 3 +++ .../config/trajectory_follower/4/lateral_controller.param.yaml | 3 +++ .../config/trajectory_follower/5/lateral_controller.param.yaml | 3 +++ .../config/trajectory_follower/6/lateral_controller.param.yaml | 3 +++ .../config/trajectory_follower/7/lateral_controller.param.yaml | 3 +++ .../config/trajectory_follower/9/lateral_controller.param.yaml | 3 +++ .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 10 files changed, 28 insertions(+), 1 deletion(-) diff --git a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml index 84103c7c55..fbe3ac1626 100644 --- a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml @@ -12,6 +12,9 @@ curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + # -- trajectory extending -- + extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control + # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step diff --git a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml index 84103c7c55..fbe3ac1626 100644 --- a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml @@ -12,6 +12,9 @@ curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + # -- trajectory extending -- + extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control + # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step diff --git a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml index 84103c7c55..fbe3ac1626 100644 --- a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml @@ -12,6 +12,9 @@ curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + # -- trajectory extending -- + extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control + # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step diff --git a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml index 84103c7c55..fbe3ac1626 100644 --- a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml @@ -12,6 +12,9 @@ curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + # -- trajectory extending -- + extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control + # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step diff --git a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml index 7d1db4bdd9..f0f089cbe8 100644 --- a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml @@ -12,6 +12,9 @@ curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + # -- trajectory extending -- + extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control + # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step diff --git a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml index 2d5b7efa5f..11a8ba4b5f 100644 --- a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml @@ -12,6 +12,9 @@ curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + # -- trajectory extending -- + extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control + # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step diff --git a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml index 84103c7c55..fbe3ac1626 100644 --- a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml @@ -12,6 +12,9 @@ curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + # -- trajectory extending -- + extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control + # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step diff --git a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml index 84103c7c55..fbe3ac1626 100644 --- a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml @@ -12,6 +12,9 @@ curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + # -- trajectory extending -- + extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control + # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step diff --git a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml index 84103c7c55..fbe3ac1626 100644 --- a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml @@ -12,6 +12,9 @@ curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + # -- trajectory extending -- + extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control + # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index ab6d6fc6c9..8d221a83cd 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -49,7 +49,7 @@ # if crossing vehicle is decided as target obstacles or not crossing_obstacle_velocity_threshold : 3.0 # velocity threshold for crossing obstacle for cruise or stop [m/s] crossing_obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop - collision_time_margin : 8.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] + collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] outside_rough_detection_area_expand_width : 0.5 # rough lateral margin for rough detection area expansion for obstacles outside the trajectory [m] outside_obstacle_min_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] From 65290869491d8f7bcb9207a1d9181b8f53874a5b Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 5 Jan 2023 14:19:07 +0900 Subject: [PATCH 241/349] feat(system_error_monitor): disable lane departure checker for psim (#382) Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../system_error_monitor.planning_simulation.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml index 27fd3c1e4d..0cbb29374f 100644 --- a/system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml +++ b/system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml @@ -17,7 +17,7 @@ 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 # tmp /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/localization/node_alive_monitoring: default From 66133ad1d702be5fd63b3923904e039491c8b2a7 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 5 Jan 2023 14:29:13 +0900 Subject: [PATCH 242/349] feat(perception_launch): expand cropped area of lidar for ground_segmentation (#383) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- .../ground_segmentation/ground_segmentation.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index 8d56e12244..c69581c7c6 100644 --- a/perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -7,7 +7,7 @@ common_crop_box_filter: parameters: - min_x: -50.0 + min_x: -100.0 max_x: 100.0 min_y: -50.0 max_y: 50.0 From 9de6be6469c31da60aa18744effbfc0e6a3a4d58 Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Wed, 11 Jan 2023 15:24:34 +0900 Subject: [PATCH 243/349] fix remove 'if' use rviz_adaptors.launch.xml (#387) Signed-off-by: Takeshi Miura Signed-off-by: Takeshi Miura --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 4b66196b14..15b814528f 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -118,6 +118,6 @@ args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" /> - + From b8cbd6d1f4255dc4090e7819e9bc2ec5e3ba52fa Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 11 Jan 2023 18:18:48 +0900 Subject: [PATCH 244/349] fix: disable external emergency heartbeat check (#389) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- autoware_launch/launch/autoware.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 15b814528f..01f983741c 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -98,6 +98,8 @@ + + From 4dbde53a3834a52ff6243f5df4f55c0ce04426fb Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 13 Jan 2023 14:52:12 +0900 Subject: [PATCH 245/349] feat: always launch rviz_adaptors (#391) * feat: always launch rviz_adaptors Signed-off-by: tomoya.kimura * misc Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- autoware_launch/launch/logging_simulator.launch.xml | 2 +- autoware_launch/launch/planning_simulator.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 6f4344aa4f..386c7f7e1a 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -129,6 +129,6 @@ args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" /> - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 5413ab466b..1efc313385 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -97,7 +97,7 @@ args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" /> - + From 3bc626926e6957804e550cb74a142a7118d7618f Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 16 Jan 2023 14:52:17 +0900 Subject: [PATCH 246/349] feat: enable check_engage_condition (#396) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- .../operation_mode_transition_manager.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml index ae229caab2..f3361554d6 100644 --- a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml +++ b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml @@ -4,7 +4,7 @@ ros__parameters: transition_timeout: 6.0 frequency_hz: 10.0 - check_engage_condition: false # set false if you do not want to care about the engage condition. + 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 engage_acceptable_limits: From a5fed8a77ef831d08d5b58530bdb4fccc28d937d Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Tue, 17 Jan 2023 15:35:10 +0900 Subject: [PATCH 247/349] move trajectory follower param Signed-off-by: tomoya.kimura --- .../mpc.param.yaml} | 0 .../pid.param.yaml} | 0 .../mpc.param.yaml} | 0 .../pid.param.yaml} | 0 .../mpc.param.yaml} | 0 .../pid.param.yaml} | 0 .../mpc.param.yaml} | 0 .../pid.param.yaml} | 0 .../mpc.param.yaml} | 0 .../pid.param.yaml} | 0 .../mpc.param.yaml} | 0 .../pid.param.yaml} | 0 .../mpc.param.yaml} | 0 .../pid.param.yaml} | 0 .../mpc.param.yaml} | 0 .../pid.param.yaml} | 0 .../mpc.param.yaml} | 0 .../{ => 9}/longitudinal/pid.param.yaml | 0 .../9/longitudinal_controller.param.yaml | 74 ------------------ .../{ => default}/lateral/mpc.param.yaml | 0 .../default/lateral_controller.param.yaml | 76 ------------------- .../pid.param.yaml} | 0 22 files changed, 150 deletions(-) rename control_launch/config/trajectory_follower/1/{lateral_controller.param.yaml => lateral/mpc.param.yaml} (100%) rename control_launch/config/trajectory_follower/1/{longitudinal_controller.param.yaml => longitudinal/pid.param.yaml} (100%) rename control_launch/config/trajectory_follower/10/{lateral_controller.param.yaml => lateral/mpc.param.yaml} (100%) rename control_launch/config/trajectory_follower/10/{longitudinal_controller.param.yaml => longitudinal/pid.param.yaml} (100%) rename control_launch/config/trajectory_follower/2/{lateral_controller.param.yaml => lateral/mpc.param.yaml} (100%) rename control_launch/config/trajectory_follower/2/{longitudinal_controller.param.yaml => longitudinal/pid.param.yaml} (100%) rename control_launch/config/trajectory_follower/3/{lateral_controller.param.yaml => lateral/mpc.param.yaml} (100%) rename control_launch/config/trajectory_follower/3/{longitudinal_controller.param.yaml => longitudinal/pid.param.yaml} (100%) rename control_launch/config/trajectory_follower/4/{lateral_controller.param.yaml => lateral/mpc.param.yaml} (100%) rename control_launch/config/trajectory_follower/4/{longitudinal_controller.param.yaml => longitudinal/pid.param.yaml} (100%) rename control_launch/config/trajectory_follower/5/{lateral_controller.param.yaml => lateral/mpc.param.yaml} (100%) rename control_launch/config/trajectory_follower/5/{longitudinal_controller.param.yaml => longitudinal/pid.param.yaml} (100%) rename control_launch/config/trajectory_follower/6/{lateral_controller.param.yaml => lateral/mpc.param.yaml} (100%) rename control_launch/config/trajectory_follower/6/{longitudinal_controller.param.yaml => longitudinal/pid.param.yaml} (100%) rename control_launch/config/trajectory_follower/7/{lateral_controller.param.yaml => lateral/mpc.param.yaml} (100%) rename control_launch/config/trajectory_follower/7/{longitudinal_controller.param.yaml => longitudinal/pid.param.yaml} (100%) rename control_launch/config/trajectory_follower/9/{lateral_controller.param.yaml => lateral/mpc.param.yaml} (100%) rename control_launch/config/trajectory_follower/{ => 9}/longitudinal/pid.param.yaml (100%) delete mode 100644 control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml rename control_launch/config/trajectory_follower/{ => default}/lateral/mpc.param.yaml (100%) delete mode 100644 control_launch/config/trajectory_follower/default/lateral_controller.param.yaml rename control_launch/config/trajectory_follower/default/{longitudinal_controller.param.yaml => longitudinal/pid.param.yaml} (100%) diff --git a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/1/lateral/mpc.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/1/lateral_controller.param.yaml rename to control_launch/config/trajectory_follower/1/lateral/mpc.param.yaml diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal/pid.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml rename to control_launch/config/trajectory_follower/1/longitudinal/pid.param.yaml diff --git a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/10/lateral/mpc.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/10/lateral_controller.param.yaml rename to control_launch/config/trajectory_follower/10/lateral/mpc.param.yaml diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal/pid.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml rename to control_launch/config/trajectory_follower/10/longitudinal/pid.param.yaml diff --git a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/2/lateral/mpc.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/2/lateral_controller.param.yaml rename to control_launch/config/trajectory_follower/2/lateral/mpc.param.yaml diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal/pid.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml rename to control_launch/config/trajectory_follower/2/longitudinal/pid.param.yaml diff --git a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/3/lateral/mpc.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/3/lateral_controller.param.yaml rename to control_launch/config/trajectory_follower/3/lateral/mpc.param.yaml diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal/pid.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml rename to control_launch/config/trajectory_follower/3/longitudinal/pid.param.yaml diff --git a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/4/lateral/mpc.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/4/lateral_controller.param.yaml rename to control_launch/config/trajectory_follower/4/lateral/mpc.param.yaml diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal/pid.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml rename to control_launch/config/trajectory_follower/4/longitudinal/pid.param.yaml diff --git a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/5/lateral/mpc.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/5/lateral_controller.param.yaml rename to control_launch/config/trajectory_follower/5/lateral/mpc.param.yaml diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal/pid.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml rename to control_launch/config/trajectory_follower/5/longitudinal/pid.param.yaml diff --git a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/6/lateral/mpc.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/6/lateral_controller.param.yaml rename to control_launch/config/trajectory_follower/6/lateral/mpc.param.yaml diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal/pid.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml rename to control_launch/config/trajectory_follower/6/longitudinal/pid.param.yaml diff --git a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/7/lateral/mpc.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/7/lateral_controller.param.yaml rename to control_launch/config/trajectory_follower/7/lateral/mpc.param.yaml diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal/pid.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml rename to control_launch/config/trajectory_follower/7/longitudinal/pid.param.yaml diff --git a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/9/lateral/mpc.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/9/lateral_controller.param.yaml rename to control_launch/config/trajectory_follower/9/lateral/mpc.param.yaml diff --git a/control_launch/config/trajectory_follower/longitudinal/pid.param.yaml b/control_launch/config/trajectory_follower/9/longitudinal/pid.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/longitudinal/pid.param.yaml rename to control_launch/config/trajectory_follower/9/longitudinal/pid.param.yaml diff --git a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml deleted file mode 100644 index aa477f75df..0000000000 --- a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml +++ /dev/null @@ -1,74 +0,0 @@ -/**: - ros__parameters: - delay_compensation_time: 0.40 - - enable_smooth_stop: true - enable_overshoot_emergency: false - enable_large_tracking_error_emergency: false - enable_slope_compensation: true - enable_keep_stopped_until_steer_convergence: true - - # state transition - drive_state_stop_dist: 0.5 - drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.5 - stopped_state_entry_duration_time: 0.1 - stopped_state_entry_vel: 0.01 - stopped_state_entry_acc: 0.1 - emergency_state_overshoot_stop_dist: 1.5 - emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7854 - - # drive state - kp: 1.0 - ki: 0.1 - kd: 0.0 - max_out: 1.0 - min_out: -1.0 - max_p_effort: 1.0 - min_p_effort: -1.0 - max_i_effort: 0.3 - min_i_effort: -0.3 - max_d_effort: 0.0 - min_d_effort: 0.0 - lpf_vel_error_gain: 0.9 - current_vel_threshold_pid_integration: 0.5 - enable_brake_keeping_before_stop: false - brake_keeping_acc: -0.2 - - # smooth stop state - smooth_stop_max_strong_acc: -0.85 - smooth_stop_min_strong_acc: -1.35 - smooth_stop_weak_acc: -0.6 - smooth_stop_weak_stop_acc: -0.7 - smooth_stop_strong_stop_acc: -3.4 - smooth_stop_max_fast_vel: 0.5 - smooth_stop_min_running_vel: 0.01 - smooth_stop_min_running_acc: 0.01 - smooth_stop_weak_stop_time: 0.8 - smooth_stop_weak_stop_dist: -0.3 - smooth_stop_strong_stop_dist: -0.5 - - # stopped state - stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 - - # emergency state - emergency_vel: 0.0 - emergency_acc: -5.0 - emergency_jerk: -3.0 - - # acceleration limit - max_acc: 3.0 - min_acc: -5.0 - - # jerk limit - max_jerk: 3.5 - min_jerk: -5.0 - - # pitch - use_trajectory_for_pitch_calculation: false - lpf_pitch_gain: 0.95 - max_pitch_rad: 0.1 - min_pitch_rad: -0.1 diff --git a/control_launch/config/trajectory_follower/lateral/mpc.param.yaml b/control_launch/config/trajectory_follower/default/lateral/mpc.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/lateral/mpc.param.yaml rename to control_launch/config/trajectory_follower/default/lateral/mpc.param.yaml diff --git a/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml deleted file mode 100644 index 5b6733c6a4..0000000000 --- a/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml +++ /dev/null @@ -1,76 +0,0 @@ -/**: - ros__parameters: - # -- system -- - traj_resample_dist: 0.1 # path resampling interval [m] - use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) - admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value - admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value - - # -- path smoothing -- - enable_path_smoothing: true # flag for path smoothing - path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing - curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) - curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) - - # -- trajectory extending -- - extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control - - # -- mpc optimization -- - qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) - mpc_prediction_horizon: 50 # prediction horizon step - mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q - mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q - mpc_weight_steering_input: 1.0 # steering error weight in matrix R - mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R - mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R - mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R - mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R - mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point - mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point - mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point - mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point - mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point - mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) - mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability - mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability - mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero - mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration - mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing - mpc_min_prediction_length: 5.0 # minimum prediction length - - # -- vehicle model -- - vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics - input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] - acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] - velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] - - # -- lowpass filter for noise reduction -- - steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] - error_deriv_lpf_cutoff_hz: 5.0 - - # stop state: steering command is kept in the previous value in the stop state. - stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.2 - converged_steer_rad: 0.1 - keep_steer_control_until_converged: true - new_traj_duration_time: 1.0 - new_traj_end_dist: 0.3 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal/pid.param.yaml similarity index 100% rename from control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml rename to control_launch/config/trajectory_follower/default/longitudinal/pid.param.yaml From 32dd36e7abdacd285a08864f71a223646d2448ca Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Tue, 17 Jan 2023 15:39:17 +0900 Subject: [PATCH 248/349] feat: update hdd_monitor param of all vehicles Signed-off-by: tomoya.kimura --- .vscode/settings.json | 102 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 102 insertions(+) create mode 100644 .vscode/settings.json diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000000..9115dba3ac --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,102 @@ +{ + "python.autoComplete.extraPaths": [ + "/home/kimura/git/pilot-auto.xx1.new/install/velodyne_msgs/local/lib/python3.10/dist-packages", + "/home/kimura/git/pilot-auto.xx1.new/install/operation_mode_transition_manager/local/lib/python3.10/dist-packages", + "/home/kimura/git/pilot-auto.xx1.new/install/control_performance_analysis/local/lib/python3.10/dist-packages", + "/home/kimura/git/pilot-auto.xx1.new/install/ublox_msgs/local/lib/python3.10/dist-packages", + 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"/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_mapping_msgs/local/lib/python3.10/dist-packages", + "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_geometry_msgs/local/lib/python3.10/dist-packages", + "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_control_msgs/local/lib/python3.10/dist-packages", + "/home/kimura/git/pilot-auto.xx1.new/install/autoware_adapi_version_msgs/local/lib/python3.10/dist-packages", + "/home/kimura/git/pilot-auto.xx1.new/install/autoware_adapi_v1_msgs/local/lib/python3.10/dist-packages", + "/opt/ros/humble/lib/python3.10/site-packages", + "/opt/ros/humble/local/lib/python3.10/dist-packages" + ] +} \ No newline at end of file From 8d6722d7723529f19cd6b8d49692cf0d4a373d92 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 23 Jan 2023 19:33:45 +0900 Subject: [PATCH 249/349] fix(autoware_launch): fix rtc parameter (#401) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- autoware_launch/launch/autoware.launch.xml | 4 ++-- .../launch/components/tier4_planning_component.launch.xml | 3 ++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index f1c2168783..7afcc0904a 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -40,8 +40,8 @@ - - + + diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 07dc260100..3087226866 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -5,6 +5,7 @@ + @@ -24,7 +25,7 @@ From cd9b2ac666c813b9c1483c40771bbdff44c6e636 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 24 Jan 2023 12:06:14 +0900 Subject: [PATCH 250/349] feat: add curbstone to static_map_tags of obstacle_velocity_limiter (#404) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- .../obstacle_velocity_limiter.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml index c6a0c275db..ab87645d7f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml @@ -28,6 +28,7 @@ dynamic_obstacles_min_vel: 0.5 # [m/s] velocity above which a dynamic obstacle is ignored by the module static_map_tags: # linestring tags in the lanelet maps that will be used as static obstacles - guard_rail + - curbstone filter_envelope : false # whether to calculate the apparent safety envelope and use it to filter obstacles rtree_min_points: 500 # from this number of obstacle points, a rtree is used for collision detection rtree_min_segments: 1600 # from this number of obstacle segments, a rtree is used for collision detection From 5f9039069d2cb53e12cd48f3c745f5f551c8e758 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 27 Jan 2023 12:08:51 +0900 Subject: [PATCH 251/349] feat: update net monitor param (#407) * feat: update net monitor param Signed-off-by: tomoya.kimura * update net monitor param Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- system_launch/config/1/system_monitor/net_monitor.param.yaml | 4 ++++ system_launch/config/10/system_monitor/net_monitor.param.yaml | 4 ++++ system_launch/config/2/system_monitor/net_monitor.param.yaml | 4 ++++ system_launch/config/3/system_monitor/net_monitor.param.yaml | 4 ++++ system_launch/config/4/system_monitor/net_monitor.param.yaml | 4 ++++ system_launch/config/5/system_monitor/net_monitor.param.yaml | 4 ++++ system_launch/config/6/system_monitor/net_monitor.param.yaml | 4 ++++ system_launch/config/7/system_monitor/net_monitor.param.yaml | 4 ++++ system_launch/config/8/system_monitor/net_monitor.param.yaml | 4 ++++ system_launch/config/9/system_monitor/net_monitor.param.yaml | 4 ++++ .../config/default/system_monitor/net_monitor.param.yaml | 4 ++-- 11 files changed, 42 insertions(+), 2 deletions(-) diff --git a/system_launch/config/1/system_monitor/net_monitor.param.yaml b/system_launch/config/1/system_monitor/net_monitor.param.yaml index db92bdde87..dac4ad1da8 100644 --- a/system_launch/config/1/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/1/system_monitor/net_monitor.param.yaml @@ -3,3 +3,7 @@ devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" + crc_error_check_duration: 1 + crc_error_count_threshold: 1 + reassembles_failed_check_duration: 20 + reassembles_failed_check_count: 30000 diff --git a/system_launch/config/10/system_monitor/net_monitor.param.yaml b/system_launch/config/10/system_monitor/net_monitor.param.yaml index db92bdde87..dac4ad1da8 100644 --- a/system_launch/config/10/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/10/system_monitor/net_monitor.param.yaml @@ -3,3 +3,7 @@ devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" + crc_error_check_duration: 1 + crc_error_count_threshold: 1 + reassembles_failed_check_duration: 20 + reassembles_failed_check_count: 30000 diff --git a/system_launch/config/2/system_monitor/net_monitor.param.yaml b/system_launch/config/2/system_monitor/net_monitor.param.yaml index db92bdde87..dac4ad1da8 100644 --- a/system_launch/config/2/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/2/system_monitor/net_monitor.param.yaml @@ -3,3 +3,7 @@ devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" + crc_error_check_duration: 1 + crc_error_count_threshold: 1 + reassembles_failed_check_duration: 20 + reassembles_failed_check_count: 30000 diff --git a/system_launch/config/3/system_monitor/net_monitor.param.yaml b/system_launch/config/3/system_monitor/net_monitor.param.yaml index db92bdde87..dac4ad1da8 100644 --- a/system_launch/config/3/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/3/system_monitor/net_monitor.param.yaml @@ -3,3 +3,7 @@ devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" + crc_error_check_duration: 1 + crc_error_count_threshold: 1 + reassembles_failed_check_duration: 20 + reassembles_failed_check_count: 30000 diff --git a/system_launch/config/4/system_monitor/net_monitor.param.yaml b/system_launch/config/4/system_monitor/net_monitor.param.yaml index db92bdde87..dac4ad1da8 100644 --- a/system_launch/config/4/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/4/system_monitor/net_monitor.param.yaml @@ -3,3 +3,7 @@ devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" + crc_error_check_duration: 1 + crc_error_count_threshold: 1 + reassembles_failed_check_duration: 20 + reassembles_failed_check_count: 30000 diff --git a/system_launch/config/5/system_monitor/net_monitor.param.yaml b/system_launch/config/5/system_monitor/net_monitor.param.yaml index db92bdde87..dac4ad1da8 100644 --- a/system_launch/config/5/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/5/system_monitor/net_monitor.param.yaml @@ -3,3 +3,7 @@ devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" + crc_error_check_duration: 1 + crc_error_count_threshold: 1 + reassembles_failed_check_duration: 20 + reassembles_failed_check_count: 30000 diff --git a/system_launch/config/6/system_monitor/net_monitor.param.yaml b/system_launch/config/6/system_monitor/net_monitor.param.yaml index db92bdde87..dac4ad1da8 100644 --- a/system_launch/config/6/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/6/system_monitor/net_monitor.param.yaml @@ -3,3 +3,7 @@ devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" + crc_error_check_duration: 1 + crc_error_count_threshold: 1 + reassembles_failed_check_duration: 20 + reassembles_failed_check_count: 30000 diff --git a/system_launch/config/7/system_monitor/net_monitor.param.yaml b/system_launch/config/7/system_monitor/net_monitor.param.yaml index db92bdde87..dac4ad1da8 100644 --- a/system_launch/config/7/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/7/system_monitor/net_monitor.param.yaml @@ -3,3 +3,7 @@ devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" + crc_error_check_duration: 1 + crc_error_count_threshold: 1 + reassembles_failed_check_duration: 20 + reassembles_failed_check_count: 30000 diff --git a/system_launch/config/8/system_monitor/net_monitor.param.yaml b/system_launch/config/8/system_monitor/net_monitor.param.yaml index db92bdde87..dac4ad1da8 100644 --- a/system_launch/config/8/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/8/system_monitor/net_monitor.param.yaml @@ -3,3 +3,7 @@ devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" + crc_error_check_duration: 1 + crc_error_count_threshold: 1 + reassembles_failed_check_duration: 20 + reassembles_failed_check_count: 30000 diff --git a/system_launch/config/9/system_monitor/net_monitor.param.yaml b/system_launch/config/9/system_monitor/net_monitor.param.yaml index db92bdde87..dac4ad1da8 100644 --- a/system_launch/config/9/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/9/system_monitor/net_monitor.param.yaml @@ -3,3 +3,7 @@ devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] traffic_reader_port: 7636 monitor_program: "greengrass" + crc_error_check_duration: 1 + crc_error_count_threshold: 1 + reassembles_failed_check_duration: 20 + reassembles_failed_check_count: 30000 diff --git a/system_launch/config/default/system_monitor/net_monitor.param.yaml b/system_launch/config/default/system_monitor/net_monitor.param.yaml index cb7e1b4838..6332d361d9 100644 --- a/system_launch/config/default/system_monitor/net_monitor.param.yaml +++ b/system_launch/config/default/system_monitor/net_monitor.param.yaml @@ -5,5 +5,5 @@ monitor_program: "greengrass" crc_error_check_duration: 1 crc_error_count_threshold: 1 - reassembles_failed_check_duration: 1 - reassembles_failed_check_count: 1 + reassembles_failed_check_duration: 20 + reassembles_failed_check_count: 30000 From 49980ac36683696e1d74b1a0311ee03b6e3581bd Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 30 Jan 2023 17:47:57 +0900 Subject: [PATCH 252/349] feat: add use_external_lane_change option (#413) Signed-off-by: tomoya.kimura --- ..._planner_tree_with_external_request_LC.xml | 74 +++++++++++++++++++ autoware_launch/launch/autoware.launch.xml | 13 ++-- .../launch/logging_simulator.launch.xml | 5 +- .../launch/planning_simulator.launch.xml | 5 +- 4 files changed, 90 insertions(+), 7 deletions(-) create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml new file mode 100644 index 0000000000..e848f156a4 --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + desc + + + + + desc + + + + desc + + + + desc + + + + desc + + + + + + + + desc + + + + desc + + + + + diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 7afcc0904a..985a0b78db 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -36,13 +36,19 @@ - + + + + + + + @@ -120,10 +126,7 @@ - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 56bdfa1a52..e0968b5771 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -28,9 +28,11 @@ + + + - @@ -64,6 +66,7 @@ + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 0b1b0a61a7..a381a28868 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -20,9 +20,11 @@ + + + - @@ -52,6 +54,7 @@ + From b871a838c5a739bf400a2d994de0e8085eac99ec Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Mon, 30 Jan 2023 17:55:30 +0900 Subject: [PATCH 253/349] feat: sync mpc param Signed-off-by: tomoya.kimura --- .../control/trajectory_follower/1/lateral/mpc.param.yaml | 8 ++++++++ .../control/trajectory_follower/10/lateral/mpc.param.yaml | 8 ++++++++ .../control/trajectory_follower/2/lateral/mpc.param.yaml | 8 ++++++++ .../control/trajectory_follower/3/lateral/mpc.param.yaml | 8 ++++++++ .../control/trajectory_follower/4/lateral/mpc.param.yaml | 8 ++++++++ .../control/trajectory_follower/5/lateral/mpc.param.yaml | 8 ++++++++ .../control/trajectory_follower/6/lateral/mpc.param.yaml | 8 ++++++++ .../control/trajectory_follower/7/lateral/mpc.param.yaml | 8 ++++++++ .../control/trajectory_follower/9/lateral/mpc.param.yaml | 8 ++++++++ 9 files changed, 72 insertions(+) diff --git a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml index fbe3ac1626..acc009eb3e 100644 --- a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml @@ -63,6 +63,14 @@ new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + # steer offset + steering_offset: + enable_auto_steering_offset_removal: true + update_vel_threshold: 5.56 + update_steer_threshold: 0.035 + average_num: 1000 + steering_offset_limit: 0.02 + # vehicle parameters vehicle: cg_to_front_m: 1.228 diff --git a/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml index fbe3ac1626..acc009eb3e 100644 --- a/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml @@ -63,6 +63,14 @@ new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + # steer offset + steering_offset: + enable_auto_steering_offset_removal: true + update_vel_threshold: 5.56 + update_steer_threshold: 0.035 + average_num: 1000 + steering_offset_limit: 0.02 + # vehicle parameters vehicle: cg_to_front_m: 1.228 diff --git a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml index fbe3ac1626..acc009eb3e 100644 --- a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml @@ -63,6 +63,14 @@ new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + # steer offset + steering_offset: + enable_auto_steering_offset_removal: true + update_vel_threshold: 5.56 + update_steer_threshold: 0.035 + average_num: 1000 + steering_offset_limit: 0.02 + # vehicle parameters vehicle: cg_to_front_m: 1.228 diff --git a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml index fbe3ac1626..acc009eb3e 100644 --- a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml @@ -63,6 +63,14 @@ new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + # steer offset + steering_offset: + enable_auto_steering_offset_removal: true + update_vel_threshold: 5.56 + update_steer_threshold: 0.035 + average_num: 1000 + steering_offset_limit: 0.02 + # vehicle parameters vehicle: cg_to_front_m: 1.228 diff --git a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml index f0f089cbe8..f4508af1e9 100644 --- a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml @@ -63,6 +63,14 @@ new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + # steer offset + steering_offset: + enable_auto_steering_offset_removal: true + update_vel_threshold: 5.56 + update_steer_threshold: 0.035 + average_num: 1000 + steering_offset_limit: 0.02 + # vehicle parameters vehicle: cg_to_front_m: 1.228 diff --git a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml index 11a8ba4b5f..b64dd14272 100644 --- a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml @@ -63,6 +63,14 @@ new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + # steer offset + steering_offset: + enable_auto_steering_offset_removal: true + update_vel_threshold: 5.56 + update_steer_threshold: 0.035 + average_num: 1000 + steering_offset_limit: 0.02 + # vehicle parameters vehicle: cg_to_front_m: 1.228 diff --git a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml index fbe3ac1626..acc009eb3e 100644 --- a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml @@ -63,6 +63,14 @@ new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + # steer offset + steering_offset: + enable_auto_steering_offset_removal: true + update_vel_threshold: 5.56 + update_steer_threshold: 0.035 + average_num: 1000 + steering_offset_limit: 0.02 + # vehicle parameters vehicle: cg_to_front_m: 1.228 diff --git a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml index fbe3ac1626..acc009eb3e 100644 --- a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml @@ -63,6 +63,14 @@ new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + # steer offset + steering_offset: + enable_auto_steering_offset_removal: true + update_vel_threshold: 5.56 + update_steer_threshold: 0.035 + average_num: 1000 + steering_offset_limit: 0.02 + # vehicle parameters vehicle: cg_to_front_m: 1.228 diff --git a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml index fbe3ac1626..acc009eb3e 100644 --- a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml @@ -63,6 +63,14 @@ new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + # steer offset + steering_offset: + enable_auto_steering_offset_removal: true + update_vel_threshold: 5.56 + update_steer_threshold: 0.035 + average_num: 1000 + steering_offset_limit: 0.02 + # vehicle parameters vehicle: cg_to_front_m: 1.228 From 5b42f5721c8d512b4d5c256cab70a878cc702c60 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 30 Jan 2023 18:10:17 +0900 Subject: [PATCH 254/349] fix: fix use_external_lane_change flag (#415) Signed-off-by: tomoya.kimura --- autoware_launch/launch/autoware.launch.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index e1e4611b96..87a4deeb7a 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -46,8 +46,8 @@ - - + + @@ -126,12 +126,12 @@ - + From 63b3f8af2b6561df2bab7d963a3eeebdd478151a Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 1 Feb 2023 18:30:02 +0900 Subject: [PATCH 255/349] fix: change min_decel_for_lateral_acc_lim_filter value from -2.5 to -0.5 (#416) Signed-off-by: tomoya.kimura --- .../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 9534a87fc5..66a1c7a8df 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 @@ -12,7 +12,7 @@ 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 - min_decel_for_lateral_acc_lim_filter: -2.5 # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss] + min_decel_for_lateral_acc_lim_filter: -0.5 # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss] # engage & replan parameters replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] From ed32b267fdf85b6ba6b06a5fe263191baeaf463c Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 20 Feb 2023 17:47:04 +0900 Subject: [PATCH 256/349] feat: rename upstream sync branch (#422) Signed-off-by: Takayuki Murooka --- .github/workflows/sync-upstream.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml index 66eb180976..0464ee742c 100644 --- a/.github/workflows/sync-upstream.yaml +++ b/.github/workflows/sync-upstream.yaml @@ -20,10 +20,10 @@ jobs: uses: autowarefoundation/autoware-github-actions/sync-branches@v1 with: token: ${{ steps.generate-token.outputs.token }} - base-branch: tier4/universe + base-branch: tier4/main sync-pr-branch: sync-upstream sync-target-repository: https://github.com/tier4/autoware_launch.git - sync-target-branch: tier4/universe + sync-target-branch: tier4/main pr-title: "chore: sync upstream" pr-labels: | bot From d2cd3f8d9bd8f41b2f8b4544376d1b0545eb9931 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Tue, 21 Feb 2023 18:51:58 +0900 Subject: [PATCH 257/349] fix: fix system_monitor param Signed-off-by: tomoya.kimura --- .../system/system_monitor/cpu_monitor.param.yaml | 4 ++-- .../system/system_monitor/net_monitor.param.yaml | 14 +++++++------- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/autoware_launch/config/system/system_monitor/cpu_monitor.param.yaml b/autoware_launch/config/system/system_monitor/cpu_monitor.param.yaml index da4d74e53d..cae88d6a96 100644 --- a/autoware_launch/config/system/system_monitor/cpu_monitor.param.yaml +++ b/autoware_launch/config/system/system_monitor/cpu_monitor.param.yaml @@ -1,8 +1,8 @@ /**: ros__parameters: usage_warn: 0.96 - usage_error: 0.96 - usage_warn_count: 1 + usage_error: 1.00 + usage_warn_count: 2 usage_error_count: 2 usage_avg: true msr_reader_port: 7634 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..dac4ad1da8 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: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] + traffic_reader_port: 7636 + monitor_program: "greengrass" + crc_error_check_duration: 1 + crc_error_count_threshold: 1 + reassembles_failed_check_duration: 20 + reassembles_failed_check_count: 30000 From 95125a69e75fa9e88427da257176dfb21a9bb643 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Tue, 21 Feb 2023 18:52:36 +0900 Subject: [PATCH 258/349] chore: delete system_monitor param for each vehicle Signed-off-by: tomoya.kimura --- .../1/system_monitor/cpu_monitor.param.yaml | 8 ------- .../1/system_monitor/gpu_monitor.param.yaml | 8 ------- .../1/system_monitor/hdd_monitor.param.yaml | 14 ----------- .../1/system_monitor/mem_monitor.param.yaml | 3 --- .../1/system_monitor/net_monitor.param.yaml | 9 -------- .../1/system_monitor/ntp_monitor.param.yaml | 5 ---- .../system_monitor/process_monitor.param.yaml | 3 --- .../system_monitor/voltage_monitor.param.yaml | 5 ---- .../10/system_monitor/cpu_monitor.param.yaml | 8 ------- .../10/system_monitor/gpu_monitor.param.yaml | 8 ------- .../10/system_monitor/hdd_monitor.param.yaml | 14 ----------- .../10/system_monitor/mem_monitor.param.yaml | 3 --- .../10/system_monitor/net_monitor.param.yaml | 9 -------- .../10/system_monitor/ntp_monitor.param.yaml | 5 ---- .../system_monitor/process_monitor.param.yaml | 3 --- .../system_monitor/voltage_monitor.param.yaml | 5 ---- .../2/system_monitor/cpu_monitor.param.yaml | 8 ------- .../2/system_monitor/gpu_monitor.param.yaml | 8 ------- .../2/system_monitor/hdd_monitor.param.yaml | 14 ----------- .../2/system_monitor/mem_monitor.param.yaml | 3 --- .../2/system_monitor/net_monitor.param.yaml | 9 -------- .../2/system_monitor/ntp_monitor.param.yaml | 5 ---- .../system_monitor/process_monitor.param.yaml | 3 --- .../system_monitor/voltage_monitor.param.yaml | 5 ---- .../3/system_monitor/cpu_monitor.param.yaml | 8 ------- .../3/system_monitor/gpu_monitor.param.yaml | 8 ------- .../3/system_monitor/hdd_monitor.param.yaml | 14 ----------- .../3/system_monitor/mem_monitor.param.yaml | 3 --- .../3/system_monitor/net_monitor.param.yaml | 9 -------- .../3/system_monitor/ntp_monitor.param.yaml | 5 ---- .../system_monitor/process_monitor.param.yaml | 3 --- .../system_monitor/voltage_monitor.param.yaml | 5 ---- .../4/system_monitor/cpu_monitor.param.yaml | 8 ------- .../4/system_monitor/gpu_monitor.param.yaml | 8 ------- .../4/system_monitor/hdd_monitor.param.yaml | 14 ----------- .../4/system_monitor/mem_monitor.param.yaml | 3 --- .../4/system_monitor/net_monitor.param.yaml | 9 -------- .../4/system_monitor/ntp_monitor.param.yaml | 5 ---- .../system_monitor/process_monitor.param.yaml | 3 --- .../system_monitor/voltage_monitor.param.yaml | 5 ---- .../5/system_monitor/cpu_monitor.param.yaml | 8 ------- .../5/system_monitor/gpu_monitor.param.yaml | 8 ------- .../5/system_monitor/hdd_monitor.param.yaml | 14 ----------- .../5/system_monitor/mem_monitor.param.yaml | 3 --- .../5/system_monitor/net_monitor.param.yaml | 9 -------- .../5/system_monitor/ntp_monitor.param.yaml | 5 ---- .../system_monitor/process_monitor.param.yaml | 3 --- .../system_monitor/voltage_monitor.param.yaml | 5 ---- .../6/system_monitor/cpu_monitor.param.yaml | 8 ------- .../6/system_monitor/gpu_monitor.param.yaml | 8 ------- .../6/system_monitor/hdd_monitor.param.yaml | 14 ----------- .../6/system_monitor/mem_monitor.param.yaml | 3 --- .../6/system_monitor/net_monitor.param.yaml | 9 -------- .../6/system_monitor/ntp_monitor.param.yaml | 5 ---- .../system_monitor/process_monitor.param.yaml | 3 --- .../system_monitor/voltage_monitor.param.yaml | 5 ---- .../7/system_monitor/cpu_monitor.param.yaml | 8 ------- .../7/system_monitor/gpu_monitor.param.yaml | 8 ------- .../7/system_monitor/hdd_monitor.param.yaml | 14 ----------- .../7/system_monitor/mem_monitor.param.yaml | 3 --- .../7/system_monitor/net_monitor.param.yaml | 9 -------- .../7/system_monitor/ntp_monitor.param.yaml | 5 ---- .../system_monitor/process_monitor.param.yaml | 3 --- .../system_monitor/voltage_monitor.param.yaml | 5 ---- .../8/system_monitor/cpu_monitor.param.yaml | 8 ------- .../8/system_monitor/gpu_monitor.param.yaml | 8 ------- .../8/system_monitor/hdd_monitor.param.yaml | 14 ----------- .../8/system_monitor/mem_monitor.param.yaml | 3 --- .../8/system_monitor/net_monitor.param.yaml | 9 -------- .../8/system_monitor/ntp_monitor.param.yaml | 5 ---- .../system_monitor/process_monitor.param.yaml | 3 --- .../system_monitor/voltage_monitor.param.yaml | 5 ---- .../9/system_monitor/cpu_monitor.param.yaml | 8 ------- .../9/system_monitor/gpu_monitor.param.yaml | 8 ------- .../9/system_monitor/hdd_monitor.param.yaml | 14 ----------- .../9/system_monitor/mem_monitor.param.yaml | 3 --- .../9/system_monitor/net_monitor.param.yaml | 9 -------- .../9/system_monitor/ntp_monitor.param.yaml | 5 ---- .../system_monitor/process_monitor.param.yaml | 3 --- .../system_monitor/voltage_monitor.param.yaml | 5 ---- .../system_monitor/cpu_monitor.param.yaml | 8 ------- .../system_monitor/gpu_monitor.param.yaml | 8 ------- .../system_monitor/hdd_monitor.param.yaml | 23 ------------------- .../system_monitor/mem_monitor.param.yaml | 3 --- .../system_monitor/ntp_monitor.param.yaml | 5 ---- .../system_monitor/process_monitor.param.yaml | 3 --- .../system_monitor/voltage_monitor.param.yaml | 5 ---- 87 files changed, 605 deletions(-) delete mode 100644 system_launch/config/1/system_monitor/cpu_monitor.param.yaml delete mode 100644 system_launch/config/1/system_monitor/gpu_monitor.param.yaml delete mode 100644 system_launch/config/1/system_monitor/hdd_monitor.param.yaml delete mode 100644 system_launch/config/1/system_monitor/mem_monitor.param.yaml delete mode 100644 system_launch/config/1/system_monitor/net_monitor.param.yaml delete mode 100644 system_launch/config/1/system_monitor/ntp_monitor.param.yaml delete mode 100644 system_launch/config/1/system_monitor/process_monitor.param.yaml delete mode 100644 system_launch/config/1/system_monitor/voltage_monitor.param.yaml delete mode 100644 system_launch/config/10/system_monitor/cpu_monitor.param.yaml delete mode 100644 system_launch/config/10/system_monitor/gpu_monitor.param.yaml delete mode 100644 system_launch/config/10/system_monitor/hdd_monitor.param.yaml delete mode 100644 system_launch/config/10/system_monitor/mem_monitor.param.yaml delete mode 100644 system_launch/config/10/system_monitor/net_monitor.param.yaml delete mode 100644 system_launch/config/10/system_monitor/ntp_monitor.param.yaml delete mode 100644 system_launch/config/10/system_monitor/process_monitor.param.yaml delete mode 100644 system_launch/config/10/system_monitor/voltage_monitor.param.yaml delete mode 100644 system_launch/config/2/system_monitor/cpu_monitor.param.yaml delete mode 100644 system_launch/config/2/system_monitor/gpu_monitor.param.yaml delete mode 100644 system_launch/config/2/system_monitor/hdd_monitor.param.yaml delete mode 100644 system_launch/config/2/system_monitor/mem_monitor.param.yaml delete mode 100644 system_launch/config/2/system_monitor/net_monitor.param.yaml delete mode 100644 system_launch/config/2/system_monitor/ntp_monitor.param.yaml delete mode 100644 system_launch/config/2/system_monitor/process_monitor.param.yaml delete mode 100644 system_launch/config/2/system_monitor/voltage_monitor.param.yaml delete mode 100644 system_launch/config/3/system_monitor/cpu_monitor.param.yaml delete mode 100644 system_launch/config/3/system_monitor/gpu_monitor.param.yaml delete mode 100644 system_launch/config/3/system_monitor/hdd_monitor.param.yaml delete mode 100644 system_launch/config/3/system_monitor/mem_monitor.param.yaml delete mode 100644 system_launch/config/3/system_monitor/net_monitor.param.yaml delete mode 100644 system_launch/config/3/system_monitor/ntp_monitor.param.yaml delete mode 100644 system_launch/config/3/system_monitor/process_monitor.param.yaml delete mode 100644 system_launch/config/3/system_monitor/voltage_monitor.param.yaml delete mode 100644 system_launch/config/4/system_monitor/cpu_monitor.param.yaml delete mode 100644 system_launch/config/4/system_monitor/gpu_monitor.param.yaml delete mode 100644 system_launch/config/4/system_monitor/hdd_monitor.param.yaml delete mode 100644 system_launch/config/4/system_monitor/mem_monitor.param.yaml delete mode 100644 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system_launch/config/6/system_monitor/cpu_monitor.param.yaml delete mode 100644 system_launch/config/6/system_monitor/gpu_monitor.param.yaml delete mode 100644 system_launch/config/6/system_monitor/hdd_monitor.param.yaml delete mode 100644 system_launch/config/6/system_monitor/mem_monitor.param.yaml delete mode 100644 system_launch/config/6/system_monitor/net_monitor.param.yaml delete mode 100644 system_launch/config/6/system_monitor/ntp_monitor.param.yaml delete mode 100644 system_launch/config/6/system_monitor/process_monitor.param.yaml delete mode 100644 system_launch/config/6/system_monitor/voltage_monitor.param.yaml delete mode 100644 system_launch/config/7/system_monitor/cpu_monitor.param.yaml delete mode 100644 system_launch/config/7/system_monitor/gpu_monitor.param.yaml delete mode 100644 system_launch/config/7/system_monitor/hdd_monitor.param.yaml delete mode 100644 system_launch/config/7/system_monitor/mem_monitor.param.yaml delete mode 100644 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system_launch/config/9/system_monitor/cpu_monitor.param.yaml delete mode 100644 system_launch/config/9/system_monitor/gpu_monitor.param.yaml delete mode 100644 system_launch/config/9/system_monitor/hdd_monitor.param.yaml delete mode 100644 system_launch/config/9/system_monitor/mem_monitor.param.yaml delete mode 100644 system_launch/config/9/system_monitor/net_monitor.param.yaml delete mode 100644 system_launch/config/9/system_monitor/ntp_monitor.param.yaml delete mode 100644 system_launch/config/9/system_monitor/process_monitor.param.yaml delete mode 100644 system_launch/config/9/system_monitor/voltage_monitor.param.yaml delete mode 100644 system_launch/config/default/system_monitor/cpu_monitor.param.yaml delete mode 100644 system_launch/config/default/system_monitor/gpu_monitor.param.yaml delete mode 100644 system_launch/config/default/system_monitor/hdd_monitor.param.yaml delete mode 100644 system_launch/config/default/system_monitor/mem_monitor.param.yaml delete mode 100644 system_launch/config/default/system_monitor/ntp_monitor.param.yaml delete mode 100644 system_launch/config/default/system_monitor/process_monitor.param.yaml delete mode 100644 system_launch/config/default/system_monitor/voltage_monitor.param.yaml diff --git a/system_launch/config/1/system_monitor/cpu_monitor.param.yaml b/system_launch/config/1/system_monitor/cpu_monitor.param.yaml deleted file mode 100644 index cae88d6a96..0000000000 --- a/system_launch/config/1/system_monitor/cpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - usage_warn: 0.96 - usage_error: 1.00 - usage_warn_count: 2 - usage_error_count: 2 - usage_avg: true - msr_reader_port: 7634 diff --git a/system_launch/config/1/system_monitor/gpu_monitor.param.yaml b/system_launch/config/1/system_monitor/gpu_monitor.param.yaml deleted file mode 100644 index d96b9f2464..0000000000 --- a/system_launch/config/1/system_monitor/gpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - gpu_usage_warn: 0.90 - gpu_usage_error: 1.00 - memory_usage_warn: 0.95 - memory_usage_error: 0.99 diff --git a/system_launch/config/1/system_monitor/hdd_monitor.param.yaml b/system_launch/config/1/system_monitor/hdd_monitor.param.yaml deleted file mode 100644 index 91730c8f95..0000000000 --- a/system_launch/config/1/system_monitor/hdd_monitor.param.yaml +++ /dev/null @@ -1,14 +0,0 @@ -/**: - ros__parameters: - hdd_reader_port: 7635 - num_disks: 1 - disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} - disk0: - name: / - temp_warn: 75.0 - temp_error: 85.0 - power_on_hours_warn: 3000000 - total_data_written_warn: 11417920 # =440TB (1unit=32MB) - total_data_written_safety_factor: 0.05 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/1/system_monitor/mem_monitor.param.yaml b/system_launch/config/1/system_monitor/mem_monitor.param.yaml deleted file mode 100644 index f2da3972be..0000000000 --- a/system_launch/config/1/system_monitor/mem_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - available_size: 1024 # MB diff --git a/system_launch/config/1/system_monitor/net_monitor.param.yaml b/system_launch/config/1/system_monitor/net_monitor.param.yaml deleted file mode 100644 index dac4ad1da8..0000000000 --- a/system_launch/config/1/system_monitor/net_monitor.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] - traffic_reader_port: 7636 - monitor_program: "greengrass" - crc_error_check_duration: 1 - crc_error_count_threshold: 1 - reassembles_failed_check_duration: 20 - reassembles_failed_check_count: 30000 diff --git a/system_launch/config/1/system_monitor/ntp_monitor.param.yaml b/system_launch/config/1/system_monitor/ntp_monitor.param.yaml deleted file mode 100644 index db54f70d1c..0000000000 --- a/system_launch/config/1/system_monitor/ntp_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - server: ntp.nict.jp - offset_warn: 0.1 - offset_error: 5.0 diff --git a/system_launch/config/1/system_monitor/process_monitor.param.yaml b/system_launch/config/1/system_monitor/process_monitor.param.yaml deleted file mode 100644 index 3d6d82fae5..0000000000 --- a/system_launch/config/1/system_monitor/process_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - num_of_procs: 5 diff --git a/system_launch/config/1/system_monitor/voltage_monitor.param.yaml b/system_launch/config/1/system_monitor/voltage_monitor.param.yaml deleted file mode 100644 index e55410be39..0000000000 --- a/system_launch/config/1/system_monitor/voltage_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - cmos_battery_warn: 2.90 - cmos_battery_error: 2.70 - cmos_battery_label: "" diff --git a/system_launch/config/10/system_monitor/cpu_monitor.param.yaml b/system_launch/config/10/system_monitor/cpu_monitor.param.yaml deleted file mode 100644 index cae88d6a96..0000000000 --- a/system_launch/config/10/system_monitor/cpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - usage_warn: 0.96 - usage_error: 1.00 - usage_warn_count: 2 - usage_error_count: 2 - usage_avg: true - msr_reader_port: 7634 diff --git a/system_launch/config/10/system_monitor/gpu_monitor.param.yaml b/system_launch/config/10/system_monitor/gpu_monitor.param.yaml deleted file mode 100644 index d96b9f2464..0000000000 --- a/system_launch/config/10/system_monitor/gpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - gpu_usage_warn: 0.90 - gpu_usage_error: 1.00 - memory_usage_warn: 0.95 - memory_usage_error: 0.99 diff --git a/system_launch/config/10/system_monitor/hdd_monitor.param.yaml b/system_launch/config/10/system_monitor/hdd_monitor.param.yaml deleted file mode 100644 index 91730c8f95..0000000000 --- a/system_launch/config/10/system_monitor/hdd_monitor.param.yaml +++ /dev/null @@ -1,14 +0,0 @@ -/**: - ros__parameters: - hdd_reader_port: 7635 - num_disks: 1 - disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} - disk0: - name: / - temp_warn: 75.0 - temp_error: 85.0 - power_on_hours_warn: 3000000 - total_data_written_warn: 11417920 # =440TB (1unit=32MB) - total_data_written_safety_factor: 0.05 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/10/system_monitor/mem_monitor.param.yaml b/system_launch/config/10/system_monitor/mem_monitor.param.yaml deleted file mode 100644 index f2da3972be..0000000000 --- a/system_launch/config/10/system_monitor/mem_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - available_size: 1024 # MB diff --git a/system_launch/config/10/system_monitor/net_monitor.param.yaml b/system_launch/config/10/system_monitor/net_monitor.param.yaml deleted file mode 100644 index dac4ad1da8..0000000000 --- a/system_launch/config/10/system_monitor/net_monitor.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] - traffic_reader_port: 7636 - monitor_program: "greengrass" - crc_error_check_duration: 1 - crc_error_count_threshold: 1 - reassembles_failed_check_duration: 20 - reassembles_failed_check_count: 30000 diff --git a/system_launch/config/10/system_monitor/ntp_monitor.param.yaml b/system_launch/config/10/system_monitor/ntp_monitor.param.yaml deleted file mode 100644 index db54f70d1c..0000000000 --- a/system_launch/config/10/system_monitor/ntp_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - server: ntp.nict.jp - offset_warn: 0.1 - offset_error: 5.0 diff --git a/system_launch/config/10/system_monitor/process_monitor.param.yaml b/system_launch/config/10/system_monitor/process_monitor.param.yaml deleted file mode 100644 index 3d6d82fae5..0000000000 --- a/system_launch/config/10/system_monitor/process_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - num_of_procs: 5 diff --git a/system_launch/config/10/system_monitor/voltage_monitor.param.yaml b/system_launch/config/10/system_monitor/voltage_monitor.param.yaml deleted file mode 100644 index e55410be39..0000000000 --- a/system_launch/config/10/system_monitor/voltage_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - cmos_battery_warn: 2.90 - cmos_battery_error: 2.70 - cmos_battery_label: "" diff --git a/system_launch/config/2/system_monitor/cpu_monitor.param.yaml b/system_launch/config/2/system_monitor/cpu_monitor.param.yaml deleted file mode 100644 index cae88d6a96..0000000000 --- a/system_launch/config/2/system_monitor/cpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - usage_warn: 0.96 - usage_error: 1.00 - usage_warn_count: 2 - usage_error_count: 2 - usage_avg: true - msr_reader_port: 7634 diff --git a/system_launch/config/2/system_monitor/gpu_monitor.param.yaml b/system_launch/config/2/system_monitor/gpu_monitor.param.yaml deleted file mode 100644 index d96b9f2464..0000000000 --- a/system_launch/config/2/system_monitor/gpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - gpu_usage_warn: 0.90 - gpu_usage_error: 1.00 - memory_usage_warn: 0.95 - memory_usage_error: 0.99 diff --git a/system_launch/config/2/system_monitor/hdd_monitor.param.yaml b/system_launch/config/2/system_monitor/hdd_monitor.param.yaml deleted file mode 100644 index 91730c8f95..0000000000 --- a/system_launch/config/2/system_monitor/hdd_monitor.param.yaml +++ /dev/null @@ -1,14 +0,0 @@ -/**: - ros__parameters: - hdd_reader_port: 7635 - num_disks: 1 - disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} - disk0: - name: / - temp_warn: 75.0 - temp_error: 85.0 - power_on_hours_warn: 3000000 - total_data_written_warn: 11417920 # =440TB (1unit=32MB) - total_data_written_safety_factor: 0.05 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/2/system_monitor/mem_monitor.param.yaml b/system_launch/config/2/system_monitor/mem_monitor.param.yaml deleted file mode 100644 index f2da3972be..0000000000 --- a/system_launch/config/2/system_monitor/mem_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - available_size: 1024 # MB diff --git a/system_launch/config/2/system_monitor/net_monitor.param.yaml b/system_launch/config/2/system_monitor/net_monitor.param.yaml deleted file mode 100644 index dac4ad1da8..0000000000 --- a/system_launch/config/2/system_monitor/net_monitor.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] - traffic_reader_port: 7636 - monitor_program: "greengrass" - crc_error_check_duration: 1 - crc_error_count_threshold: 1 - reassembles_failed_check_duration: 20 - reassembles_failed_check_count: 30000 diff --git a/system_launch/config/2/system_monitor/ntp_monitor.param.yaml b/system_launch/config/2/system_monitor/ntp_monitor.param.yaml deleted file mode 100644 index db54f70d1c..0000000000 --- a/system_launch/config/2/system_monitor/ntp_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - server: ntp.nict.jp - offset_warn: 0.1 - offset_error: 5.0 diff --git a/system_launch/config/2/system_monitor/process_monitor.param.yaml b/system_launch/config/2/system_monitor/process_monitor.param.yaml deleted file mode 100644 index 3d6d82fae5..0000000000 --- a/system_launch/config/2/system_monitor/process_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - num_of_procs: 5 diff --git a/system_launch/config/2/system_monitor/voltage_monitor.param.yaml b/system_launch/config/2/system_monitor/voltage_monitor.param.yaml deleted file mode 100644 index e55410be39..0000000000 --- a/system_launch/config/2/system_monitor/voltage_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - cmos_battery_warn: 2.90 - cmos_battery_error: 2.70 - cmos_battery_label: "" diff --git a/system_launch/config/3/system_monitor/cpu_monitor.param.yaml b/system_launch/config/3/system_monitor/cpu_monitor.param.yaml deleted file mode 100644 index cae88d6a96..0000000000 --- a/system_launch/config/3/system_monitor/cpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - usage_warn: 0.96 - usage_error: 1.00 - usage_warn_count: 2 - usage_error_count: 2 - usage_avg: true - msr_reader_port: 7634 diff --git a/system_launch/config/3/system_monitor/gpu_monitor.param.yaml b/system_launch/config/3/system_monitor/gpu_monitor.param.yaml deleted file mode 100644 index d96b9f2464..0000000000 --- a/system_launch/config/3/system_monitor/gpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - gpu_usage_warn: 0.90 - gpu_usage_error: 1.00 - memory_usage_warn: 0.95 - memory_usage_error: 0.99 diff --git a/system_launch/config/3/system_monitor/hdd_monitor.param.yaml b/system_launch/config/3/system_monitor/hdd_monitor.param.yaml deleted file mode 100644 index 91730c8f95..0000000000 --- a/system_launch/config/3/system_monitor/hdd_monitor.param.yaml +++ /dev/null @@ -1,14 +0,0 @@ -/**: - ros__parameters: - hdd_reader_port: 7635 - num_disks: 1 - disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} - disk0: - name: / - temp_warn: 75.0 - temp_error: 85.0 - power_on_hours_warn: 3000000 - total_data_written_warn: 11417920 # =440TB (1unit=32MB) - total_data_written_safety_factor: 0.05 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/3/system_monitor/mem_monitor.param.yaml b/system_launch/config/3/system_monitor/mem_monitor.param.yaml deleted file mode 100644 index f2da3972be..0000000000 --- a/system_launch/config/3/system_monitor/mem_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - available_size: 1024 # MB diff --git a/system_launch/config/3/system_monitor/net_monitor.param.yaml b/system_launch/config/3/system_monitor/net_monitor.param.yaml deleted file mode 100644 index dac4ad1da8..0000000000 --- a/system_launch/config/3/system_monitor/net_monitor.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] - traffic_reader_port: 7636 - monitor_program: "greengrass" - crc_error_check_duration: 1 - crc_error_count_threshold: 1 - reassembles_failed_check_duration: 20 - reassembles_failed_check_count: 30000 diff --git a/system_launch/config/3/system_monitor/ntp_monitor.param.yaml b/system_launch/config/3/system_monitor/ntp_monitor.param.yaml deleted file mode 100644 index db54f70d1c..0000000000 --- a/system_launch/config/3/system_monitor/ntp_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - server: ntp.nict.jp - offset_warn: 0.1 - offset_error: 5.0 diff --git a/system_launch/config/3/system_monitor/process_monitor.param.yaml b/system_launch/config/3/system_monitor/process_monitor.param.yaml deleted file mode 100644 index 3d6d82fae5..0000000000 --- a/system_launch/config/3/system_monitor/process_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - num_of_procs: 5 diff --git a/system_launch/config/3/system_monitor/voltage_monitor.param.yaml b/system_launch/config/3/system_monitor/voltage_monitor.param.yaml deleted file mode 100644 index e55410be39..0000000000 --- a/system_launch/config/3/system_monitor/voltage_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - cmos_battery_warn: 2.90 - cmos_battery_error: 2.70 - cmos_battery_label: "" diff --git a/system_launch/config/4/system_monitor/cpu_monitor.param.yaml b/system_launch/config/4/system_monitor/cpu_monitor.param.yaml deleted file mode 100644 index cae88d6a96..0000000000 --- a/system_launch/config/4/system_monitor/cpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - usage_warn: 0.96 - usage_error: 1.00 - usage_warn_count: 2 - usage_error_count: 2 - usage_avg: true - msr_reader_port: 7634 diff --git a/system_launch/config/4/system_monitor/gpu_monitor.param.yaml b/system_launch/config/4/system_monitor/gpu_monitor.param.yaml deleted file mode 100644 index d96b9f2464..0000000000 --- a/system_launch/config/4/system_monitor/gpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - gpu_usage_warn: 0.90 - gpu_usage_error: 1.00 - memory_usage_warn: 0.95 - memory_usage_error: 0.99 diff --git a/system_launch/config/4/system_monitor/hdd_monitor.param.yaml b/system_launch/config/4/system_monitor/hdd_monitor.param.yaml deleted file mode 100644 index 91730c8f95..0000000000 --- a/system_launch/config/4/system_monitor/hdd_monitor.param.yaml +++ /dev/null @@ -1,14 +0,0 @@ -/**: - ros__parameters: - hdd_reader_port: 7635 - num_disks: 1 - disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} - disk0: - name: / - temp_warn: 75.0 - temp_error: 85.0 - power_on_hours_warn: 3000000 - total_data_written_warn: 11417920 # =440TB (1unit=32MB) - total_data_written_safety_factor: 0.05 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/4/system_monitor/mem_monitor.param.yaml b/system_launch/config/4/system_monitor/mem_monitor.param.yaml deleted file mode 100644 index f2da3972be..0000000000 --- a/system_launch/config/4/system_monitor/mem_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - available_size: 1024 # MB diff --git a/system_launch/config/4/system_monitor/net_monitor.param.yaml b/system_launch/config/4/system_monitor/net_monitor.param.yaml deleted file mode 100644 index dac4ad1da8..0000000000 --- a/system_launch/config/4/system_monitor/net_monitor.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] - traffic_reader_port: 7636 - monitor_program: "greengrass" - crc_error_check_duration: 1 - crc_error_count_threshold: 1 - reassembles_failed_check_duration: 20 - reassembles_failed_check_count: 30000 diff --git a/system_launch/config/4/system_monitor/ntp_monitor.param.yaml b/system_launch/config/4/system_monitor/ntp_monitor.param.yaml deleted file mode 100644 index db54f70d1c..0000000000 --- a/system_launch/config/4/system_monitor/ntp_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - server: ntp.nict.jp - offset_warn: 0.1 - offset_error: 5.0 diff --git a/system_launch/config/4/system_monitor/process_monitor.param.yaml b/system_launch/config/4/system_monitor/process_monitor.param.yaml deleted file mode 100644 index 3d6d82fae5..0000000000 --- a/system_launch/config/4/system_monitor/process_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - num_of_procs: 5 diff --git a/system_launch/config/4/system_monitor/voltage_monitor.param.yaml b/system_launch/config/4/system_monitor/voltage_monitor.param.yaml deleted file mode 100644 index e55410be39..0000000000 --- a/system_launch/config/4/system_monitor/voltage_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - cmos_battery_warn: 2.90 - cmos_battery_error: 2.70 - cmos_battery_label: "" diff --git a/system_launch/config/5/system_monitor/cpu_monitor.param.yaml b/system_launch/config/5/system_monitor/cpu_monitor.param.yaml deleted file mode 100644 index cae88d6a96..0000000000 --- a/system_launch/config/5/system_monitor/cpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - usage_warn: 0.96 - usage_error: 1.00 - usage_warn_count: 2 - usage_error_count: 2 - usage_avg: true - msr_reader_port: 7634 diff --git a/system_launch/config/5/system_monitor/gpu_monitor.param.yaml b/system_launch/config/5/system_monitor/gpu_monitor.param.yaml deleted file mode 100644 index d96b9f2464..0000000000 --- a/system_launch/config/5/system_monitor/gpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - gpu_usage_warn: 0.90 - gpu_usage_error: 1.00 - memory_usage_warn: 0.95 - memory_usage_error: 0.99 diff --git a/system_launch/config/5/system_monitor/hdd_monitor.param.yaml b/system_launch/config/5/system_monitor/hdd_monitor.param.yaml deleted file mode 100644 index 91730c8f95..0000000000 --- a/system_launch/config/5/system_monitor/hdd_monitor.param.yaml +++ /dev/null @@ -1,14 +0,0 @@ -/**: - ros__parameters: - hdd_reader_port: 7635 - num_disks: 1 - disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} - disk0: - name: / - temp_warn: 75.0 - temp_error: 85.0 - power_on_hours_warn: 3000000 - total_data_written_warn: 11417920 # =440TB (1unit=32MB) - total_data_written_safety_factor: 0.05 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/5/system_monitor/mem_monitor.param.yaml b/system_launch/config/5/system_monitor/mem_monitor.param.yaml deleted file mode 100644 index f2da3972be..0000000000 --- a/system_launch/config/5/system_monitor/mem_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - available_size: 1024 # MB diff --git a/system_launch/config/5/system_monitor/net_monitor.param.yaml b/system_launch/config/5/system_monitor/net_monitor.param.yaml deleted file mode 100644 index dac4ad1da8..0000000000 --- a/system_launch/config/5/system_monitor/net_monitor.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] - traffic_reader_port: 7636 - monitor_program: "greengrass" - crc_error_check_duration: 1 - crc_error_count_threshold: 1 - reassembles_failed_check_duration: 20 - reassembles_failed_check_count: 30000 diff --git a/system_launch/config/5/system_monitor/ntp_monitor.param.yaml b/system_launch/config/5/system_monitor/ntp_monitor.param.yaml deleted file mode 100644 index db54f70d1c..0000000000 --- a/system_launch/config/5/system_monitor/ntp_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - server: ntp.nict.jp - offset_warn: 0.1 - offset_error: 5.0 diff --git a/system_launch/config/5/system_monitor/process_monitor.param.yaml b/system_launch/config/5/system_monitor/process_monitor.param.yaml deleted file mode 100644 index 3d6d82fae5..0000000000 --- a/system_launch/config/5/system_monitor/process_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - num_of_procs: 5 diff --git a/system_launch/config/5/system_monitor/voltage_monitor.param.yaml b/system_launch/config/5/system_monitor/voltage_monitor.param.yaml deleted file mode 100644 index e55410be39..0000000000 --- a/system_launch/config/5/system_monitor/voltage_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - cmos_battery_warn: 2.90 - cmos_battery_error: 2.70 - cmos_battery_label: "" diff --git a/system_launch/config/6/system_monitor/cpu_monitor.param.yaml b/system_launch/config/6/system_monitor/cpu_monitor.param.yaml deleted file mode 100644 index cae88d6a96..0000000000 --- a/system_launch/config/6/system_monitor/cpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - usage_warn: 0.96 - usage_error: 1.00 - usage_warn_count: 2 - usage_error_count: 2 - usage_avg: true - msr_reader_port: 7634 diff --git a/system_launch/config/6/system_monitor/gpu_monitor.param.yaml b/system_launch/config/6/system_monitor/gpu_monitor.param.yaml deleted file mode 100644 index d96b9f2464..0000000000 --- a/system_launch/config/6/system_monitor/gpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - gpu_usage_warn: 0.90 - gpu_usage_error: 1.00 - memory_usage_warn: 0.95 - memory_usage_error: 0.99 diff --git a/system_launch/config/6/system_monitor/hdd_monitor.param.yaml b/system_launch/config/6/system_monitor/hdd_monitor.param.yaml deleted file mode 100644 index 91730c8f95..0000000000 --- a/system_launch/config/6/system_monitor/hdd_monitor.param.yaml +++ /dev/null @@ -1,14 +0,0 @@ -/**: - ros__parameters: - hdd_reader_port: 7635 - num_disks: 1 - disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} - disk0: - name: / - temp_warn: 75.0 - temp_error: 85.0 - power_on_hours_warn: 3000000 - total_data_written_warn: 11417920 # =440TB (1unit=32MB) - total_data_written_safety_factor: 0.05 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/6/system_monitor/mem_monitor.param.yaml b/system_launch/config/6/system_monitor/mem_monitor.param.yaml deleted file mode 100644 index f2da3972be..0000000000 --- a/system_launch/config/6/system_monitor/mem_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - available_size: 1024 # MB diff --git a/system_launch/config/6/system_monitor/net_monitor.param.yaml b/system_launch/config/6/system_monitor/net_monitor.param.yaml deleted file mode 100644 index dac4ad1da8..0000000000 --- a/system_launch/config/6/system_monitor/net_monitor.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] - traffic_reader_port: 7636 - monitor_program: "greengrass" - crc_error_check_duration: 1 - crc_error_count_threshold: 1 - reassembles_failed_check_duration: 20 - reassembles_failed_check_count: 30000 diff --git a/system_launch/config/6/system_monitor/ntp_monitor.param.yaml b/system_launch/config/6/system_monitor/ntp_monitor.param.yaml deleted file mode 100644 index db54f70d1c..0000000000 --- a/system_launch/config/6/system_monitor/ntp_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - server: ntp.nict.jp - offset_warn: 0.1 - offset_error: 5.0 diff --git a/system_launch/config/6/system_monitor/process_monitor.param.yaml b/system_launch/config/6/system_monitor/process_monitor.param.yaml deleted file mode 100644 index 3d6d82fae5..0000000000 --- a/system_launch/config/6/system_monitor/process_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - num_of_procs: 5 diff --git a/system_launch/config/6/system_monitor/voltage_monitor.param.yaml b/system_launch/config/6/system_monitor/voltage_monitor.param.yaml deleted file mode 100644 index e55410be39..0000000000 --- a/system_launch/config/6/system_monitor/voltage_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - cmos_battery_warn: 2.90 - cmos_battery_error: 2.70 - cmos_battery_label: "" diff --git a/system_launch/config/7/system_monitor/cpu_monitor.param.yaml b/system_launch/config/7/system_monitor/cpu_monitor.param.yaml deleted file mode 100644 index cae88d6a96..0000000000 --- a/system_launch/config/7/system_monitor/cpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - usage_warn: 0.96 - usage_error: 1.00 - usage_warn_count: 2 - usage_error_count: 2 - usage_avg: true - msr_reader_port: 7634 diff --git a/system_launch/config/7/system_monitor/gpu_monitor.param.yaml b/system_launch/config/7/system_monitor/gpu_monitor.param.yaml deleted file mode 100644 index d96b9f2464..0000000000 --- a/system_launch/config/7/system_monitor/gpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - gpu_usage_warn: 0.90 - gpu_usage_error: 1.00 - memory_usage_warn: 0.95 - memory_usage_error: 0.99 diff --git a/system_launch/config/7/system_monitor/hdd_monitor.param.yaml b/system_launch/config/7/system_monitor/hdd_monitor.param.yaml deleted file mode 100644 index 91730c8f95..0000000000 --- a/system_launch/config/7/system_monitor/hdd_monitor.param.yaml +++ /dev/null @@ -1,14 +0,0 @@ -/**: - ros__parameters: - hdd_reader_port: 7635 - num_disks: 1 - disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} - disk0: - name: / - temp_warn: 75.0 - temp_error: 85.0 - power_on_hours_warn: 3000000 - total_data_written_warn: 11417920 # =440TB (1unit=32MB) - total_data_written_safety_factor: 0.05 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/7/system_monitor/mem_monitor.param.yaml b/system_launch/config/7/system_monitor/mem_monitor.param.yaml deleted file mode 100644 index f2da3972be..0000000000 --- a/system_launch/config/7/system_monitor/mem_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - available_size: 1024 # MB diff --git a/system_launch/config/7/system_monitor/net_monitor.param.yaml b/system_launch/config/7/system_monitor/net_monitor.param.yaml deleted file mode 100644 index dac4ad1da8..0000000000 --- a/system_launch/config/7/system_monitor/net_monitor.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] - traffic_reader_port: 7636 - monitor_program: "greengrass" - crc_error_check_duration: 1 - crc_error_count_threshold: 1 - reassembles_failed_check_duration: 20 - reassembles_failed_check_count: 30000 diff --git a/system_launch/config/7/system_monitor/ntp_monitor.param.yaml b/system_launch/config/7/system_monitor/ntp_monitor.param.yaml deleted file mode 100644 index db54f70d1c..0000000000 --- a/system_launch/config/7/system_monitor/ntp_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - server: ntp.nict.jp - offset_warn: 0.1 - offset_error: 5.0 diff --git a/system_launch/config/7/system_monitor/process_monitor.param.yaml b/system_launch/config/7/system_monitor/process_monitor.param.yaml deleted file mode 100644 index 3d6d82fae5..0000000000 --- a/system_launch/config/7/system_monitor/process_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - num_of_procs: 5 diff --git a/system_launch/config/7/system_monitor/voltage_monitor.param.yaml b/system_launch/config/7/system_monitor/voltage_monitor.param.yaml deleted file mode 100644 index e55410be39..0000000000 --- a/system_launch/config/7/system_monitor/voltage_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - cmos_battery_warn: 2.90 - cmos_battery_error: 2.70 - cmos_battery_label: "" diff --git a/system_launch/config/8/system_monitor/cpu_monitor.param.yaml b/system_launch/config/8/system_monitor/cpu_monitor.param.yaml deleted file mode 100644 index cae88d6a96..0000000000 --- a/system_launch/config/8/system_monitor/cpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - usage_warn: 0.96 - usage_error: 1.00 - usage_warn_count: 2 - usage_error_count: 2 - usage_avg: true - msr_reader_port: 7634 diff --git a/system_launch/config/8/system_monitor/gpu_monitor.param.yaml b/system_launch/config/8/system_monitor/gpu_monitor.param.yaml deleted file mode 100644 index d96b9f2464..0000000000 --- a/system_launch/config/8/system_monitor/gpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - gpu_usage_warn: 0.90 - gpu_usage_error: 1.00 - memory_usage_warn: 0.95 - memory_usage_error: 0.99 diff --git a/system_launch/config/8/system_monitor/hdd_monitor.param.yaml b/system_launch/config/8/system_monitor/hdd_monitor.param.yaml deleted file mode 100644 index 91730c8f95..0000000000 --- a/system_launch/config/8/system_monitor/hdd_monitor.param.yaml +++ /dev/null @@ -1,14 +0,0 @@ -/**: - ros__parameters: - hdd_reader_port: 7635 - num_disks: 1 - disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} - disk0: - name: / - temp_warn: 75.0 - temp_error: 85.0 - power_on_hours_warn: 3000000 - total_data_written_warn: 11417920 # =440TB (1unit=32MB) - total_data_written_safety_factor: 0.05 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/8/system_monitor/mem_monitor.param.yaml b/system_launch/config/8/system_monitor/mem_monitor.param.yaml deleted file mode 100644 index f2da3972be..0000000000 --- a/system_launch/config/8/system_monitor/mem_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - available_size: 1024 # MB diff --git a/system_launch/config/8/system_monitor/net_monitor.param.yaml b/system_launch/config/8/system_monitor/net_monitor.param.yaml deleted file mode 100644 index dac4ad1da8..0000000000 --- a/system_launch/config/8/system_monitor/net_monitor.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] - traffic_reader_port: 7636 - monitor_program: "greengrass" - crc_error_check_duration: 1 - crc_error_count_threshold: 1 - reassembles_failed_check_duration: 20 - reassembles_failed_check_count: 30000 diff --git a/system_launch/config/8/system_monitor/ntp_monitor.param.yaml b/system_launch/config/8/system_monitor/ntp_monitor.param.yaml deleted file mode 100644 index db54f70d1c..0000000000 --- a/system_launch/config/8/system_monitor/ntp_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - server: ntp.nict.jp - offset_warn: 0.1 - offset_error: 5.0 diff --git a/system_launch/config/8/system_monitor/process_monitor.param.yaml b/system_launch/config/8/system_monitor/process_monitor.param.yaml deleted file mode 100644 index 3d6d82fae5..0000000000 --- a/system_launch/config/8/system_monitor/process_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - num_of_procs: 5 diff --git a/system_launch/config/8/system_monitor/voltage_monitor.param.yaml b/system_launch/config/8/system_monitor/voltage_monitor.param.yaml deleted file mode 100644 index e55410be39..0000000000 --- a/system_launch/config/8/system_monitor/voltage_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - cmos_battery_warn: 2.90 - cmos_battery_error: 2.70 - cmos_battery_label: "" diff --git a/system_launch/config/9/system_monitor/cpu_monitor.param.yaml b/system_launch/config/9/system_monitor/cpu_monitor.param.yaml deleted file mode 100644 index cae88d6a96..0000000000 --- a/system_launch/config/9/system_monitor/cpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - usage_warn: 0.96 - usage_error: 1.00 - usage_warn_count: 2 - usage_error_count: 2 - usage_avg: true - msr_reader_port: 7634 diff --git a/system_launch/config/9/system_monitor/gpu_monitor.param.yaml b/system_launch/config/9/system_monitor/gpu_monitor.param.yaml deleted file mode 100644 index d96b9f2464..0000000000 --- a/system_launch/config/9/system_monitor/gpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - gpu_usage_warn: 0.90 - gpu_usage_error: 1.00 - memory_usage_warn: 0.95 - memory_usage_error: 0.99 diff --git a/system_launch/config/9/system_monitor/hdd_monitor.param.yaml b/system_launch/config/9/system_monitor/hdd_monitor.param.yaml deleted file mode 100644 index 91730c8f95..0000000000 --- a/system_launch/config/9/system_monitor/hdd_monitor.param.yaml +++ /dev/null @@ -1,14 +0,0 @@ -/**: - ros__parameters: - hdd_reader_port: 7635 - num_disks: 1 - disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} - disk0: - name: / - temp_warn: 75.0 - temp_error: 85.0 - power_on_hours_warn: 3000000 - total_data_written_warn: 11417920 # =440TB (1unit=32MB) - total_data_written_safety_factor: 0.05 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) diff --git a/system_launch/config/9/system_monitor/mem_monitor.param.yaml b/system_launch/config/9/system_monitor/mem_monitor.param.yaml deleted file mode 100644 index f2da3972be..0000000000 --- a/system_launch/config/9/system_monitor/mem_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - available_size: 1024 # MB diff --git a/system_launch/config/9/system_monitor/net_monitor.param.yaml b/system_launch/config/9/system_monitor/net_monitor.param.yaml deleted file mode 100644 index dac4ad1da8..0000000000 --- a/system_launch/config/9/system_monitor/net_monitor.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - devices: [ 'eno1', 'enp3s0', 'enp4s0', 'logging_bond0' ] - traffic_reader_port: 7636 - monitor_program: "greengrass" - crc_error_check_duration: 1 - crc_error_count_threshold: 1 - reassembles_failed_check_duration: 20 - reassembles_failed_check_count: 30000 diff --git a/system_launch/config/9/system_monitor/ntp_monitor.param.yaml b/system_launch/config/9/system_monitor/ntp_monitor.param.yaml deleted file mode 100644 index db54f70d1c..0000000000 --- a/system_launch/config/9/system_monitor/ntp_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - server: ntp.nict.jp - offset_warn: 0.1 - offset_error: 5.0 diff --git a/system_launch/config/9/system_monitor/process_monitor.param.yaml b/system_launch/config/9/system_monitor/process_monitor.param.yaml deleted file mode 100644 index 3d6d82fae5..0000000000 --- a/system_launch/config/9/system_monitor/process_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - num_of_procs: 5 diff --git a/system_launch/config/9/system_monitor/voltage_monitor.param.yaml b/system_launch/config/9/system_monitor/voltage_monitor.param.yaml deleted file mode 100644 index e55410be39..0000000000 --- a/system_launch/config/9/system_monitor/voltage_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - cmos_battery_warn: 2.90 - cmos_battery_error: 2.70 - cmos_battery_label: "" diff --git a/system_launch/config/default/system_monitor/cpu_monitor.param.yaml b/system_launch/config/default/system_monitor/cpu_monitor.param.yaml deleted file mode 100644 index da4d74e53d..0000000000 --- a/system_launch/config/default/system_monitor/cpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - usage_warn: 0.96 - usage_error: 0.96 - usage_warn_count: 1 - usage_error_count: 2 - usage_avg: true - msr_reader_port: 7634 diff --git a/system_launch/config/default/system_monitor/gpu_monitor.param.yaml b/system_launch/config/default/system_monitor/gpu_monitor.param.yaml deleted file mode 100644 index d96b9f2464..0000000000 --- a/system_launch/config/default/system_monitor/gpu_monitor.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - temp_warn: 90.0 - temp_error: 95.0 - gpu_usage_warn: 0.90 - gpu_usage_error: 1.00 - memory_usage_warn: 0.95 - memory_usage_error: 0.99 diff --git a/system_launch/config/default/system_monitor/hdd_monitor.param.yaml b/system_launch/config/default/system_monitor/hdd_monitor.param.yaml deleted file mode 100644 index cdb48f73e9..0000000000 --- a/system_launch/config/default/system_monitor/hdd_monitor.param.yaml +++ /dev/null @@ -1,23 +0,0 @@ -/**: - ros__parameters: - hdd_reader_port: 7635 - num_disks: 1 - disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1} - disk0: - name: / - temp_attribute_id: 0xC2 - temp_warn: 75.0 - temp_error: 85.0 - power_on_hours_attribute_id: 0x09 - power_on_hours_warn: 3000000 - total_data_written_attribute_id: 0xF1 - total_data_written_warn: 11417920 # =440TB (1unit=32MB) - total_data_written_safety_factor: 0.05 - recovered_error_attribute_id: 0xC3 - recovered_error_warn: 1 - free_warn: 5120 # MB(8hour) - free_error: 100 # MB(last 1 minute) - read_data_rate_warn: 360.0 # MB/s - write_data_rate_warn: 103.5 # MB/s - read_iops_warn: 63360.0 # IOPS - write_iops_warn: 24120.0 # IOPS diff --git a/system_launch/config/default/system_monitor/mem_monitor.param.yaml b/system_launch/config/default/system_monitor/mem_monitor.param.yaml deleted file mode 100644 index f2da3972be..0000000000 --- a/system_launch/config/default/system_monitor/mem_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - available_size: 1024 # MB diff --git a/system_launch/config/default/system_monitor/ntp_monitor.param.yaml b/system_launch/config/default/system_monitor/ntp_monitor.param.yaml deleted file mode 100644 index db54f70d1c..0000000000 --- a/system_launch/config/default/system_monitor/ntp_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - server: ntp.nict.jp - offset_warn: 0.1 - offset_error: 5.0 diff --git a/system_launch/config/default/system_monitor/process_monitor.param.yaml b/system_launch/config/default/system_monitor/process_monitor.param.yaml deleted file mode 100644 index 3d6d82fae5..0000000000 --- a/system_launch/config/default/system_monitor/process_monitor.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - num_of_procs: 5 diff --git a/system_launch/config/default/system_monitor/voltage_monitor.param.yaml b/system_launch/config/default/system_monitor/voltage_monitor.param.yaml deleted file mode 100644 index e55410be39..0000000000 --- a/system_launch/config/default/system_monitor/voltage_monitor.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - cmos_battery_warn: 2.90 - cmos_battery_error: 2.70 - cmos_battery_label: "" From 0f816f71d8c9eac5ac44effc4609c887a94796bf Mon Sep 17 00:00:00 2001 From: tkimura4 Date: Tue, 21 Feb 2023 09:54:00 +0000 Subject: [PATCH 259/349] style(pre-commit): autofix --- autoware_launch/launch/autoware.launch.xml | 26 +++++++++++++++---- .../tier4_perception_component.launch.xml | 2 +- .../tier4_planning_component.launch.xml | 5 +--- .../launch/logging_simulator.launch.xml | 4 +-- .../launch/planning_simulator.launch.xml | 4 +-- 5 files changed, 27 insertions(+), 14 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 0fb551cd94..52a8503829 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -43,12 +43,28 @@ - - + + - - + + @@ -107,7 +123,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 218de484d9..adbcce07d8 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -8,7 +8,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 1f8d5164a9..3cd4ba4284 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -21,10 +21,7 @@ - + - - + + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 5ff31d419f..652d317978 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -58,8 +58,8 @@ - - + + From 14a0d7f410a6926659fcb55a909440e05dd8a95c Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Tue, 21 Feb 2023 18:56:19 +0900 Subject: [PATCH 260/349] fix: min_acc and jerk parameter Signed-off-by: tomoya.kimura --- .../planning/scenario_planning/common/common.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 6bb130e805..a23570a5fc 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -2,9 +2,9 @@ ros__parameters: # constraints param for normal driving normal: - min_acc: -1.0 # min deceleration [m/ss] + min_acc: -0.5 # min deceleration [m/ss] max_acc: 1.0 # max acceleration [m/ss] - min_jerk: -1.0 # min jerk [m/sss] + min_jerk: -0.5 # min jerk [m/sss] max_jerk: 1.0 # max jerk [m/sss] # constraints to be observed From 3f0afbf7a922ecf87411ed05715b817fe86437d0 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Wed, 22 Mar 2023 10:06:00 +0900 Subject: [PATCH 261/349] featL change perception_mode to camera_lidar_fusion Signed-off-by: tomoya.kimura --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 3cbdb0bed9..8367c2b562 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -34,7 +34,7 @@ - + From f91387c0a4bc260cedef9e809eb933705753bf15 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 5 Apr 2023 19:56:59 +0900 Subject: [PATCH 262/349] feat: change roi param (#438) * feat: change roi param Signed-off-by: tomoya.kimura * style(pre-commit): autofix --------- Signed-off-by: tomoya.kimura Co-authored-by: tkimura4 --- .../launch/components/tier4_perception_component.launch.xml | 2 ++ 1 file 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 adbcce07d8..3c5d397894 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -11,6 +11,8 @@ + + Date: Tue, 11 Apr 2023 10:41:10 +0900 Subject: [PATCH 263/349] feat: disable out_of_lane Signed-off-by: tomoya.kimura --- .../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 6f1341cb02..3fb551b997 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 @@ -11,7 +11,7 @@ launch_no_stopping_area: true launch_run_out: false launch_speed_bump: false - launch_out_of_lane: true + launch_out_of_lane: false forward_path_length: 1000.0 backward_path_length: 5.0 stop_line_extend_length: 5.0 From bf7479f7d47065b18b9c3dc08658518dd34dc407 Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Fri, 14 Apr 2023 12:50:17 +0900 Subject: [PATCH 264/349] feat: add system error monitor for awsim (#446) * feat: add system_error_monitor.param for awsim Signed-off-by: 1222-takeshi * feat: update some launch for use_traffic_light Signed-off-by: 1222-takeshi * style(pre-commit): autofix --------- Signed-off-by: 1222-takeshi Co-authored-by: 1222-takeshi <1222-takeshi@users.noreply.github.com> --- .../diagnostic_aggregator/vehicle.param.yaml | 9 ++++ .../system_error_monitor.awsim.param.yaml | 54 +++++++++++++++++++ autoware_launch/launch/autoware.launch.xml | 2 + .../tier4_perception_component.launch.xml | 2 +- .../tier4_system_component.launch.xml | 4 +- .../launch/e2e_simulator.launch.xml | 8 +++ autoware_launch/rviz/autoware.rviz | 4 ++ 7 files changed, 81 insertions(+), 2 deletions(-) create mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml index 2ad7970c77..c28096f361 100644 --- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml @@ -28,3 +28,12 @@ path: accel_brake_map_calibrator contains: [": accel_brake_map_calibrator"] timeout: 1.0 + awsim: + type: diagnostic_aggregator/AnalyzerGroup + path: awsim + analyzers: + vehicle_stuck_detection: + type: diagnostic_aggregator/GenericAnalyzer + path: vehicle_stuck_detection + contains: [": vehicle_stuck_detection"] + timeout: 1.0 diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml new file mode 100644 index 0000000000..ee632a14f8 --- /dev/null +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml @@ -0,0 +1,54 @@ +# Description: +# name: diag name +# sf_at: diag level where it becomes Safe Fault +# lf_at: diag level where it becomes Latent Fault +# spf_at: diag level where it becomes Single Point Fault +# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. +# +# Note: +# empty-value for sf_at, lf_at and spf_at is "none" +# default values are: +# sf_at: "none" +# lf_at: "warn" +# spf_at: "error" +# auto_recovery: "true" +--- +/**: + ros__parameters: + required_modules: + autonomous_driving: + /autoware/control/autonomous_driving/node_alive_monitoring: default + # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp + /autoware/control/control_command_gate/node_alive_monitoring: default + + /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 + + /autoware/map/node_alive_monitoring: default + + /autoware/perception/node_alive_monitoring: default + + /autoware/planning/node_alive_monitoring: default + /autoware/planning/performance_monitoring/trajectory_validation: default + + # /autoware/sensing/node_alive_monitoring: default + + /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: "error", spf_at: "none" } + + /autoware/vehicle/node_alive_monitoring: default + + /autoware/vehicle/awsim: default + + external_control: + /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/external_control/external_command_selector/node_alive_monitoring: default + + /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/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 8771e63c55..f08081bc5a 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -32,11 +32,13 @@ + + diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 3c5d397894..9f09e6797f 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -7,7 +7,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 3cfc6d8541..1bd74ccbbf 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,5 +1,7 @@ + + @@ -10,7 +12,7 @@ - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index a089da6397..32f187306d 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -24,6 +24,11 @@ + @@ -52,9 +57,12 @@ + + + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 9148a67b52..8cd25746e0 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -22,6 +22,8 @@ Panels: Name: AutowareDateTimePanel - Class: rviz_plugins::AutowareStatePanel Name: AutowareStatePanel + - Class: AutowareScreenCapturePanel + Name: AutowareScreenCapturePanel Visualization Manager: Class: "" Displays: @@ -2228,6 +2230,8 @@ Visualization Manager: X: 0 Y: 0 Window Geometry: + AutowareScreenCapturePanel: + collapsed: false AutowareStatePanel: collapsed: false Displays: From 16fa3f07fbfe105dab5ab725b07522b44772ad09 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 19 Apr 2023 20:08:36 +0900 Subject: [PATCH 265/349] feat: use concatenated pointcloud for object-recognition module (#449) Signed-off-by: tomoya.kimura --- .../launch/components/tier4_perception_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 9f09e6797f..e8b22313b1 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -6,7 +6,7 @@ - + From b588164bb753552f2294fcd547bcbdf492f368af Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 21 Apr 2023 09:00:49 +0900 Subject: [PATCH 266/349] fix(avoidance): update stop vehicle judge speed threshold (3.0 -> 1.0m/s) (#451) Signed-off-by: satoshi-ota --- .../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 f22b9f4e02..0183c227bc 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 @@ -69,7 +69,7 @@ # For target object filtering target_filtering: # filtering moving objects - threshold_speed_object_is_stopped: 3.0 # [m/s] + 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 From 66bc2220e02fa4de81dcb2be46634e9203b7545e Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 24 Apr 2023 09:15:38 +0900 Subject: [PATCH 267/349] feat: change planning parameters (#453) * feat: add scene_module_manager setting with foa Signed-off-by: tomoya.kimura * feat: disable no_topping_area Signed-off-by: tomoya.kimura * feat: set proper rtc manager settings Signed-off-by: tomoya.kimura * feat: enable force_avoidance_for_stopped_vehicle Signed-off-by: tomoya.kimura * style(pre-commit): autofix --------- Signed-off-by: tomoya.kimura Co-authored-by: tkimura4 --- .../avoidance/avoidance.param.yaml | 2 +- .../scene_module_manager_foa.param.yaml | 68 +++++++++++++++++++ .../behavior_velocity_planner.param.yaml | 2 +- .../rtc_auto_mode_manager.param.yaml | 4 -- .../rtc_auto_mode_manager_foa.param.yaml | 3 +- autoware_launch/launch/autoware.launch.xml | 17 +++-- .../tier4_planning_component.launch.xml | 7 +- .../launch/planning_simulator.launch.xml | 2 - 8 files changed, 82 insertions(+), 23 deletions(-) create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml 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 0183c227bc..24a440730a 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 @@ -14,7 +14,7 @@ enable_avoidance_over_same_direction: true enable_avoidance_over_opposite_direction: true enable_update_path_when_object_is_gone: false - enable_force_avoidance_for_stopped_vehicle: false + enable_force_avoidance_for_stopped_vehicle: true enable_safety_check: true enable_yield_maneuver: true disable_path_update: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml new file mode 100644 index 0000000000..dd5c870f1e --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml @@ -0,0 +1,68 @@ +# USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE. +# https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt +# NOTE: The smaller the priority number is, the higher the module priority is. +/**: + ros__parameters: + external_request_lane_change_left: + enable_module: true + enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_candidate_module: true + priority: 6 + max_module_size: 1 + + external_request_lane_change_right: + enable_module: true + enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_candidate_module: true + priority: 6 + max_module_size: 1 + + lane_change_left: + enable_module: true + enable_simultaneous_execution_as_approved_module: true + enable_simultaneous_execution_as_candidate_module: true + priority: 5 + max_module_size: 1 + + lane_change_right: + enable_module: true + enable_simultaneous_execution_as_approved_module: true + enable_simultaneous_execution_as_candidate_module: true + priority: 5 + max_module_size: 1 + + pull_out: + enable_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_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_candidate_module: false + priority: 2 + max_module_size: 1 + + pull_over: + enable_module: true + enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_candidate_module: false + priority: 1 + max_module_size: 1 + + avoidance: + enable_module: true + enable_simultaneous_execution_as_approved_module: true + enable_simultaneous_execution_as_candidate_module: false + priority: 4 + max_module_size: 1 + + # NOTE: This module is unstable. Deprecated for now. + avoidance_by_lc: + enable_module: false + enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_candidate_module: false + priority: 3 + max_module_size: 1 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 8e939400dd..b01ec733cb 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 @@ -8,7 +8,7 @@ launch_detection_area: true launch_virtual_traffic_light: false # disabled by default to not confuse newcomers launch_occlusion_spot: false - launch_no_stopping_area: true + launch_no_stopping_area: false launch_run_out: false launch_speed_bump: false launch_out_of_lane: false 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 f38becc39f..7558cbc1c9 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 @@ -5,10 +5,7 @@ - "crosswalk" - "detection_area" - "intersection" - - "no_stopping_area" - "traffic_light" - - "external_request_lane_change_left" - - "external_request_lane_change_right" - "lane_change_left" - "lane_change_right" - "avoidance_left" @@ -21,7 +18,6 @@ - "crosswalk" - "detection_area" - "intersection" - - "no_stopping_area" - "traffic_light" - "lane_change_left" - "lane_change_right" diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml index 1f0c261b6b..6dfabbf1e2 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml @@ -5,8 +5,9 @@ - "crosswalk" - "detection_area" - "intersection" - - "no_stopping_area" - "traffic_light" + - "external_request_lane_change_left" + - "external_request_lane_change_right" - "lane_change_left" - "lane_change_right" - "avoidance_left" diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index f08081bc5a..1af00e13ad 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -42,7 +42,6 @@ - @@ -58,16 +57,16 @@ if="$(var use_foa)" /> - + @@ -127,7 +126,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index d5769becc7..f687392d95 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -3,8 +3,8 @@ - + @@ -46,10 +46,7 @@ name="drivable_area_expansion_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml" /> - + - @@ -60,7 +59,6 @@ - From 72e1a801e662404ecbe775caba89c337a08d52b8 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 25 Apr 2023 12:50:48 +0900 Subject: [PATCH 268/349] feat: add intersection_occlusion module to rtc_auto_mode_manager (#457) Signed-off-by: tomoya.kimura --- .../rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml index 6dfabbf1e2..23d72ad494 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml @@ -14,6 +14,7 @@ - "avoidance_right" - "pull_over" - "pull_out" + - "intersection_occlusion" default_enable_list: - "blind_spot" From d102d09421a52c5bfd099701541d817d2792c1b0 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 26 Apr 2023 13:06:53 +0900 Subject: [PATCH 269/349] feat(autoware_launch): enable intersection occlusion (#459) Signed-off-by: tomoya.kimura --- .../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 e8f499d00f..04fdfd4888 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 @@ -29,7 +29,7 @@ keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr occlusion: - enable: false + enable: true occlusion_detection_area_length: 70.0 # [m] enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line From 44ba554f40572ecac511faa615bd398ef303cd3d Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Wed, 26 Apr 2023 15:31:19 +0900 Subject: [PATCH 270/349] feat: shorten threshold_time_force_avoidance_for_stopped_vehicle Signed-off-by: tomoya.kimura --- .../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 e2918e0e68..dc539d83dc 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 @@ -71,7 +71,7 @@ # 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] + threshold_time_force_avoidance_for_stopped_vehicle: 1.0 # [s] # detection range object_check_force_avoidance_clearance: 30.0 # [m] object_check_forward_distance: 150.0 # [m] From 521952c95b881c0e30420c74364c77fadbda685e Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 26 Apr 2023 20:16:50 +0900 Subject: [PATCH 271/349] fix: fix behavior_path and rtc settings (#462) Signed-off-by: tomoya.kimura --- .../behavior_path_planner/scene_module_manager_foa.param.yaml | 2 +- .../rtc_auto_mode_manager/rtc_auto_mode_manager_foa.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/scene_module_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml index dd5c870f1e..67e24841e5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml @@ -45,7 +45,7 @@ priority: 2 max_module_size: 1 - pull_over: + goal_planner: enable_module: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml index 23d72ad494..04f9042cdd 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml @@ -12,7 +12,7 @@ - "lane_change_right" - "avoidance_left" - "avoidance_right" - - "pull_over" + - "goal_planner" - "pull_out" - "intersection_occlusion" From 81db9c99c891f524147c2739a35f6ec55843ae9a Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 9 May 2023 13:49:40 +0900 Subject: [PATCH 272/349] feat(autoware_launch): add pacmod_error to diad emergency list (#465) * feat(autoware_launch): add pacmod_error to diad emergency list Signed-off-by: tomoya.kimura * fix dummy_diag Signed-off-by: tomoya.kimura * feat: add accel brake fault Signed-off-by: tomoya.kimura * Apply suggestions from code review Co-authored-by: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> --------- Signed-off-by: tomoya.kimura Co-authored-by: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> --- .../dummy_diag_publisher.param.yaml | 2 ++ .../diagnostic_aggregator/vehicle.param.yaml | 10 ++++++++++ 2 files changed, 12 insertions(+) diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml index 98c8855b1a..ff3b0881a0 100644 --- a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml +++ b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml @@ -46,4 +46,6 @@ #vehicle vehicle_errors: default + pacmod_errors: default + pacmod_accel_brake_fault: default accel_brake_map_calibrator: default diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml index c28096f361..bcc9c388d5 100644 --- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml @@ -9,6 +9,16 @@ path: vehicle_errors contains: [": vehicle_errors"] timeout: 1.0 + pacmod_errors: + type: diagnostic_aggregator/GenericAnalyzer + path: pacmod_checker + contains: [": pacmod_checker"] + timeout: 1.0 + pacmod_accel_brake_fault: + type: diagnostic_aggregator/GenericAnalyzer + path: pacmod_accel_brake_fault + contains: [": pacmod_accel_brake_fault"] + timeout: 1.0 node_alive_monitoring: type: diagnostic_aggregator/AnalyzerGroup path: node_alive_monitoring From 66a251e47caf027f5f164644c82c02115b9ff9a9 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 12 May 2023 20:47:32 +0900 Subject: [PATCH 273/349] feat: separate pointcloud_container (#471) Signed-off-by: tomoya.kimura --- .../launch/components/tier4_localization_component.launch.xml | 2 +- .../launch/components/tier4_sensing_component.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index 560fc8f557..f51514f058 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -9,7 +9,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_sensing_component.launch.xml b/autoware_launch/launch/components/tier4_sensing_component.launch.xml index fe520e1fdc..f70f11ecbc 100644 --- a/autoware_launch/launch/components/tier4_sensing_component.launch.xml +++ b/autoware_launch/launch/components/tier4_sensing_component.launch.xml @@ -5,7 +5,7 @@ - + From a7144efa835217d20e61e5c7075eaf0af1213a17 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 12 May 2023 20:47:51 +0900 Subject: [PATCH 274/349] feat: add traffic light relay (#473) Signed-off-by: tomoya.kimura --- autoware_launch/launch/autoware.launch.xml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 58d228d5f6..ef76d2570c 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -120,6 +120,11 @@ + + + + + From 17bdef2aeaca0dbcf8a7dddfd84b8cf7b7658b1f Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 17 May 2023 10:49:43 +0900 Subject: [PATCH 275/349] feat: change force avoidance clearance (#477) Signed-off-by: tomoya.kimura --- .../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 87afeb82af..f439f50b85 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 @@ -74,7 +74,7 @@ threshold_time_object_is_moving: 1.0 # [s] threshold_time_force_avoidance_for_stopped_vehicle: 1.0 # [s] # detection range - object_check_force_avoidance_clearance: 30.0 # [m] + object_check_force_avoidance_clearance: 70.0 # [m] object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 100.0 # [m] object_check_goal_distance: 20.0 # [m] From de2621a6867d984552ab64fda445f85dedef71bc Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 18 May 2023 12:48:30 +0900 Subject: [PATCH 276/349] feat: enable pull_out simultaneous_execution in foa mode (#482) Signed-off-by: tomoya.kimura --- .../behavior_path_planner/scene_module_manager_foa.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/scene_module_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml index 67e24841e5..04099d2903 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml @@ -33,7 +33,7 @@ pull_out: enable_module: true - enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false priority: 0 max_module_size: 1 From 87e1549c4fb99c42a394ae3ec98652d34e10588c Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 18 May 2023 13:03:38 +0900 Subject: [PATCH 277/349] feat: add traffic_light frame_id relay node for awsim (#476) * feat: add traffic_light frame_id relay node for awsim Signed-off-by: tomoya.kimura * style(pre-commit): autofix * fix Signed-off-by: tomoya.kimura --------- Signed-off-by: tomoya.kimura Co-authored-by: tkimura4 --- autoware_launch/launch/e2e_simulator.launch.xml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 32f187306d..e993890fc5 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -33,6 +33,11 @@ + + + + + From 999cf60597b264cc2b41f64b217a4be8a15fe10a Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Mon, 22 May 2023 21:32:38 +0900 Subject: [PATCH 278/349] feat(multi_object_tracker): expand min_area_matrix of UNKNOWN (#492) --- .../multi_object_tracker/data_association_matrix.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml index 69af202e7a..ed3c85cbd3 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml @@ -35,7 +35,7 @@ 2.00, 10000.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00] #PEDESTRIAN min_area_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN + [ 0.100, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN 3.600, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #CAR 6.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRUCK 10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #BUS From 9b87568ed7c3c71199c61c100e5bc7dc6352dfb7 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 23 May 2023 14:52:30 +0900 Subject: [PATCH 279/349] feat: disable unknown object check in lane change module (#490) Signed-off-by: tomoya.kimura --- .../behavior_path_planner/lane_change/lane_change.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/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 5668f02bab..cadbf96bcb 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 @@ -27,7 +27,7 @@ truck: true bus: true trailer: true - unknown: true + unknown: false bicycle: true motorcycle: true pedestrian: true From 02664fc1ff6fd8a86a77d54ddd82000422029c4a Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 26 May 2023 12:37:55 +0900 Subject: [PATCH 280/349] feat: change min_area of unknown to 1.0 (#495) Signed-off-by: tomoya.kimura --- .../multi_object_tracker/data_association_matrix.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml index ed3c85cbd3..ccb4552936 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml @@ -35,7 +35,7 @@ 2.00, 10000.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00] #PEDESTRIAN min_area_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [ 0.100, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN + [ 1.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN 3.600, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #CAR 6.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRUCK 10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #BUS From ba0b1d472963911b4fc7c00da1fdad369c5a553d Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 29 May 2023 14:35:50 +0900 Subject: [PATCH 281/349] fix: fix foa scene_module manager param (#485) * fix: fix foa scene_module manager param Signed-off-by: tomoya.kimura * style(pre-commit): autofix --------- Signed-off-by: tomoya.kimura Co-authored-by: tkimura4 --- .../scene_module_manager_foa.param.yaml | 17 ++++++++++++----- 1 file changed, 12 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml index 04099d2903..8eac141080 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml @@ -7,28 +7,28 @@ enable_module: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true - priority: 6 + priority: 7 max_module_size: 1 external_request_lane_change_right: enable_module: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true - priority: 6 + priority: 7 max_module_size: 1 lane_change_left: enable_module: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true - priority: 5 + priority: 6 max_module_size: 1 lane_change_right: enable_module: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true - priority: 5 + priority: 6 max_module_size: 1 pull_out: @@ -56,7 +56,7 @@ enable_module: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false - priority: 4 + priority: 5 max_module_size: 1 # NOTE: This module is unstable. Deprecated for now. @@ -64,5 +64,12 @@ enable_module: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false + priority: 4 + max_module_size: 1 + + dynamic_avoidance: + enable_module: false + enable_simultaneous_execution_as_approved_module: true + enable_simultaneous_execution_as_candidate_module: true priority: 3 max_module_size: 1 From ab56cbaa409f578bacf33b609b561872a3b66775 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Mon, 5 Jun 2023 11:30:41 +0900 Subject: [PATCH 282/349] feat: sync mpc parameter for each vehicles Signed-off-by: tomoya.kimura --- .../1/lateral/mpc.param.yaml | 17 +++-------------- .../10/lateral/mpc.param.yaml | 17 +++-------------- .../2/lateral/mpc.param.yaml | 17 +++-------------- .../3/lateral/mpc.param.yaml | 17 +++-------------- .../4/lateral/mpc.param.yaml | 17 +++-------------- .../5/lateral/mpc.param.yaml | 17 +++-------------- .../6/lateral/mpc.param.yaml | 17 +++-------------- .../7/lateral/mpc.param.yaml | 17 +++-------------- .../9/lateral/mpc.param.yaml | 17 +++-------------- 9 files changed, 27 insertions(+), 126 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml index acc009eb3e..7103ff01f8 100644 --- a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml index acc009eb3e..7103ff01f8 100644 --- a/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml index acc009eb3e..7103ff01f8 100644 --- a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml index acc009eb3e..7103ff01f8 100644 --- a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml index f4508af1e9..17c5f815c8 100644 --- a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.50 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml index b64dd14272..bbb56f23b0 100644 --- a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml index acc009eb3e..7103ff01f8 100644 --- a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml index acc009eb3e..7103ff01f8 100644 --- a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml index acc009eb3e..7103ff01f8 100644 --- a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 From 8bab2c1a0271373e5ed41f4efa81403cde71d8a5 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 5 Jun 2023 16:39:47 +0900 Subject: [PATCH 283/349] feat: update pose initialization parameter (#499) Signed-off-by: tomoya.kimura --- .../config/localization/ndt_scan_matcher.param.yaml | 2 +- .../config/localization/pose_initializer_common.param.yaml | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 6782b990db..a5befcb1a7 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -35,7 +35,7 @@ converged_param_nearest_voxel_transformation_likelihood: 2.2 # The number of particles to estimate initial pose - initial_estimate_particles_num: 100 + initial_estimate_particles_num: 400 # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] initial_pose_timeout_sec: 1.0 diff --git a/autoware_launch/config/localization/pose_initializer_common.param.yaml b/autoware_launch/config/localization/pose_initializer_common.param.yaml index a05cc7c35c..6f03dfb49d 100644 --- a/autoware_launch/config/localization/pose_initializer_common.param.yaml +++ b/autoware_launch/config/localization/pose_initializer_common.param.yaml @@ -6,8 +6,8 @@ # from gnss gnss_particle_covariance: [ - 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, + 4.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 4.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, From 2c19a64685100cdc11a644b9a4d49b6acd1bc3b4 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Thu, 8 Jun 2023 15:40:25 +0900 Subject: [PATCH 284/349] feat: rename pull_out to start_planner Signed-off-by: tomoya.kimura --- .../behavior_path_planner/scene_module_manager_foa.param.yaml | 2 +- .../rtc_auto_mode_manager/rtc_auto_mode_manager_foa.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/scene_module_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml index 8eac141080..29b58aabf5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml @@ -31,7 +31,7 @@ priority: 6 max_module_size: 1 - pull_out: + start_planner: enable_module: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml index 04f9042cdd..3c3aff7d88 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml @@ -13,7 +13,7 @@ - "avoidance_left" - "avoidance_right" - "goal_planner" - - "pull_out" + - "start_planner" - "intersection_occlusion" default_enable_list: From ba536933958f9f0dcfe2166e0b839d337fcf75a7 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 9 Jun 2023 12:47:02 +0900 Subject: [PATCH 285/349] feat: change pull_out_velocity from 2m/s to 4m/s (#509) Signed-off-by: tomoya.kimura --- .../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 0d8782cb50..773099e9ee 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 @@ -9,7 +9,7 @@ collision_check_distance_from_end: 1.0 # shift pull out enable_shift_pull_out: true - shift_pull_out_velocity: 2.0 + shift_pull_out_velocity: 4.0 pull_out_sampling_num: 4 minimum_shift_pull_out_distance: 0.0 maximum_lateral_jerk: 2.0 From f6c860e01536c281a81d40834ad2aa667b6087ef Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Mon, 12 Jun 2023 13:15:24 +0900 Subject: [PATCH 286/349] feat: add flag to enable auto mode without rtc for foa param file Signed-off-by: tomoya.kimura --- .../scene_module_manager_foa.param.yaml | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml index 29b58aabf5..3547984d5c 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml @@ -5,6 +5,7 @@ ros__parameters: external_request_lane_change_left: enable_module: true + enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true priority: 7 @@ -12,6 +13,7 @@ external_request_lane_change_right: enable_module: true + enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true priority: 7 @@ -19,6 +21,7 @@ lane_change_left: enable_module: true + enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true priority: 6 @@ -26,6 +29,7 @@ lane_change_right: enable_module: true + enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true priority: 6 @@ -33,6 +37,7 @@ start_planner: enable_module: true + enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false priority: 0 @@ -40,6 +45,7 @@ side_shift: enable_module: true + enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false priority: 2 @@ -47,6 +53,7 @@ goal_planner: enable_module: true + enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false priority: 1 @@ -54,6 +61,7 @@ avoidance: enable_module: true + enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false priority: 5 @@ -62,6 +70,7 @@ # NOTE: This module is unstable. Deprecated for now. avoidance_by_lc: enable_module: false + enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false priority: 4 @@ -69,6 +78,7 @@ dynamic_avoidance: enable_module: false + enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true priority: 3 From d8da0c950e3e4b926bfe8ecef37a1effc9413816 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 12 Jun 2023 14:54:27 +0900 Subject: [PATCH 287/349] fix(autoware_launch): set default use_foa param using scenario_simulation param (#510) * fix(autoware_launch): set default use_foa param using scenario_simulation param Signed-off-by: tomoya.kimura * style(pre-commit): autofix --------- Signed-off-by: tomoya.kimura Co-authored-by: tkimura4 --- autoware_launch/launch/planning_simulator.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index e7413db5aa..c295b0c53a 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -27,7 +27,7 @@ - + From 8326676b46f0416528759666bc7b9c1c5b694fbe Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Mon, 19 Jun 2023 20:09:17 +0900 Subject: [PATCH 288/349] feat: disable external_lane_change (#517) * feat: disable external_lane_change * Update scene_module_manager_foa.param.yaml --- .../behavior_path_planner/scene_module_manager_foa.param.yaml | 4 ++-- .../rtc_auto_mode_manager_foa.param.yaml | 2 -- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml index 3547984d5c..d4da549dcd 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml @@ -4,7 +4,7 @@ /**: ros__parameters: external_request_lane_change_left: - enable_module: true + enable_module: false enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true @@ -12,7 +12,7 @@ max_module_size: 1 external_request_lane_change_right: - enable_module: true + enable_module: false enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml index 3c3aff7d88..369b28416e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml @@ -6,8 +6,6 @@ - "detection_area" - "intersection" - "traffic_light" - - "external_request_lane_change_left" - - "external_request_lane_change_right" - "lane_change_left" - "lane_change_right" - "avoidance_left" From f49ae48a969fcd35244e8ee623d5c281d2c622a3 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 28 Jun 2023 13:27:55 +0900 Subject: [PATCH 289/349] feat(walkway): change wait time from 1.0 to 0.1 second (#528) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.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/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 2bbc5d31fc..973025d83e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -40,5 +40,5 @@ pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects walkway: - stop_duration_sec: 1.0 # [s] stop time at stop position + stop_duration_sec: 0.1 # [s] stop time at stop position stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists From 1ce6e4a67bf31c8fd86ed2cabc21f6e4a1b0cdba Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 30 Jun 2023 12:38:54 +0900 Subject: [PATCH 290/349] feat: add camera topic to topic.yaml (#529) * feat: add camera topic to topic.yaml Signed-off-by: tomoya.kimura * fix Signed-off-by: tomoya.kimura --------- Signed-off-by: tomoya.kimura --- .../component_state_monitor/topics.yaml | 91 +++++++++++++++++++ 1 file changed, 91 insertions(+) diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index d4c2ccc05a..add7a0c24e 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -11,6 +11,97 @@ error_rate: 5.0 timeout: 1.0 +- module: sensing + mode: [online] + type: launch + args: + node_name_suffix: camera0 + topic: /sensing/camera/camera0/camera_info + topic_type: sensor_msgs/msg/CameraInfo + best_effort: true + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: sensing + mode: [online] + type: launch + args: + node_name_suffix: camera1 + topic: /sensing/camera/camera1/camera_info + topic_type: sensor_msgs/msg/CameraInfo + best_effort: true + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: sensing + mode: [online] + type: launch + args: + node_name_suffix: camera2 + topic: /sensing/camera/camera2/camera_info + topic_type: sensor_msgs/msg/CameraInfo + best_effort: true + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: sensing + mode: [online] + type: launch + args: + node_name_suffix: camera3 + topic: /sensing/camera/camera3/camera_info + topic_type: sensor_msgs/msg/CameraInfo + best_effort: true + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: sensing + mode: [online] + type: launch + args: + node_name_suffix: camera4 + topic: /sensing/camera/camera4/camera_info + topic_type: sensor_msgs/msg/CameraInfo + best_effort: true + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: sensing + mode: [online] + type: launch + args: + node_name_suffix: camera5 + topic: /sensing/camera/camera5/camera_info + topic_type: sensor_msgs/msg/CameraInfo + best_effort: true + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: sensing + mode: [online] + type: launch + args: + node_name_suffix: camera6 + topic: /sensing/camera/camera6/camera_info + topic_type: sensor_msgs/msg/CameraInfo + best_effort: true + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + - module: map mode: [online, logging_simulation, planning_simulation] type: launch From e60af4b3fd67c375f68a07b6008a349ec86a73b4 Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Fri, 30 Jun 2023 13:59:38 +0900 Subject: [PATCH 291/349] feat: add support for use_evaluation_tools in e2e_simulator.launch.xml (#530) * feat: add support for use_evaluation_tools in e2e_simulator.launch.xml Signed-off-by: 1222-takeshi * feat: update system_error_monitor.awsim.param.yaml Signed-off-by: 1222-takeshi * fix Signed-off-by: 1222-takeshi --------- Signed-off-by: 1222-takeshi --- .../system_error_monitor.awsim.param.yaml | 17 ++++++++++------- 1 file changed, 10 insertions(+), 7 deletions(-) diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml index ee632a14f8..6e9f6a7bc3 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml @@ -20,10 +20,11 @@ /autoware/control/autonomous_driving/node_alive_monitoring: default # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/external_control/local_external_control/device_connection: default /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 + /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/localization/performance_monitoring/localization_accuracy: default /autoware/map/node_alive_monitoring: default @@ -32,16 +33,19 @@ /autoware/planning/node_alive_monitoring: default /autoware/planning/performance_monitoring/trajectory_validation: default - # /autoware/sensing/node_alive_monitoring: default + /autoware/sensing/node_alive_monitoring: default /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: "error", spf_at: "none" } + /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/vehicle/node_alive_monitoring: default - /autoware/vehicle/awsim: default + /autoware/system/debug_data_logger/storage_error: { sf_at: "warn", lf_at: "none", spf_at: "none" } + + /autoware/vehicle/calibration: { sf_at: "warn", lf_at: "none", spf_at: "none" } + + /autoware/vehicle/awsim: { sf_at: "warn", lf_at: "none", spf_at: "none" } external_control: /autoware/control/control_command_gate/node_alive_monitoring: default @@ -49,6 +53,5 @@ /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/vehicle/node_alive_monitoring: default From bddaca325809dbf6ee2d107eb316572ea5005864 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Sat, 1 Jul 2023 15:20:03 +0900 Subject: [PATCH 292/349] feat: change kp of jt3 and jt9 (#533) Signed-off-by: tomoya.kimura --- .../control/trajectory_follower/3/longitudinal/pid.param.yaml | 2 +- .../control/trajectory_follower/9/longitudinal/pid.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/3/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/3/longitudinal/pid.param.yaml index 55ea426c1f..85e729fe3b 100644 --- a/autoware_launch/config/control/trajectory_follower/3/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/3/longitudinal/pid.param.yaml @@ -20,7 +20,7 @@ emergency_state_traj_rot_dev: 0.7854 # drive state - kp: 1.0 + kp: 2.0 ki: 0.02 kd: 0.0 max_out: 1.0 diff --git a/autoware_launch/config/control/trajectory_follower/9/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/9/longitudinal/pid.param.yaml index aa477f75df..f1b46fcead 100644 --- a/autoware_launch/config/control/trajectory_follower/9/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/9/longitudinal/pid.param.yaml @@ -20,7 +20,7 @@ emergency_state_traj_rot_dev: 0.7854 # drive state - kp: 1.0 + kp: 2.0 ki: 0.1 kd: 0.0 max_out: 1.0 From 51a26f2b413f886c08daec86894913eb01744417 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 3 Jul 2023 17:47:06 +0900 Subject: [PATCH 293/349] feat: update curve velocity (#536) Signed-off-by: tomoya.kimura --- .../motion_velocity_smoother.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 c2364386c1..80e2b89c67 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 @@ -9,7 +9,7 @@ # curve parameters max_lateral_accel: 1.0 # max lateral acceleration limit [m/ss] - min_curve_velocity: 2.74 # min velocity at lateral acceleration limit and steering angle rate limit [m/s] + min_curve_velocity: 1.5 # 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 min_decel_for_lateral_acc_lim_filter: -0.5 # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss] @@ -49,7 +49,7 @@ post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m] # steering angle rate limit parameters - max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s] + max_steering_angle_rate: 11.5 # maximum steering angle rate [degree/s] resample_ds: 0.1 # distance between trajectory points [m] curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m] curvature_calculation_distance: 1.0 # distance of points while curvature is calculating [m] From 180f5fbce039fc4368037e0c5c2e899290a56986 Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Wed, 5 Jul 2023 14:57:46 +0900 Subject: [PATCH 294/349] feat: add dummy camera publisher (#541) Signed-off-by: 1222-takeshi --- .../launch/e2e_simulator.launch.xml | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index e993890fc5..9d3dbfe936 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -38,6 +38,24 @@ + + + + + + + + + + + + + + + + + + From 05deed18f0dff345ffebcb85192a18407b47c879 Mon Sep 17 00:00:00 2001 From: shiorikawata <73450134+shiorikawata@users.noreply.github.com> Date: Fri, 7 Jul 2023 19:33:25 +0900 Subject: [PATCH 295/349] feat: update steering input delay for JT5 (#547) * feat: update steering input delay for JT5 * style(pre-commit): autofix --------- Co-authored-by: shiorikawata --- .../trajectory_follower/5/lateral/mpc.param.yaml | 2 +- autoware_launch/launch/e2e_simulator.launch.xml | 14 +++++++------- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml index bbb56f23b0..01faacac50 100644 --- a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml @@ -45,7 +45,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics - input_delay: 0.1 # steering input delay time for delay compensation + input_delay: 0.3 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 9d3dbfe936..00955460ea 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -40,13 +40,13 @@ - - - - - - - + + + + + + + From bfb72879fedfd707ee8948729a1c993e14f7731e Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Thu, 13 Jul 2023 14:31:37 +0900 Subject: [PATCH 296/349] feat(autoware_launch): update min_curve_velocity Signed-off-by: tomoya.kimura --- .../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 80e2b89c67..8bbe782d76 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 @@ -9,7 +9,7 @@ # curve parameters max_lateral_accel: 1.0 # max lateral acceleration limit [m/ss] - min_curve_velocity: 1.5 # min velocity at lateral acceleration limit and steering angle rate limit [m/s] + min_curve_velocity: 2.0 # 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 min_decel_for_lateral_acc_lim_filter: -0.5 # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss] From 2a0dfd92a048a54438a0e21fc792d8fcc451ff7c Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Thu, 13 Jul 2023 14:32:32 +0900 Subject: [PATCH 297/349] feat: update crosswalk parameters Signed-off-by: tomoya.kimura --- .../behavior_velocity_planner/crosswalk.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/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 973025d83e..8a3f48c42b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -21,7 +21,7 @@ stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk # param for pass judge logic - ego_pass_first_margin: 6.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) + ego_pass_first_margin: 4.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph) min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph) From 36125dacb1c46bcdcae84a64b75129175f050319 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 28 Jun 2023 17:46:29 +0900 Subject: [PATCH 298/349] feat(avoidance): tune avoidance margin (#526) * feat(avoidance): tune avoidance margin Signed-off-by: satoshi-ota * style(pre-commit): autofix --------- Signed-off-by: satoshi-ota Co-authored-by: satoshi-ota Signed-off-by: tomoya.kimura --- .../avoidance/avoidance.param.yaml | 62 +++++++++---------- 1 file changed, 31 insertions(+), 31 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 634d89ac31..4ee68a35bc 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 @@ -30,74 +30,74 @@ car: is_target: true # [-] moving_speed_threshold: 1.0 # [m/s] - moving_time_threshold: 1.0 # [s] + moving_time_threshold: 2.0 # [s] max_expand_ratio: 0.0 # [-] - envelope_buffer_margin: 0.3 # [m] - avoid_margin_lateral: 1.0 # [m] - safety_buffer_lateral: 0.7 # [m] + envelope_buffer_margin: 0.5 # [m] + avoid_margin_lateral: 0.7 # [m] + safety_buffer_lateral: 0.3 # [m] safety_buffer_longitudinal: 0.0 # [m] truck: is_target: true moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + moving_time_threshold: 2.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.9 + safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 bus: is_target: true moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + moving_time_threshold: 2.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.9 + safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 trailer: is_target: true moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + moving_time_threshold: 2.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.9 + safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 unknown: is_target: true moving_speed_threshold: 0.28 # 1.0km/h 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 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.7 + safety_buffer_lateral: 0.3 safety_buffer_longitudinal: 0.0 bicycle: is_target: true moving_speed_threshold: 0.28 # 1.0km/h 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 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.7 + safety_buffer_lateral: 0.5 safety_buffer_longitudinal: 1.0 motorcycle: is_target: true moving_speed_threshold: 1.0 # 3.6km/h 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 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.7 + safety_buffer_lateral: 0.3 safety_buffer_longitudinal: 1.0 pedestrian: is_target: true moving_speed_threshold: 0.28 # 1.0km/h 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 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.7 + safety_buffer_lateral: 0.5 safety_buffer_longitudinal: 1.0 lower_distance_for_polygon_expansion: 30.0 # [m] upper_distance_for_polygon_expansion: 100.0 # [m] @@ -125,7 +125,7 @@ # For safety check safety_check: safety_check_backward_distance: 100.0 # [m] - safety_check_time_horizon: 10.0 # [s] + safety_check_time_horizon: 5.0 # [s] safety_check_idling_time: 1.5 # [s] safety_check_accel_for_rss: 2.5 # [m/ss] safety_check_hysteresis_factor: 2.0 # [-] @@ -136,8 +136,8 @@ # avoidance lateral parameters lateral: lateral_execution_threshold: 0.09 # [m] - lateral_small_shift_threshold: 0.101 # [m] - road_shoulder_safety_margin: 0.3 # [m] + lateral_small_shift_threshold: 0.501 # [m] + road_shoulder_safety_margin: 0.5 # [m] max_right_shift_length: 5.0 max_left_shift_length: 5.0 # avoidance distance parameters From c3cb3b40196f814773bf63c961aa03c1e1cd5e6a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 19 Jul 2023 22:41:34 +0900 Subject: [PATCH 299/349] Update walkway.param.yaml --- .../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 b9f278796b..3ab28904cd 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_sec: 1.0 # [s] stop time at stop position + stop_duration_sec: 0.1 # [s] stop time at stop position stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists From a8165b40d371c942a5039d8b1af9863ab52783dd Mon Sep 17 00:00:00 2001 From: takayuki5168 Date: Wed, 19 Jul 2023 13:43:08 +0000 Subject: [PATCH 300/349] style(pre-commit): autofix --- .../behavior_velocity_planner/crosswalk.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/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 55c60ea34a..9f2d082c7a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -39,4 +39,4 @@ bicycle: true # [-] whether to look and stop by BICYCLE objects motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.) pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects - \ No newline at end of file + From a6da3ef3339a57492f64b22b6ad22cdc2873b0e5 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 21 Jul 2023 21:23:29 +0900 Subject: [PATCH 301/349] feat: set tlr_fusion_only to true (#562) Signed-off-by: tomoya.kimura --- .../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 cb1be276c0..6fa7a06861 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -16,6 +16,7 @@ + From f902b5c3476be2c2f94e9e91e47c4dfa448dc2f2 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 24 Jul 2023 15:47:23 +0900 Subject: [PATCH 302/349] feat: update planning parameter (#563) * feat: set min_ego_velocity of slow_down_planner to 4.0 Signed-off-by: tomoya.kimura * feat: set max_jerk_values at low_velocity in avoidance module to 1.5 Signed-off-by: tomoya.kimura --------- Signed-off-by: tomoya.kimura --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++-- .../obstacle_cruise_planner.param.yaml | 2 +- 2 files 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 24bafc2e93..9a6ee3f712 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 @@ -167,10 +167,10 @@ # lateral constraints lateral: - velocity: [1.0, 1.38, 11.1] # [m/s] + velocity: [2.78, 4.17, 11.1] # [m/s] max_accel_values: [0.5, 0.5, 0.5] # [m/ss] min_jerk_values: [0.2, 0.2, 0.2] # [m/sss] - max_jerk_values: [1.0, 1.0, 1.0] # [m/sss] + max_jerk_values: [1.5, 1.0, 1.0] # [m/sss] # longitudinal constraints longitudinal: 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 0abcedc8fc..2f0408366c 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 @@ -167,7 +167,7 @@ # parameters to calculate slow down velocity by linear interpolation min_lat_margin: 0.2 max_lat_margin: 1.0 - min_ego_velocity: 2.0 + min_ego_velocity: 4.0 max_ego_velocity: 8.0 time_margin_on_target_velocity: 1.5 # [s] From 30216f674cc6b2f363411c98a7b04540aeef1789 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 25 Jul 2023 12:11:07 +0900 Subject: [PATCH 303/349] feat: use pointpainting instead of centerpoint (#567) * feat: use pointpainting instead of centerpoint Signed-off-by: tomoya.kimura * fix Signed-off-by: tomoya.kimura * style(pre-commit): autofix --------- Signed-off-by: tomoya.kimura Co-authored-by: tkimura4 --- .../launch/components/tier4_perception_component.launch.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index c5630dc1d6..15ae68f2a1 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -13,10 +13,11 @@ + - + From 0cad5fc564fa5f6c20391433c1dc741651bf2fe6 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 25 Jul 2023 18:15:50 +0900 Subject: [PATCH 304/349] feat: set yielding timeout in crosswalk to 1.0s (#568) Signed-off-by: tomoya.kimura --- .../behavior_velocity_planner/crosswalk.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/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 903b405565..7c2e985607 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -39,8 +39,8 @@ min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph) ## param for yielding disable_stop_for_yield_cancel: false - timeout_no_intention_to_walk: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first. - timeout_ego_stop_for_yield: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not + timeout_no_intention_to_walk: 1.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first. + timeout_ego_stop_for_yield: 1.0 # [s] the amount of time which ego should be stopping to query whether it yields or not # param for target object filtering object_filtering: From 53b34f1d8caa4ebdb2c41b90016d8fca7617e210 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 26 Jul 2023 14:45:18 +0900 Subject: [PATCH 305/349] feat: set traffic light parameter properly for autoware.launch and e2e.launch (#569) * feat: set traffic light parameter properly for autoware.launch and e2e.launch Signed-off-by: tomoya.kimura * style(pre-commit): autofix --------- Signed-off-by: tomoya.kimura Co-authored-by: tkimura4 --- autoware_launch/launch/autoware.launch.xml | 3 ++- .../launch/components/tier4_perception_component.launch.xml | 2 +- autoware_launch/launch/e2e_simulator.launch.xml | 1 + 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 87451f294c..0476fb834a 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -38,8 +38,9 @@ - + + diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 15ae68f2a1..0286e0de03 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -17,7 +17,7 @@ - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 00955460ea..5161ca155f 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -87,6 +87,7 @@ + From 43aeea5f3b62419815e26bc5356b040bbf9b1c59 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Thu, 27 Jul 2023 17:01:44 +0900 Subject: [PATCH 306/349] Update avoidance.param.yaml (#575) --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 -- 1 file changed, 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 b454e804bb..766cce6bc4 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 @@ -120,8 +120,6 @@ object_ignore_section_traffic_light_in_front_distance: 100.0 # [m] object_ignore_section_crosswalk_in_front_distance: 30.0 # [m] object_ignore_section_crosswalk_behind_distance: 30.0 # [m] - # filtering moving objects - threshold_time_force_avoidance_for_stopped_vehicle: 1.0 # [s] # detection range object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 10.0 # [m] From 2b0c4e97e41914c5daae54801eecf7a4a8f2a4c3 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 27 Jul 2023 21:59:44 +0900 Subject: [PATCH 307/349] chore(operation_mode_transition_manager): change param to enable engage on large lateral deviation (#576) Signed-off-by: Takamasa Horibe --- .../operation_mode_transition_manager.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml index f3361554d6..f619d717fb 100644 --- a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml +++ b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml @@ -2,14 +2,14 @@ /**: ros__parameters: - transition_timeout: 6.0 + transition_timeout: 8.0 frequency_hz: 10.0 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 engage_acceptable_limits: allow_autonomous_in_stopped: true # no check if the velocity is zero, always allowed. - dist_threshold: 0.5 + dist_threshold: 1.5 yaw_threshold: 0.524 speed_upper_threshold: 10.0 speed_lower_threshold: -10.0 From b195976e1bf4e0a3432b8ea17153d4b5e1df5c2e Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 27 Jul 2023 22:03:31 +0900 Subject: [PATCH 308/349] fix: fix mpc parameter (#573) Signed-off-by: tomoya.kimura --- .../control/trajectory_follower/1/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/10/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/2/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/3/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/4/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/5/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/6/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/7/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/9/lateral/mpc.param.yaml | 5 ++++- .../trajectory_follower/default/lateral/mpc.param.yaml | 4 ++-- 10 files changed, 38 insertions(+), 11 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml index 7103ff01f8..2c00852e69 100644 --- a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml @@ -47,7 +47,10 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml index 7103ff01f8..2c00852e69 100644 --- a/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml @@ -47,7 +47,10 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml index 7103ff01f8..2c00852e69 100644 --- a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml @@ -47,7 +47,10 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml index 7103ff01f8..2c00852e69 100644 --- a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml @@ -47,7 +47,10 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml index 17c5f815c8..fad9a654bc 100644 --- a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml @@ -47,7 +47,10 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml index 01faacac50..fa36d6a1fd 100644 --- a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml @@ -47,7 +47,10 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.3 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml index 7103ff01f8..2c00852e69 100644 --- a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml @@ -47,7 +47,10 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml index 7103ff01f8..2c00852e69 100644 --- a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml @@ -47,7 +47,10 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml index 7103ff01f8..2c00852e69 100644 --- a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml @@ -47,7 +47,10 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_rate_lim_dps: 20.0 # steering angle rate limit [deg/s] + steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml index b1df3a8642..68fba6fbed 100644 --- a/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/default/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: 0.1 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.1 # 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] + steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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] + steer_rate_lim_dps_list_by_velocity: [20.0, 20.0, 20.0] # 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: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] From b67a0fcb216ad19c4de07c8425f1ee722e78d70c Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 27 Jul 2023 23:57:35 +0900 Subject: [PATCH 309/349] chore: change topic type of traffic light (#577) Signed-off-by: tomoya.kimura --- .../config/system/component_state_monitor/topics.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index add7a0c24e..3080cade0e 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -186,7 +186,7 @@ args: node_name_suffix: traffic_light_recognition_objects topic: /perception/traffic_light_recognition/traffic_signals - topic_type: autoware_auto_perception_msgs/msg/TrafficSignalArray + topic_type: autoware_perception_msgs/msg/TrafficSignalArray best_effort: false transient_local: false warn_rate: 3.0 From a2be24241a0ce03dbe9527609f8e5872d8fb83d9 Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Mon, 31 Jul 2023 14:25:36 +0900 Subject: [PATCH 310/349] fix(autoware_launch): resolove error to use centerpoint (#570) (#578) Signed-off-by: yukke42 Co-authored-by: Yusuke Muramatsu --- .../components/tier4_perception_component.launch.xml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 0286e0de03..ebf050ea02 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -14,10 +14,10 @@ - - - - + + + + @@ -64,7 +64,7 @@ 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" /> - + Date: Mon, 31 Jul 2023 15:27:16 +0900 Subject: [PATCH 311/349] feat: add some arguments for awsim (#571) * feat: add some arguments for awsim Signed-off-by: 1222-takeshi * feat: relay camera topic Signed-off-by: 1222-takeshi * fix Signed-off-by: 1222-takeshi * fix lidar_model path Signed-off-by: 1222-takeshi * fix Signed-off-by: 1222-takeshi * remove camera6 Signed-off-by: 1222-takeshi --------- Signed-off-by: 1222-takeshi --- .../components/tier4_perception_component.launch.xml | 6 ++++-- autoware_launch/launch/e2e_simulator.launch.xml | 11 +++++++++-- 2 files changed, 13 insertions(+), 4 deletions(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index ebf050ea02..3300582133 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -2,6 +2,8 @@ + + @@ -13,11 +15,11 @@ - + - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 5161ca155f..ae207dcf71 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -46,7 +46,6 @@ - @@ -54,7 +53,14 @@ - + + + + + + + + @@ -88,6 +94,7 @@ + From 1e6e10605c434cb6c383467fb72005991382b430 Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Mon, 31 Jul 2023 16:17:02 +0900 Subject: [PATCH 312/349] fix(rviz): fix topic name of traffic_light (#579) Signed-off-by: 1222-takeshi --- 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 297c9acf2f..701981f39c 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -881,7 +881,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort - Value: /perception/traffic_light_recognition/debug/rois + Value: /perception/traffic_light_recognition/camera6/debug/rois Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -892,7 +892,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort - Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers + Value: /perception/traffic_light_recognition/camera6/detection/traffic_light_map_based_detector/debug/markers Value: true Enabled: true Name: TrafficLight From 7cd2530688ee1676ffbc61b7e247d394d21ed7f7 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 2 Aug 2023 11:01:01 +0900 Subject: [PATCH 313/349] chore(autoware_launch): change transition_timeout from 8.0s to 5.0s (#582) Signed-off-by: tomoya.kimura --- .../operation_mode_transition_manager.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml index f619d717fb..25592e958c 100644 --- a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml +++ b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml @@ -2,7 +2,7 @@ /**: ros__parameters: - transition_timeout: 8.0 + transition_timeout: 5.0 frequency_hz: 10.0 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 From ecfaf487c6560444d137e0276af2d6d0429527a8 Mon Sep 17 00:00:00 2001 From: sho yoshida <73815070+SSSyoshida@users.noreply.github.com> Date: Wed, 2 Aug 2023 16:48:27 +0900 Subject: [PATCH 314/349] feat: add multi data monitor for awsim (#506) * add multi data monitor for awsim * style(pre-commit): autofix * fix chore * fix yaml * fix yaml * style(pre-commit): autofix * Update autoware_launch/rviz/config/awsim_data_monitor.yaml * Update autoware_launch/rviz/config/awsim_data_monitor.yaml * style: fix lint errors Signed-off-by: Kenji Miyake --------- Signed-off-by: Kenji Miyake Co-authored-by: SSSyoshida Co-authored-by: SSSyoshida Co-authored-by: Tomoya Kimura Co-authored-by: Kenji Miyake --- .../launch/e2e_simulator.launch.xml | 2 +- autoware_launch/rviz/awsim.rviz | 3061 +++++++++++++++++ autoware_launch/rviz/config/awsim.css | 43 + .../rviz/config/awsim_data_monitor.yaml | 56 + 4 files changed, 3161 insertions(+), 1 deletion(-) mode change 100644 => 100755 autoware_launch/launch/e2e_simulator.launch.xml create mode 100755 autoware_launch/rviz/awsim.rviz create mode 100755 autoware_launch/rviz/config/awsim.css create mode 100755 autoware_launch/rviz/config/awsim_data_monitor.yaml diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml old mode 100644 new mode 100755 index ae207dcf71..3c0f48c160 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -31,7 +31,7 @@ /> - + diff --git a/autoware_launch/rviz/awsim.rviz b/autoware_launch/rviz/awsim.rviz new file mode 100755 index 0000000000..b58fed4b95 --- /dev/null +++ b/autoware_launch/rviz/awsim.rviz @@ -0,0 +1,3061 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Map1 + - /Map1/Lanelet2VectorMap1 + - /Map1/Lanelet2VectorMap1/Namespaces1 + - /Sensing1 + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Perception1 + Splitter Ratio: 0.557669460773468 + Tree Height: 147 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: ~ + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel + Name: InitialPoseButtonPanel + - Class: AutowareDateTimePanel + Name: AutowareDateTimePanel + - Class: rviz_plugins::AutowareStatePanel + Name: AutowareStatePanel + - Class: AutowareScreenCapturePanel + Name: AutowareScreenCapturePanel + - Class: multi_data_monitor::MultiDataMonitor + Name: MultiDataMonitor + Path: package://autoware_launch/rviz/config/awsim_data_monitor.yaml +Visualization Manager: + Class: "" + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/SteeringAngle + Enabled: true + Left: 64 + Length: 128 + Name: SteeringAngle + Scale: 17 + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehicle/status/steering_status + Value: true + Value Scale: 0.14999249577522278 + Value height offset: 0 + - Class: rviz_plugins/ConsoleMeter + Enabled: true + Left: 256 + Length: 128 + Name: ConsoleMeter + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehicle/status/velocity_status + Value: true + Value Scale: 0.14999249577522278 + Value height offset: 0 + - Alpha: 0.9990000128746033 + Class: rviz_plugins/VelocityHistory + Color Border Vel Max: 3 + Constant Color: + Color: 255; 255; 255 + Value: true + Enabled: true + Name: VelocityHistory + Scale: 0.30000001192092896 + Timeout: 10 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehicle/status/velocity_status + Value: true + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera1/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera1/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera2/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera2/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera3/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera3/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera4/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera4/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera5/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera5/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera6/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera6/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera7/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera7/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gnss_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + livox_front_left: + Alpha: 1 + Show Axes: false + Show Trail: false + livox_front_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + livox_front_right: + Alpha: 1 + Show Axes: false + Show Trail: false + livox_front_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_kit_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + tamagawa/imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: VehicleModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_plugins/PolarGridDisplay + Color: 255; 255; 255 + Delta Range: 10 + Enabled: true + Max Alpha: 0.5 + Max Range: 100 + Max Wave Alpha: 0.5 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 + Name: PolarGridDisplay + Reference Frame: base_link + Value: true + Wave Color: 255; 255; 255 + Wave Velocity: 40 + - Class: rviz_plugins/MaxVelocity + Enabled: true + Left: 298 + Length: 48 + Name: MaxVelocity + Text Color: 255; 255; 255 + Top: 140 + Topic: /planning/scenario_planning/current_max_velocity + Value: true + Value Scale: 0.25 + - Class: rviz_plugins/TurnSignal + Enabled: true + Height: 128 + Left: 98 + Name: TurnSignal + Top: 175 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehicle/status/turn_indicators_status + Value: true + Width: 256 + Enabled: true + Name: Vehicle + Enabled: true + Name: System + - Class: rviz_common/Group + Displays: + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 28.71826171875 + Min Value: -7.4224700927734375 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 237 + Min Color: 211; 215; 207 + Min Intensity: 0 + Name: PointCloudMap + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/pointcloud_map + Use Fixed Frame: true + Use rainbow: false + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Lanelet2VectorMap + Namespaces: + center_lane_line: true + center_line_arrows: true + crosswalk_lanelets: true + lane_start_bound: true + lanelet direction: true + lanelet_id: true + left_lane_bound: true + no_stopping_area: true + parking_lots: true + partitions: true + pedestrian_marking: true + right_lane_bound: true + road_lanelets: false + shoulder_center_lane_line: true + shoulder_center_line_arrows: true + shoulder_lane_start_bound: true + shoulder_lanelet direction: true + shoulder_left_lane_bound: true + shoulder_right_lane_bound: true + shoulder_road_lanelets: true + stop_lines: true + traffic_light: true + traffic_light_id: true + traffic_light_triangle: true + walkway_lanelets: true + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/vector_map_marker + Value: true + Enabled: true + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.4000000059604645 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/concatenated/pointcloud + Use Fixed Frame: false + Use rainbow: true + Value: true + - Alpha: 0.9990000128746033 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: MeasurementRange + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/lidar/crop_box_filter/crop_box_polygon + Value: false + Enabled: true + Name: LiDAR + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 233; 185; 110 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: false + Position: + Alpha: 0.20000000298023224 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.699999988079071 + Head Radius: 1.2000000476837158 + Name: PoseWithCovariance + Shaft Length: 1 + Shaft Radius: 0.5 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/gnss/pose_with_covariance + Value: true + Enabled: false + Name: GNSS + Enabled: true + Name: Sensing + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 170; 255 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovInitial + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/initial_pose_with_covariance + Value: false + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 255; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovAligned + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose_with_covariance + Value: false + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: false + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: PoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose + Value: false + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 0; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /localization/util/downsample/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Aligned + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MonteCarloInitialPose + Namespaces: + initial_pose_index_color_marker: true + initial_pose_iteration_color_marker: true + initial_pose_transform_probability_color_marker: true + result_pose_index_color_marker: true + result_pose_iteration_color_marker: true + result_pose_transform_probability_color_marker: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/monte_carlo_initial_pose_marker + Value: true + Enabled: true + Name: NDT + - Class: rviz_common/Group + Displays: + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: PoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_twist_fusion_filter/pose + Value: true + Enabled: true + Name: EKF + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 15 + Min Value: -2 + Value: false + Axis: Z + Channel Name: z + Class: rviz_default_plugins/PointCloud2 + Color: 200; 200; 200 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 15 + Min Color: 0; 0; 0 + Min Intensity: -5 + Name: NoGroundPointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/obstacle_segmentation/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: false + Name: Segmentation + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: DetectedObjects + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Detection + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/TrackedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: TrackedObjects + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Tracking + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/PredictedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: false + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: PredictedObjects + Namespaces: + acceleration: true + label: true + path: true + path confidence: true + shape: true + twist: true + uuid: true + velocity: true + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Maneuver + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/prediction/maneuver + Value: false + Enabled: true + Name: Prediction + Enabled: true + Name: ObjectRecognition + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RecognitionResultOnImage + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/debug/rois + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MapBasedDetectionResult + Namespaces: + beam: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers + Value: true + Enabled: true + Name: TrafficLight + - Class: rviz_common/Group + Displays: + - Alpha: 0.5 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map_updates + Use Timestamp: false + Value: true + Enabled: false + Name: OccupancyGrid + Enabled: true + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: RouteArea + Namespaces: + end_lanelets: true + goal_lanelets: true + lane_start_bound: true + left_lane_bound: true + right_lane_bound: true + route_lanelets: true + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/route_marker + Value: true + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.30000001192092896 + Class: rviz_default_plugins/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.5 + Name: GoalPose + Shaft Length: 3 + Shaft Radius: 0.20000000298023224 + Shape: Axes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/echo_back_goal_pose + Value: true + Enabled: true + Name: MissionPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: ScenarioTrajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/trajectory + Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: Path + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/path + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.4000000059604645 + Color: 0; 0; 0 + Constant Color: false + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.4000000059604645 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_AvoidanceByLC + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/avoidance_by_lane_change + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 210; 110; 10 + Constant Color: true + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/avoidance + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 210; 110; 210 + Constant Color: true + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_LaneChangeRight + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/lane_change_right + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 210; 210; 110 + Constant Color: true + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_LaneChangeLeft + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/lane_change_left + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 210; 210; 110 + Constant Color: true + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_GoalPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/goal_planner + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 110; 110; 210 + Constant Color: true + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_PullOut + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/pull_out + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 210; 110; 110 + Constant Color: true + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_AvoidanceByLC + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/avoidance_by_lane_change + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: (old)PathChangeCandidate_LaneChange + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/lane_change + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_LaneChangeRight + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/lane_change_right + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_LaneChangeLeft + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/lane_change_left + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_ExternalRequestLaneChangeRight + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/external_request_lane_change_right + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_ExternalRequestLaneChangeLeft + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/external_request_lane_change_left + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/avoidance + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_PullOut + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/pull_out + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_GoalPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/goal_planner + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Bound + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Avoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AvoidanceByLC) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance_by_lane_change + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/external_request_lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/external_request_lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (PullOver) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/pull_over + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (PullOut) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/pull_out + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (BlindSpot) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Crosswalk) + Namespaces: + 1628_slow_down_factor_text: true + 1628_slow_down_virtual_wall: true + 1628_stop_factor_text: true + 1628_stop_virtual_wall: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Walkway) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/walkway + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DetectionArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Intersection) + Namespaces: + intersection1391_stop_factor_text: true + intersection1391_stop_virtual_wall: true + intersection_occlusion1391_stop_factor_text: true + intersection_occlusion1391_stop_virtual_wall: true + intersection_occlusion_first_stop1391_stop_factor_text: true + intersection_occlusion_first_stop1391_stop_virtual_wall: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MergeFromPrivateArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/merge_from_private + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoStoppingArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OcclusionSpot) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/occlusion_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StopLine) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/stop_line + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (TrafficLight) + Namespaces: + 1391_stop_factor_text: true + 1391_stop_virtual_wall: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (VirtualTrafficLight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/virtual_traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (RunOut) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/run_out + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SpeedBump) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OutOfLane) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Arrow + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection + Value: false + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: color + Color Transformer: IntensityLayer + Enabled: false + Height Layer: elevation + Height Transformer: Layer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 10 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: IntersectionOcclusion + Show Grid Lines: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/occlusion_grid + Use Rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Blind Spot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: VirtualTrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/virtual_traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StopLine + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: OcclusionSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: RunOut + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Avoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LaneChange + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LaneFollowing + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_following + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: GoalPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: PullOut + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/pull_out + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SideShift + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SpeedBump + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: OutOfLane + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane + Value: false + Enabled: false + Name: DebugMarker + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (Avoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (AvoidanceByLC) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance_by_lane_change + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (LaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (LaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (ExtLaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (ExtLaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (PullOver) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_over + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (PullOut) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_out + Value: false + Enabled: false + Name: InfoMarker + Enabled: true + Name: BehaviorPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/trajectory + Value: false + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Constant Width: false + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleStop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SurroundObstacle) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise) + Namespaces: + stop_factor_text: true + stop_virtual_wall: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SurroundObstacleCheck + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Footprint + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 239; 41; 41 + Enabled: false + Name: FootprintOffset + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_offset + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 10; 21; 255 + Enabled: false + Name: FootprintRecoverOffset + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_recover_offset + Value: false + Enabled: false + Name: SurroundObstacleChecker + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: CruiseVirtualWall + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SlowDownVirtualWall + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + 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 + Name: DebugMarker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker + Value: true + Enabled: false + Name: ObstacleCruise + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker + Value: false + Enabled: false + Name: DebugMarker + Enabled: true + Name: MotionPlanning + Enabled: true + Name: LaneDriving + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Costmap + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates + Use Timestamp: false + Value: false + - Alpha: 0.9990000128746033 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PartialPoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (3D) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array + Value: true + - Alpha: 0.9990000128746033 + Arrow Length: 0.5 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 0; 0; 255 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (Flat) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/freespace_planner/debug/pose_array + Value: true + Enabled: true + Name: Parking + - Class: rviz_plugins/PoseWithUuidStamped + Enabled: true + Length: 1.5 + Name: ModifiedGoal + Radius: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/modified_goal + UUID: + Scale: 0.30000001192092896 + Value: false + Value: true + Enabled: true + Name: ScenarioPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: PlanningErrorMarker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /planning/planning_diagnostics/planning_error_monitor/debug/marker + Value: true + Enabled: false + Name: Diagnostic + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: Predicted Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/lateral/predicted_trajectory + Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Color: 255; 255; 255 + Constant Color: true + Constant Width: true + Value: true + Width: 0.05000000074505806 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/MPC + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/mpc_follower/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/PurePursuit + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/AEB + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/debug/markers + Value: false + Enabled: true + Name: Control + Enabled: true + Global Options: + Background Color: 10; 10; 10 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/goal + - Class: tier4_adapi_rviz_plugins::RouteTool + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rviz/routing/rough_goal + - Acceleration: 0 + Class: rviz_plugins/PedestrianInitialPoseTool + Interactive: false + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 0 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 1 + Z std deviation: 0.029999999329447746 + - Acceleration: 0 + Class: rviz_plugins/CarInitialPoseTool + H vehicle height: 2 + Interactive: false + L vehicle length: 4 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 3 + W vehicle width: 1.7999999523162842 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 0 + Z std deviation: 0.029999999329447746 + - Acceleration: 0 + Class: rviz_plugins/BusInitialPoseTool + H vehicle height: 3.5 + Interactive: false + L vehicle length: 10.5 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 0 + W vehicle width: 2.5 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 0 + Z std deviation: 0.029999999329447746 + - Class: rviz_plugins/MissionCheckpointTool + Pose Topic: /planning/mission_planning/checkpoint + Theta std deviation: 0.2617993950843811 + X std deviation: 0.5 + Y std deviation: 0.5 + Z position: 0 + - Class: rviz_plugins/DeleteAllObjectsTool + Pose Topic: /simulation/dummy_perception_publisher/object_info + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 14.160340309143066 + Target Frame: viewer + Value: TopDownOrtho (rviz_default_plugins) + X: -530.96728515625 + Y: 307.5765075683594 + Saved: + - Class: rviz_default_plugins/ThirdPersonFollower + Distance: 18 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.20000000298023224 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141592025756836 + - Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: viewer + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + AutowareDateTimePanel: + collapsed: false + AutowareScreenCapturePanel: + collapsed: false + AutowareStatePanel: + collapsed: false + Displays: + collapsed: false + Height: 1538 + Hide Left Dock: false + Hide Right Dock: false + InitialPoseButtonPanel: + collapsed: false + MultiDataMonitor: + collapsed: false + QMainWindow State: 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+ RecognitionResultOnImage: + collapsed: false + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2371 + X: 1293 + Y: 77 diff --git a/autoware_launch/rviz/config/awsim.css b/autoware_launch/rviz/config/awsim.css new file mode 100755 index 0000000000..741db280e7 --- /dev/null +++ b/autoware_launch/rviz/config/awsim.css @@ -0,0 +1,43 @@ +QLabel.value[test="gear"] { + font-size: 24px; + color: white; + background-color: black; + border-width: 1px 1px 1px 1px; + border-style: solid; +} + +QLabel.value[test="red_traffic_light"] { + font-weight: bold; + font-size: 12px; + color: black; + background-color: red; + border-width: 1px 1px 1px 1px; + border-style: solid; +} + +QLabel.value[test="green_traffic_light"] { + font-size: 12px; + font-weight: bold; + color: black; + background-color: green; + border-width: 1px 1px 1px 1px; + border-style: solid; +} + +QLabel.value[test="yellow_traffic_light"] { + font-size: 12px; + font-weight: bold; + color: black; + background-color: yellow; + border-width: 1px 1px 1px 1px; + border-style: solid; +} + +QLabel.value[test="unknown_traffic_light"] { + font-size: 12px; + font-weight: bold; + color: black; + background-color: gray; + border-width: 1px 1px 1px 1px; + border-style: solid; +} diff --git a/autoware_launch/rviz/config/awsim_data_monitor.yaml b/autoware_launch/rviz/config/awsim_data_monitor.yaml new file mode 100755 index 0000000000..fd6ecc5988 --- /dev/null +++ b/autoware_launch/rviz/config/awsim_data_monitor.yaml @@ -0,0 +1,56 @@ +version: 2.0 + +stylesheets: + - path: package://multi_data_monitor/css/plugins/titled.css + target: Titled + - path: package://autoware_launch/rviz/config/awsim.css + - path: package://multi_data_monitor/css/colors.css + +widgets: + - class: Matrix + cols: 3 + items: + - class: Titled + title: Gear + input: vehicle_gear + rules: + class: SetFirstIf + type: uint + list: + - { eq: 0, value: NONE, attrs: { test: gear } } + - { eq: 1, value: N(Neutral range), attrs: { test: gear } } + - { eq: 22, value: P(Parking), attrs: { test: gear } } + - { eq: 30, value: R(Reverse range), attrs: { test: gear } } + - { eq: 2, value: D(Drive range), attrs: { test: gear } } + - { eq: 23, value: L(Low range), attrs: { test: gear } } + - class: Titled + title: NVTL + input: nvtl + - class: Titled + title: Traffic light + input: traffic_light_color + rules: + - class: Access + fails: ERROR-VALUE + field: [result, signal, lights, 0, color] + - class: SetFirstIf + type: text + list: + - { eq: 1, value: Red, attrs: { test: red_traffic_light } } + - { eq: 2, value: Yellow, attrs: { test: yellow_traffic_light } } + - { eq: 3, value: Green, attrs: { test: green_traffic_light } } + - { eq: ERROR-VALUE, value: unknown, attrs: { test: green_traffic_light } } +streams: + - { class: subscription, label: vehicle_gear, topic: /vehicle/status/gear_status, field: report } + - class: subscription + label: nvtl_raw + topic: /localization/pose_estimator/nearest_voxel_transformation_likelihood + field: data + - { label: nvtl, class: apply, input: nvtl_raw, rules: round_number } + - class: subscription + label: traffic_light_color + topic: /awapi/traffic_light/get/nearest_traffic_signal + field: "" + +filters: + - { class: Precision, label: round_number, digits: 2 } From 52c8e6c324ac779bd2bf72725e635e4b6a1a546d Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Wed, 2 Aug 2023 21:56:37 +0900 Subject: [PATCH 315/349] fix(rviz): fix topic name of traffic_light (#583) * fix(rviz): fix topic name of traffic_light Signed-off-by: 1222-takeshi * feat: update multi_data_monitor yaml for traffic_light Signed-off-by: 1222-takeshi --------- Signed-off-by: 1222-takeshi --- autoware_launch/rviz/awsim.rviz | 6 +++--- autoware_launch/rviz/config/awsim.css | 9 +++++++++ autoware_launch/rviz/config/awsim_data_monitor.yaml | 5 +++-- 3 files changed, 15 insertions(+), 5 deletions(-) diff --git a/autoware_launch/rviz/awsim.rviz b/autoware_launch/rviz/awsim.rviz index b58fed4b95..2669764e36 100755 --- a/autoware_launch/rviz/awsim.rviz +++ b/autoware_launch/rviz/awsim.rviz @@ -399,7 +399,7 @@ Visualization Manager: shoulder_lanelet direction: true shoulder_left_lane_bound: true shoulder_right_lane_bound: true - shoulder_road_lanelets: true + shoulder_road_lanelets: false stop_lines: true traffic_light: true traffic_light_id: true @@ -939,7 +939,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort - Value: /perception/traffic_light_recognition/debug/rois + Value: /perception/traffic_light_recognition/camera6/debug/rois Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -951,7 +951,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort - Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers + Value: /perception/traffic_light_recognition/camera6/detection/traffic_light_map_based_detector/debug/markers Value: true Enabled: true Name: TrafficLight diff --git a/autoware_launch/rviz/config/awsim.css b/autoware_launch/rviz/config/awsim.css index 741db280e7..6ba091bdb5 100755 --- a/autoware_launch/rviz/config/awsim.css +++ b/autoware_launch/rviz/config/awsim.css @@ -41,3 +41,12 @@ QLabel.value[test="unknown_traffic_light"] { border-width: 1px 1px 1px 1px; border-style: solid; } + +QLabel.value[test="none_traffic_light"] { + font-size: 12px; + font-weight: bold; + color: black; + background-color: white; + border-width: 1px 1px 1px 1px; + border-style: solid; +} diff --git a/autoware_launch/rviz/config/awsim_data_monitor.yaml b/autoware_launch/rviz/config/awsim_data_monitor.yaml index fd6ecc5988..dac8fb56b5 100755 --- a/autoware_launch/rviz/config/awsim_data_monitor.yaml +++ b/autoware_launch/rviz/config/awsim_data_monitor.yaml @@ -32,14 +32,15 @@ widgets: rules: - class: Access fails: ERROR-VALUE - field: [result, signal, lights, 0, color] + field: [elements, 0, color] - class: SetFirstIf type: text list: - { eq: 1, value: Red, attrs: { test: red_traffic_light } } - { eq: 2, value: Yellow, attrs: { test: yellow_traffic_light } } - { eq: 3, value: Green, attrs: { test: green_traffic_light } } - - { eq: ERROR-VALUE, value: unknown, attrs: { test: green_traffic_light } } + - { eq: 0, value: Unknown, attrs: { test: unknown_traffic_light } } + - { eq: ERROR-VALUE, value: None, attrs: { test: none_traffic_light } } streams: - { class: subscription, label: vehicle_gear, topic: /vehicle/status/gear_status, field: report } - class: subscription From 5c0946667773b58f46737d15f0acef721b85475e Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 3 Aug 2023 16:20:08 +0900 Subject: [PATCH 316/349] fix(multi_object_tracker): adjust min_area_matrix (#586) Signed-off-by: badai-nguyen --- .../multi_object_tracker/data_association_matrix.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml index ccb4552936..8713a794af 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml @@ -35,7 +35,7 @@ 2.00, 10000.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00] #PEDESTRIAN min_area_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [ 1.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN + [ 0.001, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN 3.600, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #CAR 6.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRUCK 10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #BUS From 6f3df81081bad6b3a7678870a66ac3ef3e9226e2 Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Sat, 5 Aug 2023 10:34:07 +0900 Subject: [PATCH 317/349] feat: update system error monitor param for awsim (#589) Signed-off-by: 1222-takeshi --- .../system_error_monitor/system_error_monitor.awsim.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml index 6e9f6a7bc3..eba8e9d66d 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml @@ -24,7 +24,7 @@ /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 + /autoware/localization/performance_monitoring/localization_accuracy: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/map/node_alive_monitoring: default From af91df3e9cd96858c131a271176c3e03e532c218 Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Sat, 5 Aug 2023 10:41:54 +0900 Subject: [PATCH 318/349] feat: add respawn setting (#590) * feat: add respawn setting Signed-off-by: 1222-takeshi * style(pre-commit): autofix --------- Signed-off-by: 1222-takeshi Co-authored-by: 1222-takeshi <1222-takeshi@users.noreply.github.com> --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 0476fb834a..927aa4b54b 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -148,6 +148,6 @@ - + From 2dbe0d1677fb209bedd854524043b78ba27fcf7d Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Tue, 8 Aug 2023 17:36:02 +0900 Subject: [PATCH 319/349] fix: system_error_monitor for awsim (#596) Signed-off-by: 1222-takeshi --- .../system_error_monitor/system_error_monitor.awsim.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml index eba8e9d66d..950e808a6e 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml @@ -20,7 +20,7 @@ /autoware/control/autonomous_driving/node_alive_monitoring: default # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/local_external_control/device_connection: default + # /autoware/control/external_control/local_external_control/device_connection: default /autoware/localization/node_alive_monitoring: default /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } From 85a4b3d87144264a9a0f0b865fc30c96aca18832 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 9 Aug 2023 09:42:02 +0900 Subject: [PATCH 320/349] chore: disable rviz respawn when scenario_simulation is true (#597) * chore: disable rviz respawn when scenario_simulation is true Signed-off-by: tomoya.kimura * style(pre-commit): autofix --------- Signed-off-by: tomoya.kimura Co-authored-by: tkimura4 --- autoware_launch/launch/autoware.launch.xml | 11 ++++++++++- autoware_launch/launch/planning_simulator.launch.xml | 4 ++++ 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 927aa4b54b..9242dd2b40 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -45,6 +45,7 @@ + - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index c295b0c53a..b0849ce884 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -29,6 +29,9 @@ + + + @@ -61,6 +64,7 @@ + From b153147ef181e030688b8b1449931118137d33b1 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 10 Aug 2023 17:51:36 +0900 Subject: [PATCH 321/349] chore: change crosswalk param (#600) * chore: change crosswalk param Signed-off-by: tomoya.kimura * fix comment Signed-off-by: tomoya.kimura --------- Signed-off-by: tomoya.kimura --- .../behavior_velocity_planner/crosswalk.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/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 08a17e1cef..ad4e5863f3 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -43,7 +43,7 @@ ego_pass_later_margin_y: [10.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk. - stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph) + stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph) min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph) ## param for yielding disable_stop_for_yield_cancel: false # for the crosswalk where there is a traffic signal From e67e7b134cfa7dd9e2c0d0b4f9e5ea5f63c159e5 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 10 Aug 2023 19:10:03 +0900 Subject: [PATCH 322/349] chore(avoidance): change road_shoulder_safety_margin from 0.5 to 0.3 (#601) Signed-off-by: tomoya.kimura --- .../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 042999fd46..573f8be729 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: 0.501 # [m] lateral_avoid_check_threshold: 0.1 # [m] - road_shoulder_safety_margin: 0.5 # [m] + road_shoulder_safety_margin: 0.3 # [m] max_right_shift_length: 5.0 max_left_shift_length: 5.0 # avoidance distance parameters From 2a81d1e3c56596960cbd27f778be3f9893b579b5 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 21 Aug 2023 11:53:10 +0900 Subject: [PATCH 323/349] fix(autoware_launch): fix jpntaxi5 enable_path_smoothing (#607) Signed-off-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> --- .../config/control/trajectory_follower/5/lateral/mpc.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml index fa36d6a1fd..303cc344d7 100644 --- a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml @@ -7,7 +7,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing + enable_path_smoothing: true # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) From 15903a1169cacd4413f8a0fc901505f2d656f14a Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Fri, 1 Sep 2023 15:08:49 +0900 Subject: [PATCH 324/349] fix typo --- autoware_launch/launch/e2e_simulator.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 3c0f48c160..f64598913a 100755 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -39,7 +39,7 @@ - + From 97a738371abd42c01f67cec862496ffd4f6f0499 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Wed, 6 Sep 2023 20:14:21 +0900 Subject: [PATCH 325/349] feat: disable yaw bias estimation Signed-off-by: tomoya.kimura --- 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 f3b1512c5aa67f449de6acfeb5677ae84612ddfd Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Tue, 26 Sep 2023 13:00:22 +0900 Subject: [PATCH 326/349] feat(avoidance): enable check_unaboidable_object (#591) --- .../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 ec7443ec2d..d206a9a588 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 @@ -135,7 +135,7 @@ check_current_lane: false # [-] check_shift_side_lane: true # [-] check_other_side_lane: false # [-] - check_unavoidable_object: false # [-] + check_unavoidable_object: true # [-] check_other_object: true # [-] # collision check parameters check_all_predicted_path: false # [-] From 9f5f40b652b429562bcd8373c5f4946086d07fcf Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Tue, 17 Oct 2023 09:44:30 +0900 Subject: [PATCH 327/349] feat: detect bigger objects (#666) --- .../clustering/voxel_grid_based_euclidean_cluster.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml index 26b027f007..42b2106d4a 100644 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml @@ -4,7 +4,7 @@ voxel_leaf_size: 0.3 min_points_number_per_voxel: 1 min_cluster_size: 10 - max_cluster_size: 3000 + max_cluster_size: 3500 use_height: false input_frame: "base_link" From 7686e80e73470fbe07d1609d9d6f8b1630313088 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 17 Oct 2023 11:51:06 +0900 Subject: [PATCH 328/349] fix(autoware_launch): add smoother param (#668) * fix(autoware_launch): add smoother param Signed-off-by: tomoya.kimura * style(pre-commit): autofix --------- Signed-off-by: tomoya.kimura Co-authored-by: tkimura4 --- .../common/motion_velocity_smoother/JerkFiltered.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml index 09a2153775..a6906b7117 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml @@ -4,3 +4,4 @@ over_v_weight: 10000.0 # weight for "over speed limit" cost over_a_weight: 500.0 # weight for "over accel limit" cost over_j_weight: 200.0 # weight for "over jerk limit" cost + jerk_filter_ds: 0.1 # resampling ds for jerk filter From 7318ff54f8c93adf38f69cae54a132705c4062cc Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 19 Oct 2023 14:24:04 +0900 Subject: [PATCH 329/349] feat:change warn and emergency thresh of decrease in control cmd frequency (#675) Signed-off-by: tomoya.kimura --- .../config/system/component_state_monitor/topics.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index 3080cade0e..c45f21fc6e 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -228,8 +228,8 @@ topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand best_effort: false transient_local: false - warn_rate: 5.0 - error_rate: 1.0 + warn_rate: 20.0 + error_rate: 15.0 timeout: 1.0 - module: control @@ -241,8 +241,8 @@ topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand best_effort: false transient_local: false - warn_rate: 5.0 - error_rate: 1.0 + warn_rate: 20.0 + error_rate: 15.0 timeout: 1.0 - module: vehicle From f7c15be22edac020d551694efc05120635b58046 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 27 Oct 2023 18:13:13 +0900 Subject: [PATCH 330/349] fix(obstacle_cruise_planner): increase lateral margin for obstacle stop (#682) Signed-off-by: satoshi-ota --- .../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 3b6e9f0205..00e717c09c 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 @@ -88,7 +88,7 @@ obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop stop: - max_lat_margin: 0.0 # lateral margin between obstacle and trajectory band with ego's width + max_lat_margin: 0.2 # lateral margin between obstacle and trajectory band with ego's width crossing_obstacle: collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] From 9ce80a4b92dab79a4bd116907f9fb389beafb998 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Fri, 27 Oct 2023 18:22:02 +0900 Subject: [PATCH 331/349] fix(avoidance): increase road shoulder soft margin (0.3 to 0.8m) Signed-off-by: tomoya.kimura --- .../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 d206a9a588..0e694c13ee 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 @@ -161,7 +161,7 @@ lateral_execution_threshold: 0.09 # [m] lateral_small_shift_threshold: 0.501 # [m] lateral_avoid_check_threshold: 0.1 # [m] - soft_road_shoulder_margin: 0.3 # [m] + soft_road_shoulder_margin: 0.8 # [m] hard_road_shoulder_margin: 0.3 # [m] max_right_shift_length: 5.0 max_left_shift_length: 5.0 From df34fa76756649871330a8b8a4d93eafc2209cb2 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 14 Aug 2023 10:11:35 +0900 Subject: [PATCH 332/349] feat: update parameter for intersection auto mode (#602) Signed-off-by: tomoya.kimura --- .../occupancy_grid_map/binary_bayes_filter_updater.param.yaml | 2 +- .../pointcloud_based_occupancy_grid_map.param.yaml | 4 ++-- .../behavior_velocity_planner/intersection.param.yaml | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml index 4e335e3574..4f730a9460 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml @@ -5,4 +5,4 @@ occupied_to_free: 0.05 free_to_occupied: 0.2 free_to_free: 0.8 - v_ratio: 10.0 + v_ratio: 0.5 diff --git a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml index 8077bdec50..e8344bee3a 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml @@ -19,9 +19,9 @@ gridmap_origin_frame: "base_link" # ray-tracing center: main sensor frame is preferable like: "velodyne_top" # base_link should not be used with "OccupancyGridMapProjectiveBlindSpot" - scan_origin_frame: "base_link" + scan_origin_frame: "velodyne_top" - grid_map_type: "OccupancyGridMapFixedBlindSpot" + grid_map_type: "OccupancyGridMapProjectiveBlindSpot" OccupancyGridMapFixedBlindSpot: distance_margin: 1.0 OccupancyGridMapProjectiveBlindSpot: 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 4ab18f1835..a201cdbc15 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 @@ -33,14 +33,14 @@ not_prioritized: collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object - keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr + keep_detection_vel_thr: 1.5 # == 5.4km/h. keep detection if ego is ego.vel < keep_detection_vel_thr occlusion: enable: true occlusion_attention_area_length: 70.0 # [m] enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line - peeking_offset: -0.5 # [m] offset for peeking into detection area + peeking_offset: 1.0 # [m] offset for peeking into detection area free_space_max: 43 occupied_min: 58 do_dp: true From f8745eebfec6a1a8c980a78dd35dc5308dcc657d Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 14 Sep 2023 23:34:45 +0900 Subject: [PATCH 333/349] feat: enable unknown avoidance and change some parameters (#631) Signed-off-by: tomoya.kimura --- .../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 0e694c13ee..09e1845572 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 @@ -73,9 +73,9 @@ moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.5 + envelope_buffer_margin: 0.1 avoid_margin_lateral: 0.7 - safety_buffer_lateral: 0.3 + safety_buffer_lateral: -0.2 safety_buffer_longitudinal: 0.0 bicycle: is_target: true From 7232a77b15ee30a6c9df5f2a7d56762df5ab3c1f Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 15 Sep 2023 16:45:14 +0900 Subject: [PATCH 334/349] feat: enable avoidance_by_lc (#633) Signed-off-by: tomoya.kimura --- .../avoidance_by_lc/avoidance_by_lc.param.yaml | 2 +- .../behavior_path_planner/scene_module_manager_foa.param.yaml | 3 +-- .../rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml | 2 ++ 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml index bd8545d9e6..da45e24ce9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml @@ -43,7 +43,7 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 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 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml index d4da549dcd..65582656b9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml @@ -67,9 +67,8 @@ priority: 5 max_module_size: 1 - # NOTE: This module is unstable. Deprecated for now. avoidance_by_lc: - enable_module: false + enable_module: true enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml index 369b28416e..efaa9ed238 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml @@ -10,6 +10,8 @@ - "lane_change_right" - "avoidance_left" - "avoidance_right" + - "avoidance_by_lane_change_left" + - "avoidance_by_lane_change_right" - "goal_planner" - "start_planner" - "intersection_occlusion" From a437af82232dfcb23effd5ccd305cc11580abad3 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 16 Oct 2023 11:01:47 +0900 Subject: [PATCH 335/349] feat: enable aeb diag (#659) Signed-off-by: tomoya.kimura --- .../autonomous_emergency_braking.param.yaml | 4 ++-- .../system_error_monitor.awsim.param.yaml | 1 + .../system_error_monitor/system_error_monitor.param.yaml | 1 + .../system_error_monitor.planning_simulation.param.yaml | 1 + .../launch/components/tier4_control_component.launch.xml | 3 ++- 5 files changed, 7 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index 09db0feb34..6206fd9f1d 100644 --- a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: use_predicted_trajectory: true - use_imu_path: true + use_imu_path: false voxel_grid_x: 0.05 voxel_grid_y: 0.05 voxel_grid_z: 100000.0 @@ -13,5 +13,5 @@ a_obj_min: -1.0 prediction_time_horizon: 1.5 prediction_time_interval: 0.1 - collision_keeping_sec: 0.0 + collision_keeping_sec: 2.0 aeb_hz: 10.0 diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml index 950e808a6e..e138c9fe94 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml @@ -19,6 +19,7 @@ autonomous_driving: /autoware/control/autonomous_driving/node_alive_monitoring: default # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp + /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"} /autoware/control/control_command_gate/node_alive_monitoring: default # /autoware/control/external_control/local_external_control/device_connection: default 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 18a91ebaee..ea4ab8481e 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 @@ -19,6 +19,7 @@ autonomous_driving: /autoware/control/autonomous_driving/node_alive_monitoring: default # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp + /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"} /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/control/external_control/local_external_control/device_connection: 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 a8a562689f..f3636bf460 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 @@ -20,6 +20,7 @@ /autoware/control/autonomous_driving/node_alive_monitoring: default # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default + /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"} /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/localization/node_alive_monitoring: default diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 26c950a0f5..420bd141e4 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -4,7 +4,7 @@ - + @@ -12,6 +12,7 @@ + From af4d1de8b66fb962a523d5e269933f546c9aa01f Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 5 Oct 2023 12:58:05 +0900 Subject: [PATCH 336/349] fix(avoidance): update velocity threshold (#656) Signed-off-by: satoshi-ota --- .../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 09e1845572..02bcd78500 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 @@ -40,7 +40,7 @@ truck: is_target: true execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h + moving_speed_threshold: 2.0 # 7.2km/h moving_time_threshold: 2.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 @@ -50,7 +50,7 @@ bus: is_target: true execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h + moving_speed_threshold: 2.0 # 7.2km/h moving_time_threshold: 2.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 @@ -60,7 +60,7 @@ trailer: is_target: true execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h + moving_speed_threshold: 2.0 # 7.2km/h moving_time_threshold: 2.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 From 55cc12094c82a4d0f55d01fa16e251c09efc1c4f Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 6 Oct 2023 17:06:57 +0900 Subject: [PATCH 337/349] feat(intersection): fine tune curvature threshold (#657) Signed-off-by: Mamoru Sobue Signed-off-by: tomoya.kimura --- .../behavior_velocity_planner/intersection.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) 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 a201cdbc15..b692c0a960 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 @@ -52,6 +52,11 @@ ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h stop_release_margin_time: 1.5 # [s] temporal_stop_before_attention_area: false + absence_traffic_light: + creep_velocity: 1.388 # [m/s] + maximum_peeking_distance: 6.0 # [m] + attention_lane_crop_curvature_threshold: 0.25 + attention_lane_curvature_calculation_ds: 0.6 enable_rtc: intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval From 9904520914a7ed9617bc9c4f749f6926295e3703 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 30 Oct 2023 11:26:03 +0900 Subject: [PATCH 338/349] fix(motion_velocity_smoother): change curvature_calculation_distance (#685) Signed-off-by: tomoya.kimura --- .../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 2cbc0272bf..eb3080b249 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 @@ -9,7 +9,7 @@ # -- curve parameters -- # common parameters - curvature_calculation_distance: 5.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] + curvature_calculation_distance: 2.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] # lateral acceleration limit parameters enable_lateral_acc_limit: true # To toggle the lateral acc filter on and off. You can switch it dynamically at runtime. max_lateral_accel: 1.0 # max lateral acceleration limit [m/ss] From 9b362206a70e10a4e68efc08953a48edbec46eeb Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 30 Oct 2023 14:41:30 +0900 Subject: [PATCH 339/349] feat: adjust the steering rate and accel limits (#686) Signed-off-by: tomoya.kimura --- .../trajectory_follower/1/lateral/mpc.param.yaml | 4 ++-- .../10/lateral/mpc.param.yaml | 4 ++-- .../trajectory_follower/2/lateral/mpc.param.yaml | 4 ++-- .../trajectory_follower/3/lateral/mpc.param.yaml | 4 ++-- .../trajectory_follower/4/lateral/mpc.param.yaml | 4 ++-- .../trajectory_follower/5/lateral/mpc.param.yaml | 4 ++-- .../trajectory_follower/6/lateral/mpc.param.yaml | 4 ++-- .../trajectory_follower/7/lateral/mpc.param.yaml | 4 ++-- .../trajectory_follower/9/lateral/mpc.param.yaml | 4 ++-- .../default/lateral/mpc.param.yaml | 4 ++-- .../vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 16 ++++++++-------- 11 files changed, 28 insertions(+), 28 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml index 2c00852e69..bc4b336a30 100644 --- a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml @@ -49,8 +49,8 @@ vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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] + steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] + velocity_list_for_steer_rate_lim: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml index 2c00852e69..bc4b336a30 100644 --- a/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml @@ -49,8 +49,8 @@ vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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] + steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] + velocity_list_for_steer_rate_lim: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml index 2c00852e69..bc4b336a30 100644 --- a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml @@ -49,8 +49,8 @@ vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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] + steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] + velocity_list_for_steer_rate_lim: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml index 2c00852e69..bc4b336a30 100644 --- a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml @@ -49,8 +49,8 @@ vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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] + steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] + velocity_list_for_steer_rate_lim: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml index fad9a654bc..d85c9ae81a 100644 --- a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml @@ -49,8 +49,8 @@ vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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] + steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] + velocity_list_for_steer_rate_lim: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml index 303cc344d7..6fba1855b9 100644 --- a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml @@ -49,8 +49,8 @@ vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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] + steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] + velocity_list_for_steer_rate_lim: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml index 2c00852e69..bc4b336a30 100644 --- a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml @@ -49,8 +49,8 @@ vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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] + steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] + velocity_list_for_steer_rate_lim: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml index 2c00852e69..bc4b336a30 100644 --- a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml @@ -49,8 +49,8 @@ vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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] + steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] + velocity_list_for_steer_rate_lim: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml index 2c00852e69..bc4b336a30 100644 --- a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml @@ -49,8 +49,8 @@ vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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] + steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] + velocity_list_for_steer_rate_lim: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] diff --git a/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml index 68fba6fbed..ed67097364 100644 --- a/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml @@ -49,8 +49,8 @@ vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [20.0, 20.0, 20.0] # 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] + steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] + velocity_list_for_steer_rate_lim: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s] acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] 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 191e894622..5d2c16f8a3 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 @@ -14,14 +14,14 @@ stop_check_duration: 1.0 nominal: vel_lim: 25.0 - reference_speed_points: [20.0, 30.0] - steer_lim: [1.0, 0.8] - steer_rate_lim: [1.0, 0.8] - lon_acc_lim: [5.0, 4.0] - lon_jerk_lim: [5.0, 4.0] - lat_acc_lim: [5.0, 4.0] - lat_jerk_lim: [7.0, 6.0] - actual_steer_diff_lim: [1.0, 0.8] + reference_speed_points: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11] + steer_lim: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.025, 0.025] + steer_rate_lim: [0.5 , 0.5 , 0.4 , 0.3 , 0.15 ,0.07 , 0.05, 0.035, 0.035] + lon_acc_lim: [100.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0] + lon_jerk_lim: [100.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0] + lat_acc_lim: [5.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0] + lat_jerk_lim: [0.869, 0.869, 0.869, 1.47, 1.74, 1.36, 1.30, 1.78, 2.32] + actual_steer_diff_lim: [1.0, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8] on_transition: vel_lim: 50.0 reference_speed_points: [20.0, 30.0] From 1ddac290ef6c0b4647c7671a03fb9b8b67f1be5e Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 1 Nov 2023 18:56:21 +0900 Subject: [PATCH 340/349] feat(system_monitor): increase the number of monitored processes (#692) Signed-off-by: tomoya.kimura --- .../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 From b8dbb9da9885a73651b0576cba0cfc600068c860 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 20 Nov 2023 18:56:22 +0900 Subject: [PATCH 341/349] feat(autoware_launch): enable force avoidance (#701) Signed-off-by: tomoya.kimura --- .../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 11524b2f0d..750b35ff17 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 @@ -137,7 +137,7 @@ # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. force_avoidance: - enable: false # [-] + enable: true # [-] time_threshold: 1.0 # [s] ignore_area: traffic_light: From 2c5de0c496e99e575cfa4ea5084bec1607e5123f Mon Sep 17 00:00:00 2001 From: sho yoshida <73815070+SSSyoshida@users.noreply.github.com> Date: Mon, 27 Nov 2023 11:20:06 +0900 Subject: [PATCH 342/349] add awsim_jpt parameter from JPT2 (#702) --- .../awsim_jpt/lateral/mpc.param.yaml | 76 +++++++++++++++++++ .../awsim_jpt/longitudinal/pid.param.yaml | 74 ++++++++++++++++++ 2 files changed, 150 insertions(+) create mode 100644 autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml create mode 100644 autoware_launch/config/control/trajectory_follower/awsim_jpt/longitudinal/pid.param.yaml diff --git a/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml new file mode 100644 index 0000000000..bc4b336a30 --- /dev/null +++ b/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml @@ -0,0 +1,76 @@ +/**: + ros__parameters: + # -- system -- + traj_resample_dist: 0.1 # path resampling interval [m] + use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) + admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value + admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + + # -- path smoothing -- + enable_path_smoothing: true # flag for path smoothing + path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing + curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) + curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) + + # -- trajectory extending -- + extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control + + # -- mpc optimization -- + qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) + mpc_prediction_horizon: 50 # prediction horizon step + mpc_prediction_dt: 0.1 # prediction horizon period [s] + mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q + mpc_weight_heading_error: 0.0 # heading error weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_steering_input: 1.0 # steering error weight in matrix R + mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R + mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R + mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R + mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point + mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point + mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point + mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point + mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) + mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability + mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability + mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration + mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing + mpc_min_prediction_length: 5.0 # minimum prediction length + + # -- vehicle model -- + vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics + input_delay: 0.1 # steering input delay time for delay compensation + vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # 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: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] + velocity_list_for_steer_rate_lim: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s] + acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] + velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] + + # -- lowpass filter for noise reduction -- + steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] + error_deriv_lpf_cutoff_hz: 5.0 + + # stop state: steering command is kept in the previous value in the stop state. + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.2 + converged_steer_rad: 0.1 + keep_steer_control_until_converged: true + new_traj_duration_time: 1.0 + new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] + + # steer offset + steering_offset: + enable_auto_steering_offset_removal: true + update_vel_threshold: 5.56 + update_steer_threshold: 0.035 + average_num: 1000 + steering_offset_limit: 0.02 diff --git a/autoware_launch/config/control/trajectory_follower/awsim_jpt/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/awsim_jpt/longitudinal/pid.param.yaml new file mode 100644 index 0000000000..8c98424e6a --- /dev/null +++ b/autoware_launch/config/control/trajectory_follower/awsim_jpt/longitudinal/pid.param.yaml @@ -0,0 +1,74 @@ +/**: + ros__parameters: + delay_compensation_time: 0.40 + + enable_smooth_stop: true + enable_overshoot_emergency: false + enable_large_tracking_error_emergency: false + enable_slope_compensation: true + enable_keep_stopped_until_steer_convergence: true + + # state transition + drive_state_stop_dist: 0.5 + drive_state_offset_stop_dist: 1.0 + stopping_state_stop_dist: 0.5 + stopped_state_entry_duration_time: 0.1 + stopped_state_entry_vel: 0.01 + stopped_state_entry_acc: 0.1 + emergency_state_overshoot_stop_dist: 1.5 + emergency_state_traj_trans_dev: 3.0 + emergency_state_traj_rot_dev: 0.7854 + + # drive state + kp: 2.0 + ki: 0.02 + kd: 0.0 + max_out: 1.0 + min_out: -5.0 + max_p_effort: 0.5 + min_p_effort: -5.0 + max_i_effort: 0.3 + min_i_effort: -0.3 + max_d_effort: 0.0 + min_d_effort: 0.0 + lpf_vel_error_gain: 0.9 + current_vel_threshold_pid_integration: 0.5 + enable_brake_keeping_before_stop: false + brake_keeping_acc: -0.2 + + # smooth stop state + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 + smooth_stop_weak_stop_acc: -0.8 + smooth_stop_strong_stop_acc: -3.4 + smooth_stop_max_fast_vel: 0.5 + smooth_stop_min_running_vel: 0.01 + smooth_stop_min_running_acc: 0.01 + smooth_stop_weak_stop_time: 0.8 + smooth_stop_weak_stop_dist: -0.3 + smooth_stop_strong_stop_dist: -0.5 + + # stopped state + stopped_vel: 0.0 + stopped_acc: -3.4 + stopped_jerk: -5.0 + + # emergency state + emergency_vel: 0.0 + emergency_acc: -5.0 + emergency_jerk: -3.0 + + # acceleration limit + max_acc: 3.0 + min_acc: -5.0 + + # jerk limit + max_jerk: 3.5 + min_jerk: -5.0 + + # pitch + use_trajectory_for_pitch_calculation: false + lpf_pitch_gain: 0.95 + max_pitch_rad: 0.1 + min_pitch_rad: -0.1 From 4c2db85a0163f90852e6ce67f52600db7ae6a7cf Mon Sep 17 00:00:00 2001 From: Yuxuan Liu <619684051@qq.com> Date: Mon, 27 Nov 2023 19:34:47 +0800 Subject: [PATCH 343/349] align surround_object_checker file to https://github.com/tier4/autoware_launch.x2/blob/04ce2d056aa41140f116e94799e088732223f531/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml\#L12 (#703) Signed-off-by: Owen-Liuyuxuan Co-authored-by: Owen-Liuyuxuan --- .../surround_obstacle_checker.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 5ec10572ff..4ef3a456b7 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 @@ -9,7 +9,7 @@ surround_check_side_distance: 0.5 surround_check_back_distance: 0.5 unknown: - enable_check: true + enable_check: false surround_check_front_distance: 0.5 surround_check_side_distance: 0.5 surround_check_back_distance: 0.5 @@ -49,9 +49,9 @@ surround_check_side_distance: 0.5 surround_check_back_distance: 0.5 - surround_check_hysteresis_distance: 0.3 + surround_check_hysteresis_distance: 0.1 - state_clear_time: 2.0 + state_clear_time: 0.2 # ego stop state stop_state_ego_speed: 0.1 #[m/s] From fef396bd7c57cc8337ccaea18102370b7e2291ea Mon Sep 17 00:00:00 2001 From: tkimura4 Date: Wed, 29 Nov 2023 07:08:49 +0000 Subject: [PATCH 344/349] style(pre-commit): autofix --- .../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 bd238c14fb..cfefcb6783 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 c47d14d7d02e0f0c72d0ef2e0d6b2e9dede5744b Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 30 Nov 2023 19:21:54 +0900 Subject: [PATCH 345/349] fix: add xx1_preset.yaml (#709) * fix: add xx1_preset.yaml Signed-off-by: tomoya.kimura * feat: change preset file Signed-off-by: tomoya.kimura --------- Signed-off-by: tomoya.kimura --- .../config/planning/preset/xx1_preset.yaml | 120 ++++++++++++++++++ .../launch/e2e_simulator.launch.xml | 2 +- .../launch/logging_simulator.launch.xml | 2 +- .../launch/planning_simulator.launch.xml | 2 +- 4 files changed, 123 insertions(+), 3 deletions(-) create mode 100644 autoware_launch/config/planning/preset/xx1_preset.yaml diff --git a/autoware_launch/config/planning/preset/xx1_preset.yaml b/autoware_launch/config/planning/preset/xx1_preset.yaml new file mode 100644 index 0000000000..81046a5f26 --- /dev/null +++ b/autoware_launch/config/planning/preset/xx1_preset.yaml @@ -0,0 +1,120 @@ +launch: + # behavior path modules + - arg: + name: launch_avoidance_module + default: "true" + - arg: + name: launch_avoidance_by_lane_change_module + default: "true" + - arg: + name: launch_dynamic_avoidance_module + default: "false" + - arg: + name: launch_lane_change_right_module + default: "true" + - arg: + name: launch_lane_change_left_module + default: "true" + - arg: + name: launch_external_request_lane_change_right_module + default: "false" + - arg: + name: launch_external_request_lane_change_left_module + default: "false" + - arg: + name: launch_goal_planner_module + default: "true" + - arg: + name: launch_start_planner_module + default: "true" + - arg: + name: launch_side_shift_module + default: "true" + - arg: + name: use_experimental_lane_change_function + default: "true" + + # behavior velocity modules + - arg: + name: launch_crosswalk_module + default: "true" + - arg: + name: launch_walkway_module + default: "true" + - arg: + name: launch_traffic_light_module + default: "true" + - arg: + name: launch_intersection_module + default: "true" + - arg: + name: launch_merge_from_private_module + default: "true" + - arg: + name: launch_blind_spot_module + default: "true" + - arg: + name: launch_detection_area_module + default: "true" + - arg: + name: launch_virtual_traffic_light_module + default: "false" + - arg: + name: launch_no_stopping_area_module + default: "true" + - arg: + name: launch_stop_line_module + default: "true" + - arg: + name: launch_occlusion_spot_module + default: "false" + - arg: + name: launch_run_out_module + default: "true" + - arg: + name: launch_speed_bump_module + default: "false" + - arg: + name: launch_out_of_lane_module + default: "true" + - arg: + name: launch_no_drivable_lane_module + default: "false" + + # motion planning modules + - arg: + name: motion_path_smoother_type + default: elastic_band + # option: elastic_band + # none + + - arg: + name: motion_path_planner_type + default: obstacle_avoidance_planner + # option: obstacle_avoidance_planner + # path_sampler + # none + + - arg: + name: motion_stop_planner_type + default: obstacle_cruise_planner + # option: obstacle_stop_planner + # obstacle_cruise_planner + # none + + - arg: + name: motion_velocity_smoother_type + default: JerkFiltered + # option: JerkFiltered + # L2 + # Linf(Unstable) + # Analytical + + - arg: + name: launch_surround_obstacle_checker + default: "true" + + # parking modules + - arg: + name: launch_parking_module + default: "true" diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 2c867f7349..a7c6f55d1a 100755 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -7,7 +7,7 @@ - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index f54b1c6e1a..ce0d432e33 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -8,7 +8,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index d10cd2afe5..f0d11d6f0c 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -7,7 +7,7 @@ - + From f0abb297a3e796834d14827b6fd141c0f50be40c Mon Sep 17 00:00:00 2001 From: Yuxuan Liu <619684051@qq.com> Date: Mon, 4 Dec 2023 13:56:57 +0800 Subject: [PATCH 346/349] make surround obstacle checker not reacting to car-like objects from behind the ego vehicle (#710) Signed-off-by: Owen-Liuyuxuan Co-authored-by: Owen-Liuyuxuan --- .../surround_obstacle_checker.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) 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 4ef3a456b7..7f72420b3a 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 @@ -17,22 +17,22 @@ enable_check: true surround_check_front_distance: 0.5 surround_check_side_distance: 0.0 - surround_check_back_distance: 0.5 + surround_check_back_distance: 0.0 truck: enable_check: true surround_check_front_distance: 0.5 surround_check_side_distance: 0.0 - surround_check_back_distance: 0.5 + surround_check_back_distance: 0.0 bus: enable_check: true surround_check_front_distance: 0.5 surround_check_side_distance: 0.0 - surround_check_back_distance: 0.5 + surround_check_back_distance: 0.0 trailer: enable_check: true surround_check_front_distance: 0.5 surround_check_side_distance: 0.0 - surround_check_back_distance: 0.5 + surround_check_back_distance: 0.0 motorcycle: enable_check: true surround_check_front_distance: 0.5 From 617bfc304bbc20858b14c07eb21d73884d9afdb2 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 8 Dec 2023 10:36:48 +0900 Subject: [PATCH 347/349] feat(autoware_launch): longer prediction from 10s to 15s (#690) (#712) Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> --- .../prediction/map_based_prediction.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml index 260ae45da2..1805a12186 100644 --- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml +++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: enable_delay_compensation: true - prediction_time_horizon: 10.0 #[s] + prediction_time_horizon: 15.0 #[s] lateral_control_time_horizon: 5.0 #[s] prediction_sampling_delta_time: 0.5 #[s] min_velocity_for_map_based_prediction: 1.39 #[m/s] From 5435664615756f7457ae9e2ff75f45a0c4edc96a Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Tue, 12 Dec 2023 00:26:59 +0900 Subject: [PATCH 348/349] feat(start_planner): shorten max backward distance (#713) Signed-off-by: Shumpei Wakabayashi --- .../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 c83be4ea15..fb2c653adc 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 @@ -33,7 +33,7 @@ # search start pose backward enable_back: true search_priority: "efficient_path" # "efficient_path" or "short_back_distance" - max_back_distance: 30.0 + max_back_distance: 20.0 backward_search_resolution: 2.0 backward_path_update_duration: 3.0 ignore_distance_from_lane_end: 15.0 From f47761679fd52a157b7596f8916afb133aeda901 Mon Sep 17 00:00:00 2001 From: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Date: Tue, 12 Dec 2023 17:58:38 +0900 Subject: [PATCH 349/349] feat(perception): remove ml model provider (#679) * feat(perception): remove ml_model_provider Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * feat(perception): move config file from ml_model_provider to autoware_launch Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> --------- Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> --- .../detection/lidar_model/centerpoint.param.yaml | 9 +++++---- .../components/tier4_perception_component.launch.xml | 4 ++-- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml index 0b29a87965..38ea2ea0ac 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml @@ -1,15 +1,16 @@ /**: ros__parameters: class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] + rename_car_to_truck_and_bus: true point_feature_size: 4 max_voxel_size: 40000 - point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] - voxel_size: [0.32, 0.32, 10.0] + point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] + voxel_size: [0.32, 0.32, 8.0] downsample_factor: 1 encoder_in_feature_size: 9 # post-process params - circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] + circle_nms_dist_threshold: 0.3 + iou_nms_target_class_names: ["CAR", "TRUCK", "BUS"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index abe57ccf24..031af4baa0 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -26,9 +26,9 @@ - + - +