Merge pull request autowarefoundation#809 from tier4/sync-tier4-upstream

chore: sync upstream

.github/workflows/sync-tier4-upstream-up-to-tag.yaml

@@ -0,0 +1,92 @@
+# This workflow is intended for the use in the repositories created by forking tier4/autoware_launch.
+name: sync-tier4-upstream-up-to-tag
+
+on:
+  workflow_dispatch:
+    inputs:
+      sync-target-tag:
+        description: sync target tag like v0.24.0
+        required: true
+        type: string
+        default: ""
+
+jobs:
+  sync-tier4-upstream-up-to-tag:
+    runs-on: ubuntu-latest
+    env:
+      BASE_BRANCH: tier4/main
+      SYNC_TARGET_REPOSITORY: https://github.com/tier4/autoware_launch.git
+    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: Check out repository
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ env.BASE_BRANCH }}
+          fetch-depth: 0
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+
+      - name: Sync tag
+        run: |
+          git remote add sync-target ${{ env.SYNC_TARGET_REPOSITORY }}
+          git fetch -pPtf --all
+          git reset --hard "${{ inputs.sync-target-tag }}"
+          git remote rm sync-target
+        shell: bash
+
+      - name: Generate changelog
+        id: generate-changelog
+        uses: autowarefoundation/autoware-github-actions/generate-changelog@v1
+        with:
+          git-cliff-args: origin/${{ env.BASE_BRANCH }}..HEAD
+
+      - name: Replace PR number to URL
+        id: replace-pr-number-to-url
+        run: |
+          # Output multiline strings: https://docs.github.com/en/actions/using-workflows/workflow-commands-for-github-actions#example-of-a-multiline-string
+          changelog=$(echo "$CHANGELOG" | sed -r "s|\(#([0-9]+)\)|("${REPO_URL%.git}"/pull/\1)|g")
+          EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
+          echo "changelog<<$EOF" >> $GITHUB_OUTPUT
+          echo "$changelog" >> $GITHUB_OUTPUT
+          echo "$EOF" >> $GITHUB_OUTPUT
+        env:
+          CHANGELOG: ${{ steps.generate-changelog.outputs.changelog }}
+          REPO_URL: ${{ env.SYNC_TARGET_REPOSITORY }}
+        shell: bash
+
+      - name: Create PR
+        id: create-pr
+        uses: peter-evans/create-pull-request@v6
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base: ${{ env.BASE_BRANCH }}
+          branch: sync-tier4-upstream-${{ inputs.sync-target-tag }}
+          title: "chore: sync upstream up to ${{ inputs.sync-target-tag }}"
+          body: ${{ steps.replace-pr-number-to-url.outputs.changelog }}
+          labels: |
+            bot
+            sync-tier4-upstream
+          author: github-actions <[email protected]>
+          signoff: true
+          delete-branch: true
+
+      - 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: ${{ steps.create-pr.outputs.pull-request-operation == 'created' }}
+        run: gh pr merge --merge --auto "${{ steps.create-pr.outputs.pull-request-number }}"
+        shell: bash
+        env:
+          GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}

autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml

@@ -11,6 +11,12 @@
       map_frame: "map"
 
 
+    sensor_points:
+      # Required distance of input sensor points. [m]
+      # If the max distance of input sensor points is lower than this value, the scan matching will not be performed.
+      required_distance: 10.0
+
+
     ndt:
       # The maximum difference between two consecutive
       # transformations in order to consider convergence

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -11,8 +11,8 @@
         max_x: 150.0
         min_y: -70.0
         max_y: 70.0
-        max_z: 2.5
-        min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        margin_max_z: 0.0  # to extend the crop box max_z from vehicle_height
+        margin_min_z: -2.5 # to extend the crop box min_z from ground
         negative: False
 
     common_ground_filter:

autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml

@@ -0,0 +1,53 @@
+# sample grid map fusion parameters for sample sensor kit
+/**:
+    ros__parameters:
+      # shared parameters
+      shared_config:
+        map_frame: "map"
+        base_link_frame: "base_link"
+        # center of the grid map
+        gridmap_origin_frame: "base_link"
+
+        map_resolution: 0.5 # [m]
+        map_length_x: 150.0 # [m]
+        map_length_y: 150.0 # [m]
+
+      # each grid map parameters
+      ogm_creation_config:
+        height_filter:
+          use_height_filter: true
+          min_height: -1.0
+          max_height: 2.0
+        enable_single_frame_mode: true
+        # use sensor pointcloud to filter obstacle pointcloud
+        filter_obstacle_pointcloud_by_raw_pointcloud: true
+
+        grid_map_type: "OccupancyGridMapFixedBlindSpot"
+        OccupancyGridMapFixedBlindSpot:
+          distance_margin: 1.0
+        OccupancyGridMapProjectiveBlindSpot:
+          projection_dz_threshold: 0.01 # [m] for avoiding null division
+          obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length
+          pub_debug_grid: false
+
+      # parameter settings for ogm fusion
+      fusion_config:
+        # following parameters are shared: map_frame, base_link_frame, gridmap_origin_frame, map_resolution, map_length
+        # Setting1: tune ogm creation parameters
+        raw_pointcloud_topics: # put each sensor's pointcloud topic
+          - "/sensing/lidar/top/pointcloud"
+          - "/sensing/lidar/left/pointcloud"
+          - "/sensing/lidar/right/pointcloud"
+        fusion_input_ogm_topics:
+          - "/perception/occupancy_grid_map/top_lidar/map"
+          - "/perception/occupancy_grid_map/left_lidar/map"
+          - "/perception/occupancy_grid_map/right_lidar/map"
+        # reliability of each sensor (0.0 ~ 1.0) only work with "log-odds" and "dempster-shafer"
+        input_ogm_reliabilities:
+          - 1.0
+          - 0.6
+          - 0.6
+
+      # Setting2: tune ogm fusion parameters
+      ## choose fusion method from ["overwrite", "log-odds", "dempster-shafer"]
+        fusion_method: "overwrite"

autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml

@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+    # 1. fusion parameters
+    fusion_input_ogm_topics: ["topic1", "topic2"]
+    input_ogm_reliabilities: [0.8, 0.2]
+    fusion_method: "overwrite" # choose from ["overwrite", "log-odds", "dempster-shafer"]
+
+    # 2. synchronization settings
+    match_threshold_sec: 0.01    # 10ms
+    timeout_sec: 0.1             # 100ms
+    input_offset_sec: [0.0, 0.0] # no offset
+
+    # 3. settings for fused fusion map
+    # remember resolution and map size should be same with input maps
+    map_frame_: "map"
+    base_link_frame_: "base_link"
+    grid_map_origin_frame_: "base_link"
+    fusion_map_length_x: 100.0
+    fusion_map_length_y: 100.0
+    fusion_map_resolution: 0.5

autoware_launch/config/planning/scenario_planning/common/common.param.yaml

@@ -9,10 +9,6 @@
       min_jerk: -0.5        # min jerk [m/sss]
       max_jerk: 1.0         # max jerk [m/sss]
 
-    slow_down:
-      min_acc: -1.0         # min deceleration [m/ss]
-      min_jerk: -1.0        # min jerk [m/sss]
-
     # constraints to be observed
     limit:
       min_acc: -2.5         # min deceleration limit [m/ss]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

@@ -29,80 +29,96 @@
           execute_num: 1                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 2.0                   # [s]
+          lateral_margin:
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.5                  # [m]
-          avoid_margin_lateral: 0.7                    # [m]
-          safety_buffer_lateral: 0.3                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
           use_conservative_buffer_longitudinal: true   # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
         truck:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
+          lateral_margin:
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.9
-          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bus:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
+          lateral_margin:
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.9
-          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         trailer:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
+          lateral_margin:
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.9
-          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         unknown:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: -0.2                          # [m]
+            hard_margin_for_parked_vehicle: -0.2       # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: -0.2
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bicycle:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: 0.5                           # [m]
+            hard_margin_for_parked_vehicle: 0.5        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: 0.5
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         motorcycle:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: 0.3                           # [m]
+            hard_margin_for_parked_vehicle: 0.3        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: 0.3
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         pedestrian:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: 0.5                           # [m]
+            hard_margin_for_parked_vehicle: 0.5        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: 0.5
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         lower_distance_for_polygon_expansion: 30.0      # [m]
@@ -138,10 +154,12 @@
           backward_distance: 10.0                        # [m]
 
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
-        force_avoidance:
+        avoidance_for_ambiguous_vehicle:
           enable: true                                   # [-]
-          time_threshold: 3.0                            # [s]
-          distance_threshold: 1.0                        # [m]
+          closest_distance_to_wait_and_see: 10.0         # [m]
+          condition:
+            time_threshold: 3.0                          # [s]
+            distance_threshold: 1.0                      # [m]
           ignore_area:
             traffic_light:
               front_distance: 100.0                      # [m]
@@ -176,7 +194,7 @@
         check_all_predicted_path: false                  # [-]
         safety_check_backward_distance: 100.0            # [m]
         hysteresis_factor_expand_rate: 1.5               # [-]
-        hysteresis_factor_safe_count: 10                 # [-]
+        hysteresis_factor_safe_count: 3                  # [-]
         # predicted path parameters
         min_velocity: 1.38                               # [m/s]
         max_velocity: 50.0                               # [m/s]
@@ -192,7 +210,7 @@
         rear_vehicle_safety_time_margin: 1.0             # [s]
         lateral_distance_max_threshold: 2.0              # [m]
         longitudinal_distance_min_threshold: 3.0         # [m]
-        longitudinal_velocity_delta_time: 0.8            # [s]
+        longitudinal_velocity_delta_time: 0.0            # [s]
 
       # For avoidance maneuver
       avoidance: