diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
index 4deb334463..6728792249 100644
--- a/.github/sync-files.yaml
+++ b/.github/sync-files.yaml
@@ -11,6 +11,7 @@
- source: .github/PULL_REQUEST_TEMPLATE/small-change.md
- source: .github/PULL_REQUEST_TEMPLATE/standard-change.md
- source: .github/dependabot.yaml
+ - source: .github/workflows/backport.yaml
- source: .github/stale.yml
- source: .github/workflows/github-release.yaml
- source: .github/workflows/pre-commit.yaml
diff --git a/.github/update-sync-param-files.py b/.github/update-sync-param-files.py
deleted file mode 100644
index 707909cdd1..0000000000
--- a/.github/update-sync-param-files.py
+++ /dev/null
@@ -1,80 +0,0 @@
-import argparse
-import dataclasses
-from pathlib import Path
-from typing import List
-from typing import Optional
-
-import git
-
-"""
-This module updates `sync-param-files.yaml` based on the launch parameter files in `autoware.universe`.
-"""
-
-REPO_NAME = "autowarefoundation/autoware.universe"
-REPO_URL = f"https://github.com/{REPO_NAME}.git"
-CLONE_PATH = Path("/tmp/autoware.universe")
-
-
-@dataclasses.dataclass
-class FileSyncConfig:
- source: str
- dest: str
- replace: Optional[bool] = None
- delete_orphaned: Optional[bool] = None
- pre_commands: Optional[str] = None
- post_commands: Optional[str] = None
-
-
-def create_tier4_launch_sync_configs(tier4_launch_package_path: Path) -> List[FileSyncConfig]:
- launch_package_name = tier4_launch_package_path.name
- launch_config_path = tier4_launch_package_path / "config"
-
- sync_configs = []
- for param_file_path in tier4_launch_package_path.glob("config/**/*.param.yaml"):
- relative_param_file_path = param_file_path.relative_to(launch_config_path)
-
- source = param_file_path.relative_to(CLONE_PATH)
- dest = Path("autoware_launch/config") / launch_package_name / relative_param_file_path
-
- sync_configs.append(FileSyncConfig(str(source), str(dest)))
-
- return sync_configs
-
-
-def dump_sync_config(section_name: str, sync_configs: List[FileSyncConfig]) -> List[str]:
- indent = 4 * " "
- lines = [f"{indent}# {section_name}\n"]
- for sync_config in sync_configs:
- lines.append(f"{indent}- source: {sync_config.source}\n")
- lines.append(f"{indent} dest: {sync_config.dest}\n")
- lines.append("\n")
- return lines
-
-
-def main():
- parser = argparse.ArgumentParser()
- parser.add_argument("sync_param_files_path", type=Path, help="path to sync-param-files.yaml")
- args = parser.parse_args()
-
- # Clone Autoware
- if not CLONE_PATH.exists():
- git.Repo.clone_from(REPO_URL, CLONE_PATH)
-
- # Create sync config for tier4_*_launch
- tier4_launch_package_paths = sorted(
- CLONE_PATH.glob("launch/tier4_*_launch"), key=lambda p: p.name
- )
- tier4_launch_sync_configs_map = {
- p.name: create_tier4_launch_sync_configs(p) for p in tier4_launch_package_paths
- }
-
- # Create sync-param-files.yaml
- with open(args.sync_param_files_path, "w") as f:
- f.write(f"- repository: {REPO_NAME}\n")
- f.write(" files:\n")
- for section_name, sync_config in tier4_launch_sync_configs_map.items():
- f.writelines(dump_sync_config(section_name, sync_config))
-
-
-if __name__ == "__main__":
- main()
diff --git a/.github/workflows/backport.yaml b/.github/workflows/backport.yaml
new file mode 100644
index 0000000000..7a9d63f79c
--- /dev/null
+++ b/.github/workflows/backport.yaml
@@ -0,0 +1,33 @@
+name: backport
+on:
+ pull_request_target:
+ types:
+ - closed
+ - labeled
+
+jobs:
+ backport:
+ runs-on: ubuntu-latest
+ # Only react to merged PRs for security reasons.
+ # See https://docs.github.com/en/actions/using-workflows/events-that-trigger-workflows#pull_request_target.
+ if: >
+ github.event.pull_request.merged
+ && (
+ github.event.action == 'closed'
+ || (
+ github.event.action == 'labeled'
+ && contains(github.event.label.name, 'backport')
+ )
+ )
+ steps:
+ - name: Generate token
+ id: generate-token
+ uses: tibdex/github-app-token@v1
+ with:
+ app_id: ${{ secrets.APP_ID }}
+ private_key: ${{ secrets.PRIVATE_KEY }}
+
+ - uses: tibdex/backport@v2
+ with:
+ github_token: ${{ steps.generate-token.outputs.token }}
+ title_template: "<%= title %> (backport #<%= number %>)"
diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml
deleted file mode 100644
index 01132cd0df..0000000000
--- a/.github/workflows/check-build-depends.yaml
+++ /dev/null
@@ -1,41 +0,0 @@
-name: check-build-depends
-
-on:
- pull_request:
- paths:
- - build_depends*.repos
-
-jobs:
- check-build-depends:
- runs-on: ubuntu-latest
- container: ${{ matrix.container }}
- strategy:
- fail-fast: false
- matrix:
- rosdistro:
- - galactic
- - humble
- include:
- - rosdistro: galactic
- container: ros:galactic
- build-depends-repos: build_depends.repos
- - rosdistro: humble
- container: ros:humble
- build-depends-repos: build_depends.repos
- steps:
- - name: Check out repository
- uses: actions/checkout@v3
-
- - name: Remove exec_depend
- uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
-
- - name: Get self packages
- id: get-self-packages
- uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
-
- - name: Build
- uses: autowarefoundation/autoware-github-actions/colcon-build@v1
- with:
- rosdistro: ${{ matrix.rosdistro }}
- target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
- build-depends-repos: ${{ matrix.build-depends-repos }}
diff --git a/.github/workflows/dispatch-release-note.yaml b/.github/workflows/dispatch-release-note.yaml
new file mode 100644
index 0000000000..792d46a8b2
--- /dev/null
+++ b/.github/workflows/dispatch-release-note.yaml
@@ -0,0 +1,45 @@
+name: dispatch-release-note
+on:
+ push:
+ branches:
+ - beta/v*
+ - tier4/main
+ tags:
+ - v*
+ workflow_dispatch:
+ inputs:
+ beta-branch-or-tag-name:
+ description: The name of the beta branch or tag to write release note
+ type: string
+ required: true
+jobs:
+ dispatch-release-note:
+ runs-on: ubuntu-latest
+ name: release-repository-dispatch
+ steps:
+ - name: Set tag name
+ id: set-tag-name
+ run: |
+ if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
+ REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}"
+ else
+ REF_NAME="${{ github.ref_name }}"
+ fi
+ echo ::set-output name=ref-name::"'$REF_NAME'_launch"
+ echo ::set-output name=tag-name::"${REF_NAME#beta/}"
+ - name: Generate token
+ id: generate-token
+ uses: tibdex/github-app-token@v1
+ with:
+ app_id: ${{ secrets.APP_ID }}
+ private_key: ${{ secrets.PRIVATE_KEY }}
+
+ - name: Repository dispatch for release note
+ run: |
+ curl \
+ -X POST \
+ -H "Accept: application/vnd.github+json" \
+ -H "Authorization: token ${{ steps.generate-token.outputs.token }}" \
+ -H "X-GitHub-Api-Version: 2022-11-28" \
+ "https://api.github.com/repos/tier4/update-release-notes/dispatches" \
+ -d '{"event_type":"${{ steps.set-tag-name.outputs.ref-name }}"}'
diff --git a/.github/workflows/sync-awf-latest-s1.yaml b/.github/workflows/sync-awf-latest-s1.yaml
new file mode 100644
index 0000000000..c14d001c61
--- /dev/null
+++ b/.github/workflows/sync-awf-latest-s1.yaml
@@ -0,0 +1,31 @@
+name: sync-awf-latest-s1
+
+on:
+ schedule:
+ - cron: 0 0 * * *
+ workflow_dispatch:
+
+jobs:
+ sync-awf-latest-s1:
+ 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-s1
+ sync-pr-branch: sync-awf-latest-s1
+ sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
+ sync-target-branch: main
+ pr-title: "chore: sync awf-latest-s1"
+ pr-labels: |
+ bot
+ sync-awf-latest-s1
+ auto-merge-method: merge
diff --git a/.github/workflows/sync-awf-latest-x1.yaml b/.github/workflows/sync-awf-latest-x1.yaml
new file mode 100644
index 0000000000..c348e6d853
--- /dev/null
+++ b/.github/workflows/sync-awf-latest-x1.yaml
@@ -0,0 +1,31 @@
+name: sync-awf-latest-x1
+
+on:
+ schedule:
+ - cron: 0 0 * * *
+ workflow_dispatch:
+
+jobs:
+ sync-awf-latest-x1:
+ 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-x1
+ sync-pr-branch: sync-awf-latest-x1
+ sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
+ sync-target-branch: main
+ pr-title: "chore: sync awf-latest-x1"
+ pr-labels: |
+ bot
+ sync-awf-latest-x1
+ auto-merge-method: merge
diff --git a/.github/workflows/sync-awf-latest-x2.yaml b/.github/workflows/sync-awf-latest-x2.yaml
new file mode 100644
index 0000000000..97ed22a5f7
--- /dev/null
+++ b/.github/workflows/sync-awf-latest-x2.yaml
@@ -0,0 +1,31 @@
+name: sync-awf-latest-x2
+
+on:
+ schedule:
+ - cron: 0 0 * * *
+ workflow_dispatch:
+
+jobs:
+ sync-awf-latest-x2:
+ 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-x2
+ sync-pr-branch: sync-awf-latest-x2
+ sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
+ sync-target-branch: main
+ pr-title: "chore: sync awf-latest-x2"
+ pr-labels: |
+ bot
+ sync-awf-latest-x2
+ auto-merge-method: merge
diff --git a/.github/workflows/sync-awf-latest-xx1.yaml b/.github/workflows/sync-awf-latest-xx1.yaml
new file mode 100644
index 0000000000..6b6432b55e
--- /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/autowarefoundation/autoware_launch.git
+ sync-target-branch: main
+ pr-title: "chore: sync awf-latest-xx1"
+ pr-labels: |
+ bot
+ sync-awf-latest-xx1
+ auto-merge-method: merge
diff --git a/.github/workflows/sync-awf-upstream.yaml b/.github/workflows/sync-awf-upstream.yaml
new file mode 100644
index 0000000000..d2ee862fd4
--- /dev/null
+++ b/.github/workflows/sync-awf-upstream.yaml
@@ -0,0 +1,31 @@
+name: sync-awf-upstream
+
+on:
+ schedule:
+ - cron: 0 0 * * *
+ workflow_dispatch:
+
+jobs:
+ sync-awf-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@v1
+ with:
+ token: ${{ steps.generate-token.outputs.token }}
+ base-branch: tier4/main
+ sync-pr-branch: sync-awf-upstream
+ sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
+ sync-target-branch: main
+ pr-title: "chore: sync awf/autoware_launch"
+ pr-labels: |
+ bot
+ sync-awf-upstream
+ auto-merge-method: merge
diff --git a/.github/workflows/sync-tier4-upstream.yaml b/.github/workflows/sync-tier4-upstream.yaml
new file mode 100644
index 0000000000..b7dc824f8a
--- /dev/null
+++ b/.github/workflows/sync-tier4-upstream.yaml
@@ -0,0 +1,31 @@
+name: sync-tier4-upstream
+
+on:
+ schedule:
+ - cron: 0 0 * * *
+ workflow_dispatch:
+
+jobs:
+ sync-tier4-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@v1
+ with:
+ token: ${{ steps.generate-token.outputs.token }}
+ base-branch: tier4/main
+ sync-pr-branch: sync-tier4-upstream
+ sync-target-repository: https://github.com/tier4/autoware_launch.git
+ sync-target-branch: tier4/main
+ pr-title: "chore: sync upstream"
+ pr-labels: |
+ bot
+ sync-tier4-upstream
+ auto-merge-method: merge
diff --git a/.github/workflows/update-sync-param-files.yaml b/.github/workflows/update-sync-param-files.yaml
deleted file mode 100644
index 00203870c5..0000000000
--- a/.github/workflows/update-sync-param-files.yaml
+++ /dev/null
@@ -1,52 +0,0 @@
-name: update-sync-param-files
-
-on:
- schedule:
- - cron: 0 0 * * *
- workflow_dispatch:
-
-jobs:
- update-sync-param-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: Check out repository
- uses: actions/checkout@v3
-
- - name: Install GitPython
- run: |
- pip3 install GitPython
- shell: bash
-
- - name: Generate sync-param-files.yaml
- run: |
- python3 .github/update-sync-param-files.py .github/sync-param-files.yaml
-
- - name: Create PR
- id: create-pr
- uses: peter-evans/create-pull-request@v5
- with:
- token: ${{ steps.generate-token.outputs.token }}
- base: ${{ github.event.repository.default_branch }}
- branch: update-sync-param-files
- title: "chore: update sync-param-files.yaml"
- commit-message: "chore: update sync-param-files.yaml"
- body: ${{ steps.create-pr-body.outputs.body }}
-
- - 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 }}"
- shell: bash
-
- - name: Enable auto-merge
- if: ${{ steps.create-pr.outputs.pull-request-operation == 'created' }}
- run: gh pr merge --squash --auto "${{ steps.create-pr.outputs.pull-request-number }}"
- env:
- GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}
diff --git a/NOTICE b/NOTICE
deleted file mode 100644
index 102575d7d8..0000000000
--- a/NOTICE
+++ /dev/null
@@ -1,8 +0,0 @@
-autowarefoundation/autoware_launch
-Copyright 2021 The Autoware Foundation
-
-This product includes software developed at
-The Autoware Foundation (https://www.autoware.org/).
-
-This product includes code developed by TIER IV.
-Copyright 2020 TIER IV, Inc.
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 a86443f5ca..f3361554d6 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
@@ -1,13 +1,15 @@
+# These parameters are tuned for xx1
+
/**:
ros__parameters:
- transition_timeout: 10.0
+ 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:
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
@@ -15,8 +17,8 @@
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
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
new file mode 100644
index 0000000000..7103ff01f8
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml
@@ -0,0 +1,73 @@
+/**:
+ 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: 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
+ 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/1/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/1/longitudinal/pid.param.yaml
new file mode 100644
index 0000000000..0077637d07
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/1/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: 0.01
+ 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/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml
new file mode 100644
index 0000000000..7103ff01f8
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml
@@ -0,0 +1,73 @@
+/**:
+ 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: 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
+ 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/10/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/10/longitudinal/pid.param.yaml
new file mode 100644
index 0000000000..8c98424e6a
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/10/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
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
new file mode 100644
index 0000000000..7103ff01f8
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml
@@ -0,0 +1,73 @@
+/**:
+ 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: 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
+ 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/2/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/2/longitudinal/pid.param.yaml
new file mode 100644
index 0000000000..8c98424e6a
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/2/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
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
new file mode 100644
index 0000000000..7103ff01f8
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml
@@ -0,0 +1,73 @@
+/**:
+ 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: 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
+ 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/3/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/3/longitudinal/pid.param.yaml
new file mode 100644
index 0000000000..85e729fe3b
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/3/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: -0.90
+ 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
+ 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/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml
new file mode 100644
index 0000000000..17c5f815c8
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml
@@ -0,0 +1,73 @@
+/**:
+ 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: 2.50 # 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
+ 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
+ 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/4/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/4/longitudinal/pid.param.yaml
new file mode 100644
index 0000000000..be9e35ce4b
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/4/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: 2.2
+ 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/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml
new file mode 100644
index 0000000000..01faacac50
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml
@@ -0,0 +1,73 @@
+/**:
+ 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: 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)
+
+ # -- 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: 0.3 # 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]
+ 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/5/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/5/longitudinal/pid.param.yaml
new file mode 100644
index 0000000000..8c98424e6a
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/5/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
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
new file mode 100644
index 0000000000..7103ff01f8
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml
@@ -0,0 +1,73 @@
+/**:
+ 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: 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
+ 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/6/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/6/longitudinal/pid.param.yaml
new file mode 100644
index 0000000000..0077637d07
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/6/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: 0.01
+ 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/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml
new file mode 100644
index 0000000000..7103ff01f8
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml
@@ -0,0 +1,73 @@
+/**:
+ 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: 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
+ 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/7/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/7/longitudinal/pid.param.yaml
new file mode 100644
index 0000000000..8c98424e6a
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/7/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
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
new file mode 100644
index 0000000000..7103ff01f8
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml
@@ -0,0 +1,73 @@
+/**:
+ 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: 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
+ 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/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/9/longitudinal/pid.param.yaml
similarity index 84%
rename from autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
rename to autoware_launch/config/control/trajectory_follower/9/longitudinal/pid.param.yaml
index bc3213081d..f1b46fcead 100644
--- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/9/longitudinal/pid.param.yaml
@@ -1,10 +1,10 @@
/**:
ros__parameters:
- delay_compensation_time: 0.17
+ delay_compensation_time: 0.40
enable_smooth_stop: true
- enable_overshoot_emergency: true
- enable_large_tracking_error_emergency: true
+ enable_overshoot_emergency: false
+ enable_large_tracking_error_emergency: false
enable_slope_compensation: true
enable_keep_stopped_until_steer_convergence: true
@@ -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
@@ -37,10 +37,10 @@
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
@@ -64,7 +64,7 @@
min_acc: -5.0
# jerk limit
- max_jerk: 2.0
+ max_jerk: 3.5
min_jerk: -5.0
# pitch
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml
similarity index 88%
rename from autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
rename to autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml
index 4222082d40..b1df3a8642 100644
--- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/default/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)
@@ -23,19 +23,19 @@
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: 0.1 # 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
@@ -45,22 +45,22 @@
# -- vehicle model --
vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
- input_delay: 0.24 # steering input delay time for delay compensation
- vehicle_model_steer_tau: 0.3 # steering dynamics time constant (1d approximation) [s]
+ input_delay: 0.1 # 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]
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]
velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0] # velocity list for steering angle rate limit interpolation in ascending order [m/s]
- acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss]
+ 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_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
diff --git a/autoware_launch/config/control/trajectory_follower/default/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/default/longitudinal/pid.param.yaml
new file mode 100644
index 0000000000..8c98424e6a
--- /dev/null
+++ b/autoware_launch/config/control/trajectory_follower/default/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
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml
deleted file mode 100644
index 0b8b464e9f..0000000000
--- a/autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-/**:
- ros__parameters:
- ld_velocity_ratio: 2.4
- ld_lateral_error_ratio: 3.6
- ld_curvature_ratio: 120.0
- long_ld_lateral_error_threshold: 0.5
- min_lookahead_distance: 4.35
- max_lookahead_distance: 15.0
- converged_steer_rad: 0.1
- reverse_min_lookahead_distance: 7.0
- prediction_ds: 0.3
- prediction_distance_length: 21.0
- resampling_ds: 0.1
- curvature_calculation_distance: 4.0
- enable_path_smoothing: false
- path_filter_moving_ave_num: 25
diff --git a/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml b/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml
index ad55423154..be5a50ef0f 100644
--- a/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml
+++ b/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml
@@ -2,10 +2,10 @@
ros__parameters:
input_frame: "base_link"
output_frame: "base_link"
- min_x: -60.0
- max_x: 60.0
- min_y: -60.0
- max_y: 60.0
+ min_x: -100.0
+ max_x: 100.0
+ min_y: -100.0
+ max_y: 100.0
min_z: -30.0
max_z: 50.0
negative: False
diff --git a/autoware_launch/config/localization/localization_error_monitor.param.yaml b/autoware_launch/config/localization/localization_error_monitor.param.yaml
index 026daf0532..f56fd03893 100644
--- a/autoware_launch/config/localization/localization_error_monitor.param.yaml
+++ b/autoware_launch/config/localization/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: 0.35
+ warn_ellipse_size_lateral_direction: 0.3
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
index 4c29059581..a5befcb1a7 100644
--- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
+++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -32,10 +32,10 @@
# 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
+ 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.param.yaml b/autoware_launch/config/localization/pose_initializer.param.yaml
index a05cc7c35c..6f03dfb49d 100644
--- a/autoware_launch/config/localization/pose_initializer.param.yaml
+++ b/autoware_launch/config/localization/pose_initializer.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,
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..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
- [ 0.000, 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
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
diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml
index 329714e3d3..f847e81cfa 100644
--- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml
@@ -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:
diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
index 868b1bd15c..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
@@ -9,10 +9,10 @@
# 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: 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: -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]
@@ -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]
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 5f5e211492..4686006c87 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
@@ -12,7 +12,7 @@
# avoidance module common setting
enable_bound_clipping: false
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
enable_yield_maneuver_during_shifting: false
@@ -33,74 +33,74 @@
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]
@@ -112,6 +112,8 @@
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]
@@ -126,7 +128,7 @@
# 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 # [-]
@@ -137,8 +139,8 @@
# 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
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 1f075993aa..3fb3b29274 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
@@ -39,7 +39,7 @@
truck: true
bus: true
trailer: true
- unknown: true
+ unknown: false
bicycle: true
motorcycle: true
pedestrian: true
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..d4da549dcd
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
@@ -0,0 +1,85 @@
+# 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: false
+ enable_rtc: true
+ enable_simultaneous_execution_as_approved_module: false
+ enable_simultaneous_execution_as_candidate_module: true
+ priority: 7
+ max_module_size: 1
+
+ external_request_lane_change_right:
+ enable_module: false
+ enable_rtc: true
+ enable_simultaneous_execution_as_approved_module: false
+ enable_simultaneous_execution_as_candidate_module: true
+ priority: 7
+ max_module_size: 1
+
+ lane_change_left:
+ enable_module: true
+ enable_rtc: true
+ enable_simultaneous_execution_as_approved_module: true
+ enable_simultaneous_execution_as_candidate_module: true
+ priority: 6
+ max_module_size: 1
+
+ lane_change_right:
+ enable_module: true
+ enable_rtc: true
+ enable_simultaneous_execution_as_approved_module: true
+ enable_simultaneous_execution_as_candidate_module: true
+ priority: 6
+ max_module_size: 1
+
+ start_planner:
+ enable_module: true
+ enable_rtc: true
+ enable_simultaneous_execution_as_approved_module: true
+ enable_simultaneous_execution_as_candidate_module: false
+ priority: 0
+ max_module_size: 1
+
+ side_shift:
+ enable_module: true
+ enable_rtc: true
+ enable_simultaneous_execution_as_approved_module: false
+ enable_simultaneous_execution_as_candidate_module: false
+ priority: 2
+ max_module_size: 1
+
+ goal_planner:
+ enable_module: true
+ enable_rtc: 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_rtc: true
+ enable_simultaneous_execution_as_approved_module: true
+ enable_simultaneous_execution_as_candidate_module: false
+ priority: 5
+ max_module_size: 1
+
+ # 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
+ max_module_size: 1
+
+ dynamic_avoidance:
+ enable_module: false
+ enable_rtc: true
+ enable_simultaneous_execution_as_approved_module: true
+ enable_simultaneous_execution_as_candidate_module: true
+ 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 7a0ef047f7..0ce5b9e519 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
@@ -3,7 +3,7 @@
forward_path_length: 1000.0
backward_path_length: 5.0
stop_line_extend_length: 5.0
- max_accel: -2.8
+ max_accel: -3.0
max_jerk: -5.0
system_delay: 0.5
delay_response_time: 0.5
@@ -17,10 +17,10 @@
- behavior_velocity_planner::BlindSpotModulePlugin
- behavior_velocity_planner::DetectionAreaModulePlugin
# behavior_velocity_planner::VirtualTrafficLightModulePlugin
- - behavior_velocity_planner::NoStoppingAreaModulePlugin # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom.
+ # behavior_velocity_planner::NoStoppingAreaModulePlugin # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom.
- behavior_velocity_planner::StopLineModulePlugin # Permanent stop line module should be after no stopping area
# behavior_velocity_planner::OcclusionSpotModulePlugin
# behavior_velocity_planner::RunOutModulePlugin
# behavior_velocity_planner::SpeedBumpModulePlugin
- - behavior_velocity_planner::OutOfLaneModulePlugin
+ # behavior_velocity_planner::OutOfLaneModulePlugin
# behavior_velocity_planner::NoDrivableLaneModulePlugin
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 edd37092ba..80017d85ff 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
@@ -32,7 +32,7 @@
# param for pass judge logic
pass_judge:
- 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)
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 b430bfad4f..8848c37e14 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
@@ -34,7 +34,7 @@
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_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
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
index 69e9241ba1..2283477e40 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
+++ b/autoware_launch/config/planning/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_check_dist: 2.0
stop_duration_sec: 1.0
use_initialization_stop_line_state: true
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
index 444fa5ca65..0460e071a5 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
+++ b/autoware_launch/config/planning/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
yellow_lamp_period: 2.75
enable_pass_judge: true
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml
index f21e3d12db..07f493edcd 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml
@@ -1,5 +1,5 @@
/**:
ros__parameters:
walkway:
- stop_duration: 1.0 # [s] stop time at stop position
+ stop_duration: 0.1 # [s] stop time at stop position
stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists
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 0aa3cbd49e..4eef8f6d56 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
@@ -5,7 +5,6 @@
- "crosswalk"
- "detection_area"
- "intersection"
- - "no_stopping_area"
- "traffic_light"
- "lane_change_left"
- "lane_change_right"
@@ -20,7 +19,6 @@
- "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
new file mode 100644
index 0000000000..369b28416e
--- /dev/null
+++ b/autoware_launch/config/planning/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"
+ - "traffic_light"
+ - "lane_change_left"
+ - "lane_change_right"
+ - "avoidance_left"
+ - "avoidance_right"
+ - "goal_planner"
+ - "start_planner"
+ - "intersection_occlusion"
+
+ default_enable_list:
+ - "blind_spot"
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 b525d2914a..0abcedc8fc 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
@@ -88,8 +88,8 @@
cruise:
max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width
outside_obstacle:
- obstacle_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]
+ obstacle_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
slow_down:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml
index 73e7a578fe..e3899e3820 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml
@@ -7,34 +7,34 @@
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]
obstacle_emergency_stop_acceleration: -5.0
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 [-]
use_time_compensation_to_calc_distance: true
# 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/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
diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml
index c00203dbb6..add7a0c24e 100644
--- a/autoware_launch/config/system/component_state_monitor/topics.yaml
+++ b/autoware_launch/config/system/component_state_monitor/topics.yaml
@@ -1,3 +1,107 @@
+- module: sensing
+ mode: [online]
+ type: launch
+ args:
+ node_name_suffix: imu
+ topic: /sensing/imu/imu_data
+ topic_type: sensor_msgs/msg/Imu
+ best_effort: false
+ transient_local: false
+ warn_rate: 10.0
+ 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
@@ -51,7 +155,7 @@
timeout: 1.0
- module: perception
- mode: [online, logging_simulation]
+ mode: [online, logging_simulation, planning_simulation]
type: launch
args:
node_name_suffix: obstacle_segmentation_pointcloud
@@ -59,7 +163,7 @@
topic_type: sensor_msgs/msg/PointCloud2
best_effort: true
transient_local: false
- warn_rate: 5.0
+ warn_rate: 3.0
error_rate: 1.0
timeout: 1.0
@@ -72,7 +176,20 @@
topic_type: autoware_auto_perception_msgs/msg/PredictedObjects
best_effort: false
transient_local: false
- warn_rate: 5.0
+ warn_rate: 3.0
+ error_rate: 1.0
+ timeout: 1.0
+
+- module: perception
+ mode: [online]
+ type: autonomous
+ args:
+ node_name_suffix: traffic_light_recognition_objects
+ topic: /perception/traffic_light_recognition/traffic_signals
+ topic_type: autoware_auto_perception_msgs/msg/TrafficSignalArray
+ best_effort: false
+ transient_local: false
+ warn_rate: 3.0
error_rate: 1.0
timeout: 1.0
@@ -98,7 +215,7 @@
topic_type: autoware_auto_planning_msgs/msg/Trajectory
best_effort: false
transient_local: false
- warn_rate: 5.0
+ warn_rate: 3.0
error_rate: 1.0
timeout: 1.0
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 43edd109b5..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
@@ -14,4 +14,38 @@
/**:
ros__parameters:
required_diags:
- dummy_diag_empty: default
+ #control
+ joy_controller_connection: default
+
+ #localization
+ localization_accuracy: default
+ ndt_scan_matcher: default
+
+ #system
+ bagpacker: default
+ NTP Offset: default
+ CPU Temperature: default
+ CPU Usage: default
+ CPU Thermal Throttling: default
+ CPU Frequency: default
+ CPU Load Average: default
+ GPU Temperature: default
+ GPU Usage: default
+ GPU Memory Usage: default
+ GPU Thermal Throttling: default
+ Memory Usage: default
+ Network Usage: default
+ Network Traffic: default
+ HDD Temperature: default
+ HDD Usage: default
+ HDD PowerOnHours: default
+ HDD TotalDataWritten: default
+ High-load: default
+ High-mem: default
+ Tasks Summary: default
+
+ #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 e96e3b3b05..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
@@ -9,3 +9,41 @@
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
+ 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
+ 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..6e9f6a7bc3
--- /dev/null
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
@@ -0,0 +1,57 @@
+# 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/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/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/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+
+ /autoware/vehicle/node_alive_monitoring: 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
+ /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
+
+ /autoware/system/node_alive_monitoring: default
+ /autoware/system/emergency_stop_operation: default
+
+ /autoware/vehicle/node_alive_monitoring: 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 71dc2ac600..65ca416834 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -18,8 +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" }
@@ -32,21 +33,23 @@
/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: "none", spf_at: "none" }
/autoware/vehicle/node_alive_monitoring: 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" }
+
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/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
index 9708456df4..010e667483 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -18,7 +18,7 @@
required_modules:
autonomous_driving:
/autoware/control/autonomous_driving/node_alive_monitoring: default
- /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
+ # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp
/autoware/control/control_command_gate/node_alive_monitoring: default
/autoware/localization/node_alive_monitoring: default
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/hdd_monitor.param.yaml b/autoware_launch/config/system/system_monitor/hdd_monitor.param.yaml
index d818d848be..cdb48f73e9 100644
--- a/autoware_launch/config/system/system_monitor/hdd_monitor.param.yaml
+++ b/autoware_launch/config/system/system_monitor/hdd_monitor.param.yaml
@@ -6,12 +6,12 @@
disk0:
name: /
temp_attribute_id: 0xC2
- temp_warn: 55.0
- temp_error: 70.0
+ 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: 4915200 # =150TB (1unit=32MB)
+ total_data_written_warn: 11417920 # =440TB (1unit=32MB)
total_data_written_safety_factor: 0.05
recovered_error_attribute_id: 0xC3
recovered_error_warn: 1
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
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index f702747ec9..87451f294c 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -32,12 +32,42 @@
+
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
@@ -89,11 +119,20 @@
+
+
+
+
+
-
+
+
+
+
+
diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
index 1c7b520108..bc582fbb9a 100644
--- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
@@ -1,7 +1,8 @@
-
-
+
+
+
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index 7b3169eacd..5a1540495e 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -3,7 +3,7 @@
-
+
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index e167dd91ec..7acfa30e6d 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -7,7 +7,7 @@
-
+
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index e4bedaed8a..cb1be276c0 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -11,6 +11,13 @@
+
+
+
+
+
+
+
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index ad55c76d82..1d8c6dfa08 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -2,10 +2,12 @@
-
+
+
+
-
-
+
+
@@ -26,7 +28,7 @@
-
+
@@ -40,7 +42,7 @@
-
+
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 @@
-
+
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..00955460ea 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -24,10 +24,38 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
@@ -52,9 +80,12 @@
+
+
+
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 6621c15ea3..c00184bd5b 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -31,6 +31,11 @@
+
+
+
+
+
@@ -64,6 +69,11 @@
+
+
+
+
+
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 941399db7e..c295b0c53a 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -24,6 +24,10 @@
+
+
+
+
@@ -53,6 +57,10 @@
+
+
+
+
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 97f73bc672..10a7f72624 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:
@@ -2561,6 +2563,8 @@ Visualization Manager:
X: 0
Y: 0
Window Geometry:
+ AutowareScreenCapturePanel:
+ collapsed: false
AutowareStatePanel:
collapsed: false
Displays: