From 0f7d32320f8cf4f52efe17a62a346b097b4de859 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 9 Feb 2023 10:19:12 +0900 Subject: [PATCH 1/7] feat(autoware_launch): add option to disable path update during avoidance (#198) Signed-off-by: Takayuki Murooka --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 40de19bd6c..77e14f70f8 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 @@ -17,6 +17,7 @@ enable_update_path_when_object_is_gone: false enable_safety_check: false enable_yield_maneuver: false + disable_path_update: false # for debug publish_debug_marker: false From 1a934fdc948a18592c58d05d58c6faca9ead3252 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 9 Feb 2023 14:13:49 +0300 Subject: [PATCH 2/7] ci(pre-commit): autoupdate (#197) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .pre-commit-config.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index c576567788..2aa48be7ab 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -60,7 +60,7 @@ repos: - id: isort - repo: https://github.com/psf/black - rev: 22.12.0 + rev: 23.1.0 hooks: - id: black args: [--line-length=100] From 6fe7144c4d8e7909b58c5abbccd59c8c200e0618 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Thu, 9 Feb 2023 14:15:06 +0300 Subject: [PATCH 3/7] chore: sync param files (#161) Signed-off-by: GitHub Co-authored-by: takayuki5168 --- .../drivable_area_expansion.param.yaml | 26 ++++++++++++++++ .../rtc_auto_mode_manager.param.yaml | 31 +++++++++++++++++++ 2 files changed, 57 insertions(+) create mode 100644 autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml create mode 100644 autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml diff --git a/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml new file mode 100644 index 0000000000..29d577a7ad --- /dev/null +++ b/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -0,0 +1,26 @@ +/**: + ros__parameters: + avoidance: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] + lane_change: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] + lane_following: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] + pull_out: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] + pull_over: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] + side_shift: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] diff --git a/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml new file mode 100644 index 0000000000..0e3391e69e --- /dev/null +++ b/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml @@ -0,0 +1,31 @@ +/**: + ros__parameters: + module_list: + - "blind_spot" + - "crosswalk" + - "detection_area" + - "intersection" + - "no_stopping_area" + - "traffic_light" + - "ext_request_lane_change_left" + - "ext_request_lane_change_right" + - "lane_change_left" + - "lane_change_right" + - "avoidance_left" + - "avoidance_right" + - "pull_over" + - "pull_out" + + default_enable_list: + - "blind_spot" + - "crosswalk" + - "detection_area" + - "intersection" + - "no_stopping_area" + - "traffic_light" + - "lane_change_left" + - "lane_change_right" + - "avoidance_left" + - "avoidance_right" + - "pull_over" + - "pull_out" From 0c92dd01b6287da9b79d2613fe03231d445d15ef Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Thu, 9 Feb 2023 14:15:36 +0300 Subject: [PATCH 4/7] chore: sync files (#142) Signed-off-by: GitHub Co-authored-by: kenji-miyake --- .github/workflows/pre-commit.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml index 7fd1cc90fe..bda722c87e 100644 --- a/.github/workflows/pre-commit.yaml +++ b/.github/workflows/pre-commit.yaml @@ -5,7 +5,7 @@ on: jobs: pre-commit: - if: ${{ github.event.repository.private }} + if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories runs-on: ubuntu-latest steps: - name: Generate token From f164e64a5e1650a0cca54e24b6f0cf58847f30e8 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 13 Feb 2023 14:57:04 +0900 Subject: [PATCH 5/7] fix(behavior_velocity_planner): continue collision checking after pass judge (#203) fix(behavior_velocity_planner): revert part of #2719 Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 9ed153bb1c..c46861d32a 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 @@ -3,6 +3,7 @@ intersection: state_transit_margin_time: 1.0 stop_line_margin: 3.0 + keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length. stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-) stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h From 1a52b77d9eaf140039f939cbc6777899f1f487ec Mon Sep 17 00:00:00 2001 From: melike tanrikulu <41450930+meliketanrikulu@users.noreply.github.com> Date: Mon, 13 Feb 2023 18:12:08 +0300 Subject: [PATCH 6/7] chore: add lanelet2 map config (#169) * add_lanelet2_map_config to autoware_launch config Signed-off-by: melike * set projector type as default Signed-off-by: meliketanrikulu --------- Signed-off-by: melike Signed-off-by: meliketanrikulu --- autoware_launch/config/map/lanelet2_map_loader.param.yaml | 7 +++++++ .../launch/components/tier4_map_component.launch.xml | 1 + 2 files changed, 8 insertions(+) create mode 100755 autoware_launch/config/map/lanelet2_map_loader.param.yaml diff --git a/autoware_launch/config/map/lanelet2_map_loader.param.yaml b/autoware_launch/config/map/lanelet2_map_loader.param.yaml new file mode 100755 index 0000000000..e3a4fdf81c --- /dev/null +++ b/autoware_launch/config/map/lanelet2_map_loader.param.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + lanelet2_map_projector_type: MGRS # Options: MGRS, UTM + latitude: 40.81187906 # Latitude of map_origin, using in UTM + longitude: 29.35810110 # Longitude of map_origin, using in UTM + + center_line_resolution: 5.0 # [m] diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml index cba9c3c0a2..cc015ebbed 100644 --- a/autoware_launch/launch/components/tier4_map_component.launch.xml +++ b/autoware_launch/launch/components/tier4_map_component.launch.xml @@ -8,5 +8,6 @@ + From 489cfc7532891e4fff6f11ec3a9c8fd0abd122ef Mon Sep 17 00:00:00 2001 From: beyzanurkaya <32412808+beyzanurkaya@users.noreply.github.com> Date: Tue, 14 Feb 2023 10:09:01 +0300 Subject: [PATCH 7/7] feat(autoware_launch): add param for configurable lateral_distance (#140) add param for configurable lateral_distance & debug flag Signed-off-by: beyza Co-authored-by: beyza --- .../obstacle_stop_planner.param.yaml | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index 93f9d522fb..d707a73bce 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -7,6 +7,8 @@ voxel_grid_x: 0.05 # voxel grid x parameter for filtering pointcloud [m] voxel_grid_y: 0.05 # voxel grid y parameter for filtering pointcloud [m] voxel_grid_z: 100000.0 # voxel grid z parameter for filtering pointcloud [m] + use_predicted_objects: False # whether to use predicted objects [-] + publish_obstacle_polygon: False # whether to publish obstacle polygon [-] stop_planner: # params for stop position @@ -17,7 +19,10 @@ # params for detection area detection_area: - lateral_margin: 0.0 # margin of vehicle footprint [m] + lateral_margin: 0.0 # margin [m] + vehicle_lateral_margin: 0.0 # margin of vehicle footprint [m] + pedestrian_lateral_margin: 0.0 # margin of pedestrian footprint [m] + unknown_lateral_margin: 0.0 # margin of unknown footprint [m] step_length: 1.0 # step length for pointcloud search range [m] extend_distance: 0.0 # extend trajectory to consider after goal obstacle in the extend_distance [m] @@ -33,6 +38,9 @@ # params for detection area detection_area: lateral_margin: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m] + vehicle_lateral_margin: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m] + pedestrian_lateral_margin: 1.0 # offset from pedestrian side edge for expanding the search area of the surrounding point cloud [m] + unknown_lateral_margin: 1.0 # offset from unknown side edge for expanding the search area of the surrounding point cloud [m] # params for velocity target_velocity: