Merge pull request autowarefoundation#774 from tier4/sync-beta-upstre…

…am-gen2 chore: sync beta upstream for gen2 branch
technolojin · Sep 2, 2024 · a245488 · a245488
2 parents 849a885 + 19b8f7d
commit a245488
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Showing 2 changed files with 14 additions and 3 deletions.
diff --git a/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -28,6 +28,7 @@
             hard_margin_for_parked_vehicle: 0.7         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
           envelope_buffer_margin: 0.1                   # [m] FOR DEVELOPER
+          th_error_eclipse_long_radius : 0.6            # [m]
         truck:
           th_moving_speed: 1.0
           th_moving_time: 2.0
@@ -38,6 +39,7 @@
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
+          th_error_eclipse_long_radius : 0.6
         bus:
           th_moving_speed: 1.0
           th_moving_time: 2.0
@@ -48,6 +50,7 @@
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
+          th_error_eclipse_long_radius : 0.6
         trailer:
           th_moving_speed: 1.0
           th_moving_time: 2.0
@@ -58,6 +61,7 @@
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
+          th_error_eclipse_long_radius : 0.6
         unknown:
           th_moving_speed: 0.28
           th_moving_time: 1.0
@@ -68,6 +72,7 @@
             hard_margin_for_parked_vehicle: -0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
+          th_error_eclipse_long_radius : 0.6
         bicycle:
           th_moving_speed: 0.28
           th_moving_time: 1.0
@@ -78,6 +83,7 @@
             hard_margin_for_parked_vehicle: 0.5
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         motorcycle:
           th_moving_speed: 1.0
           th_moving_time: 1.0
@@ -88,6 +94,7 @@
             hard_margin_for_parked_vehicle: 0.3
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         pedestrian:
           th_moving_speed: 0.28
           th_moving_time: 1.0
@@ -98,6 +105,7 @@
             hard_margin_for_parked_vehicle: 0.5
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         lower_distance_for_polygon_expansion: 30.0      # [m] FOR DEVELOPER
         upper_distance_for_polygon_expansion: 100.0     # [m] FOR DEVELOPER
 
@@ -148,10 +156,10 @@
             th_moving_distance: 1.0                     # [m]
           ignore_area:
             traffic_light:
-              front_distance: 100.0                     # [m]
+              front_distance: 20.0                      # [m]
             crosswalk:
-              front_distance: 30.0                      # [m]
-              behind_distance: 30.0                     # [m]
+              front_distance: 20.0                      # [m]
+              behind_distance: 0.0                      # [m]
           wait_and_see:
             target_behaviors: ["MERGING", "DEVIATING"]  # [-]
             th_closest_distance: 10.0                   # [m]
@@ -243,6 +251,8 @@
       # For cancel maneuver
       cancel:
         enable: true                                    # [-]
+        force:
+          duration_time: 2.0                            # [s]
 
       # For yield maneuver
       yield:

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -13,6 +13,7 @@
     description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
   />
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>