chore: sync awf-latest

launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml

@@ -267,6 +267,8 @@
       <arg name="input/image7" value="$(var image_raw7)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="output/objects" value="objects"/>
+      <arg name="model_name" value="$(var lidar_detection_model)"/>
+      <arg name="model_path" value="$(var pointpainting_model_path)"/>
       <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
       <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
     </include>

launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml

@@ -296,6 +296,8 @@
       <arg name="input/image7" value="$(var image_raw7)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="output/objects" value="objects"/>
+      <arg name="model_name" value="$(var lidar_detection_model)"/>
+      <arg name="model_path" value="$(var pointpainting_model_path)"/>
       <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
       <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
     </include>

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -34,6 +34,9 @@
   <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
   <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
 
+  <!-- PointPainting model parameters -->
+  <arg name="pointpainting_model_path" default="$(var data_path)/image_projection_based_fusion"/>
+
   <!-- Common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>

perception/radar_tracks_msgs_converter/README.md

@@ -23,7 +23,7 @@ This package converts from [radar_msgs/msg/RadarTracks](https://github.com/ros-p
 - `new_frame_id` (string): The header frame of the output topic.
   - Default parameter is "base_link"
 - `use_twist_compensation` (bool): If the parameter is true, then the twist of the output objects' topic is compensated by ego vehicle motion.
-  - Default parameter is "false"
+  - Default parameter is "true"
 - `use_twist_yaw_compensation` (bool): If the parameter is true, then the ego motion compensation will also consider yaw motion of the ego vehicle.
   - Default parameter is "false"
 - `static_object_speed_threshold` (float): Specify the threshold for static object speed which determines the flag `is_stationary` [m/s].

perception/radar_tracks_msgs_converter/launch/radar_tracks_msgs_converter.launch.xml

@@ -4,7 +4,7 @@
   <arg name="output/radar_detected_objects" default="output/radar_detected_objects"/>
   <arg name="output/radar_tracked_objects" default="output/radar_tracked_objects"/>
   <arg name="update_rate_hz" default="20.0"/>
-  <arg name="use_twist_compensation" default="false"/>
+  <arg name="use_twist_compensation" default="true"/>
   <arg name="use_twist_yaw_compensation" default="false"/>
   <arg name="static_object_speed_threshold" default="1.0"/>
 

planning/behavior_path_planner/src/behavior_path_planner_node.cpp

@@ -784,6 +784,7 @@ void BehaviorPathPlannerNode::onTrafficSignals(const TrafficSignalArray::ConstSh
 {
   std::lock_guard<std::mutex> lock(mutex_pd_);
 
+  planner_data_->traffic_light_id_map.clear();
   for (const auto & signal : msg->signals) {
     TrafficSignalStamped traffic_signal;
     traffic_signal.stamp = msg->stamp;

planning/behavior_velocity_blind_spot_module/config/blind_spot.param.yaml

@@ -8,4 +8,5 @@
       max_future_movement_time: 10.0 # [second]
       threshold_yaw_diff: 0.523 # [rad]
       adjacent_extend_width: 1.5 # [m]
+      opposite_adjacent_extend_width: 1.5 # [m]
       enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval

planning/behavior_velocity_blind_spot_module/src/debug.cpp

@@ -145,14 +145,12 @@ visualization_msgs::msg::MarkerArray BlindSpotModule::createDebugMarkerArray()
 
   appendMarkerArray(
     createLaneletPolygonsMarkerArray(
-      debug_data_.conflict_areas_for_blind_spot, "conflict_area_for_blind_spot", module_id_, 0.0,
-      0.5, 0.5),
+      debug_data_.conflict_areas, "conflict_area", module_id_, 0.0, 0.5, 0.5),
     &debug_marker_array, now);
 
   appendMarkerArray(
     createLaneletPolygonsMarkerArray(
-      debug_data_.detection_areas_for_blind_spot, "detection_area_for_blind_spot", module_id_, 0.5,
-      0.0, 0.0),
+      debug_data_.detection_areas, "detection_area", module_id_, 0.5, 0.0, 0.0),
     &debug_marker_array, now);
 
   appendMarkerArray(

planning/behavior_velocity_blind_spot_module/src/manager.cpp

@@ -48,6 +48,8 @@ BlindSpotModuleManager::BlindSpotModuleManager(rclcpp::Node & node)
     getOrDeclareParameter<double>(node, ns + ".threshold_yaw_diff");
   planner_param_.adjacent_extend_width =
     getOrDeclareParameter<double>(node, ns + ".adjacent_extend_width");
+  planner_param_.opposite_adjacent_extend_width =
+    getOrDeclareParameter<double>(node, ns + ".opposite_adjacent_extend_width");
 }
 
 void BlindSpotModuleManager::launchNewModules(