diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
index d4c49b7e8e..144449ce75 100644
--- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
+++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -1,102 +1,114 @@
/**:
ros__parameters:
- # Vehicle reference frame
- base_frame: "base_link"
+ frame:
+ # Vehicle reference frame
+ base_frame: "base_link"
- # NDT reference frame
- ndt_base_frame: "ndt_base_link"
+ # NDT reference frame
+ ndt_base_frame: "ndt_base_link"
- # map frame
- map_frame: "map"
+ # Map frame
+ map_frame: "map"
- # Subscriber queue size
- input_sensor_points_queue_size: 1
- # The maximum difference between two consecutive
- # transformations in order to consider convergence
- trans_epsilon: 0.01
+ ndt:
+ # The maximum difference between two consecutive
+ # transformations in order to consider convergence
+ trans_epsilon: 0.01
- # The newton line search maximum step length
- step_size: 0.1
+ # The newton line search maximum step length
+ step_size: 0.1
- # The ND voxel grid resolution
- resolution: 2.0
+ # The ND voxel grid resolution
+ resolution: 2.0
- # The number of iterations required to calculate alignment
- max_iterations: 30
+ # The number of iterations required to calculate alignment
+ max_iterations: 30
- # Converged param type
- # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD
- converged_param_type: 1
+ # Number of threads used for parallel computing
+ num_threads: 4
- # If converged_param_type is 0
- # Threshold for deciding whether to trust the estimation result
- converged_param_transform_probability: 3.0
+ regularization:
+ enable: false
- # If converged_param_type is 1
- # Threshold for deciding whether to trust the estimation result
- converged_param_nearest_voxel_transformation_likelihood: 2.3
+ # Regularization scale factor
+ scale_factor: 0.01
- # The number of particles to estimate initial pose
- initial_estimate_particles_num: 200
- # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator).
- # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0.
- # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search.
- n_startup_trials: 20
+ initial_pose_estimation:
+ # The number of particles to estimate initial pose
+ particles_num: 200
- # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
- lidar_topic_timeout_sec: 1.0
+ # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator).
+ # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0.
+ # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search.
+ n_startup_trials: 20
- # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec]
- initial_pose_timeout_sec: 1.0
- # Tolerance of distance difference between two initial poses used for linear interpolation. [m]
- initial_pose_distance_tolerance_m: 10.0
+ validation:
+ # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
+ lidar_topic_timeout_sec: 1.0
- # The execution time which means probably NDT cannot matches scans properly. [ms]
- critical_upper_bound_exe_time_ms: 100.0
+ # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec]
+ initial_pose_timeout_sec: 1.0
- # Number of threads used for parallel computing
- num_threads: 4
+ # Tolerance of distance difference between two initial poses used for linear interpolation. [m]
+ initial_pose_distance_tolerance_m: 10.0
- # The covariance of output pose
- # Note that this covariance matrix is empirically derived
- output_pose_covariance:
- [
- 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0,
- 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0,
- 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0,
- 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625,
- ]
+ # The execution time which means probably NDT cannot matches scans properly. [ms]
+ critical_upper_bound_exe_time_ms: 100.0
- # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value)
- use_covariance_estimation: false
- # Offset arrangement in covariance estimation [m]
- # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.
- initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0]
- initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0]
+ score_estimation:
+ # Converged param type
+ # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD
+ converged_param_type: 1
- # Regularization switch
- regularization_enabled: false
+ # If converged_param_type is 0
+ # Threshold for deciding whether to trust the estimation result
+ converged_param_transform_probability: 3.0
- # Regularization scale factor
- regularization_scale_factor: 0.01
+ # If converged_param_type is 1
+ # Threshold for deciding whether to trust the estimation result
+ converged_param_nearest_voxel_transformation_likelihood: 2.3
- # Dynamic map loading distance
- dynamic_map_loading_update_distance: 20.0
+ # Scan matching score based on no ground LiDAR scan
+ no_ground_points:
+ enable: false
- # Dynamic map loading loading radius
- dynamic_map_loading_map_radius: 150.0
+ # If lidar_point.z - base_link.z <= this threshold , the point will be removed
+ z_margin_for_ground_removal: 0.8
- # Radius of input LiDAR range (used for diagnostics of dynamic map loading)
- lidar_radius: 100.0
- # A flag for using scan matching score based on no ground LiDAR scan
- estimate_scores_by_no_ground_points: false
+ covariance:
+ # The covariance of output pose
+ # Note that this covariance matrix is empirically derived
+ output_pose_covariance:
+ [
+ 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625,
+ ]
- # If lidar_point.z - base_link.z <= this threshold , the point will be removed
- z_margin_for_ground_removal: 0.8
+ # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value)
+ covariance_estimation:
+ enable: false
+
+ # Offset arrangement in covariance estimation [m]
+ # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.
+ initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0]
+ initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0]
+
+
+ dynamic_map_loading:
+ # Dynamic map loading distance
+ update_distance: 20.0
+
+ # Dynamic map loading loading radius
+ map_radius: 150.0
+
+ # Radius of input LiDAR range (used for diagnostics of dynamic map loading)
+ lidar_radius: 100.0
diff --git a/autoware_launch/config/localization/twist2accel.param.yaml b/autoware_launch/config/localization/twist2accel.param.yaml
new file mode 100644
index 0000000000..e58e029248
--- /dev/null
+++ b/autoware_launch/config/localization/twist2accel.param.yaml
@@ -0,0 +1,4 @@
+/**:
+ ros__parameters:
+ use_odom: true
+ accel_lowpass_gain: 0.9
diff --git a/autoware_launch/config/map/map_projection_loader.param.yaml b/autoware_launch/config/map/map_projection_loader.param.yaml
new file mode 100644
index 0000000000..6ec300309a
--- /dev/null
+++ b/autoware_launch/config/map/map_projection_loader.param.yaml
@@ -0,0 +1,4 @@
+/**:
+ ros__parameters:
+ map_projector_info_path: $(var map_projector_info_path)
+ lanelet2_map_path: $(var lanelet2_map_path)
diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml
index ed378ffa44..baea087c96 100644
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml
@@ -29,9 +29,9 @@
max_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
- 0.000, 0.000, 36.000, 0.000, inf, 0.000, 0.000, 0.000, #CAR
- 0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #TRUCK
- 0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #BUS
+ 0.000, 0.000, 36.000, 0.000, 999.999, 0.000, 0.000, 0.000, #CAR
+ 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #TRUCK
+ 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #BUS
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
diff --git a/autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml
new file mode 100644
index 0000000000..f52edf641f
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml
@@ -0,0 +1,4 @@
+/**:
+ ros__parameters:
+ angle_threshold: 1.2210
+ velocity_threshold: 1.5
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index 7ec292a381..70170a5fef 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -25,6 +25,7 @@
+
diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
index 187c63b7c7..455b848c63 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 @@
+
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 2940bd614e..a84911a414 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -80,7 +80,11 @@
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml"
/>
+