diff --git a/.github/labeler.yaml b/.github/labeler.yaml new file mode 100644 index 0000000000..412523c3a3 --- /dev/null +++ b/.github/labeler.yaml @@ -0,0 +1,33 @@ +"type:ci": + - .github/**/* + - "*.json" + - "*.yaml" + - "*.cfg" + - .clang-format + - .gitignore + - .prettierignore +"type:documentation": + - "**/*.md" + - "**/*.rst" + - "**/*.jpg" + - "**/*.png" + - "**/*.svg" +"component:control": + - "**/*control*" +"component:localization": + - "**/*localization*" +"component:map": + - "**/*map*" +"component:perception": + - "**/*perception*" +"component:planning": + - "**/*planning*" +"component:sensing": + - "**/*sensing*" +"component:simulation": + - "**/*simulator*" +"component:system": + - "**/*system*" +"component:ui": + - "**/*.rviz" + - "**/rviz" diff --git a/.github/workflows/pr-labeler.yaml b/.github/workflows/pr-labeler.yaml new file mode 100644 index 0000000000..d45067bee5 --- /dev/null +++ b/.github/workflows/pr-labeler.yaml @@ -0,0 +1,16 @@ +name: pr-labeler +on: + pull_request_target: + types: + - opened + - edited + - synchronize + +jobs: + label: + runs-on: ubuntu-latest + steps: + - uses: actions/labeler@v4 + with: + repo-token: ${{ secrets.GITHUB_TOKEN }} + configuration-path: .github/labeler.yaml diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 5ad60de003..4197506ed9 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -34,7 +34,7 @@ repos: - id: yamllint - repo: https://github.com/tier4/pre-commit-hooks-ros - rev: v0.8.0 + rev: v0.9.0 hooks: - id: flake8-ros - id: prettier-xacro diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index c81ce46278..68a42383fe 100644 --- a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -1,22 +1,38 @@ /**: ros__parameters: - publish_debug_pointcloud: false + # Ego path calculation use_predicted_trajectory: true - use_imu_path: true + use_imu_path: false + min_generated_path_length: 0.5 + imu_prediction_time_horizon: 1.5 + imu_prediction_time_interval: 0.1 + mpc_prediction_time_horizon: 1.5 + mpc_prediction_time_interval: 0.1 + + # Debug + publish_debug_pointcloud: false + + # Point cloud partitioning detection_range_min_height: 0.0 detection_range_max_height_margin: 0.0 voxel_grid_x: 0.05 voxel_grid_y: 0.05 voxel_grid_z: 100000.0 - min_generated_path_length: 0.5 + + # Point cloud cropping expand_width: 0.1 + path_footprint_extra_margin: 4.0 + + # Point cloud clustering + cluster_tolerance: 0.1 #[m] + minimum_cluster_size: 10 + maximum_cluster_size: 10000 + + # RSS distance collision check longitudinal_offset: 2.0 t_response: 1.0 a_ego_min: -3.0 a_obj_min: -1.0 - imu_prediction_time_horizon: 1.5 - imu_prediction_time_interval: 0.1 - mpc_prediction_time_horizon: 1.5 - mpc_prediction_time_interval: 0.1 collision_keeping_sec: 2.0 + previous_obstacle_keep_time: 1.0 aeb_hz: 10.0 diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 1ebe5cfd6d..2684fd1604 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -13,13 +13,13 @@ pose_additional_delay: 0.0 pose_measure_uncertainty_time: 0.01 pose_smoothing_steps: 5 - pose_gate_dist: 10000.0 + pose_gate_dist: 49.5 # corresponds to significance level = 10^-10 twist_measurement: # for twist measurement twist_additional_delay: 0.0 twist_smoothing_steps: 2 - twist_gate_dist: 10000.0 + twist_gate_dist: 46.1 # corresponds to significance level = 10^-10 process_noise: # for process model diff --git a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml index 77843e379b..69e0e77bba 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml @@ -47,7 +47,7 @@ # 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 + n_startup_trials: 100 validation: diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml index 5b86b8e81d..acf5f75163 100644 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml @@ -2,4 +2,5 @@ ros__parameters: fuse_unknown_only: true min_cluster_size: 2 + max_cluster_size: 20 cluster_2d_tolerance: 0.5 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml index 7d8bff69b4..0777ddb92b 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml @@ -1,28 +1,20 @@ /**: ros__parameters: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - rename_car_to_truck_and_bus: true - point_feature_size: 4 - max_voxel_size: 40000 - point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] - voxel_size: [0.32, 0.32, 8.0] - downsample_factor: 1 - encoder_in_feature_size: 9 - # post-process params - circle_nms_dist_threshold: 0.3 - iou_nms_target_class_names: ["CAR", "TRUCK", "BUS"] - iou_nms_search_distance_2d: 10.0 - iou_nms_threshold: 0.1 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - score_threshold: 0.35 - has_variance: false - has_twist: false - trt_precision: fp16 - densification_num_past_frames: 1 - densification_world_frame_id: map # weight files encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" + trt_precision: fp16 + post_process_params: + # post-process params + circle_nms_dist_threshold: 0.5 + iou_nms_target_class_names: ["CAR"] + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + densification_params: + world_frame_id: map + num_past_frames: 1 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml index 35e11e61e9..0777ddb92b 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml @@ -1,27 +1,20 @@ /**: ros__parameters: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 4 - max_voxel_size: 40000 - point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] - voxel_size: [0.32, 0.32, 10.0] - downsample_factor: 2 - encoder_in_feature_size: 9 - # post-process params - circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] - iou_nms_search_distance_2d: 10.0 - iou_nms_threshold: 0.1 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - score_threshold: 0.35 - has_variance: false - has_twist: false - trt_precision: fp16 - densification_num_past_frames: 1 - densification_world_frame_id: map # weight files encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" + trt_precision: fp16 + post_process_params: + # post-process params + circle_nms_dist_threshold: 0.5 + iou_nms_target_class_names: ["CAR"] + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + densification_params: + world_frame_id: map + num_past_frames: 1 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 deleted file mode 100644 index baea087c96..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml +++ /dev/null @@ -1,38 +0,0 @@ -/**: - ros__parameters: - allow_remapping_by_area_matrix: - # NOTE(kl): We turn all vehicles into trailers if they go over 3x12 [m^2]. - # NOTE(kl): We turn cars into trucks if they have an area between 2.2 x 5.5 and 3.0 * 12.0 [m^2] - # row: original class. column: class to remap to - #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN - [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN - 0, 0, 1, 0, 1, 0, 0, 0, #CAR - 0, 0, 0, 0, 1, 0, 0, 0, #TRUCK - 0, 0, 0, 0, 1, 0, 0, 0, #BUS - 0, 0, 0, 0, 0, 0, 0, 0, #TRAILER - 0, 0, 0, 0, 0, 0, 0, 0, #MOTORBIKE - 0, 0, 0, 0, 0, 0, 0, 0, #BICYCLE - 0, 0, 0, 0, 0, 0, 0, 0] #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 - 0.000, 0.000, 12.100, 0.000, 36.000, 0.000, 0.000, 0.000, #CAR - 0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #TRUCK - 0.000, 0.000, 0.000, 0.000, 36.000, 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 - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN - - - 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, 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 - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml old mode 100755 new mode 100644 index 53ac6f4caf..de46b6dd74 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml @@ -1,33 +1,21 @@ /**: ros__parameters: - trt_precision: fp16 encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" - - model_params: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle - max_voxel_size: 40000 - point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] - voxel_size: [0.32, 0.32, 8.0] - downsample_factor: 1 - encoder_in_feature_size: 12 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - has_variance: false - has_twist: false - densification_params: - world_frame_id: "map" - num_past_frames: 0 + trt_precision: fp16 post_process_params: # post-process params circle_nms_dist_threshold: 0.3 iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 - score_threshold: 0.35 + score_threshold: 0.45 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + densification_params: + world_frame_id: "map" + num_past_frames: 1 omp_params: # omp params num_threads: 1 diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml index 7ea6217b1f..83778f14ab 100644 --- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml +++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml @@ -27,6 +27,9 @@ timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s] values of map # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8 + use_crosswalk_user_history: + match_lost_and_appeared_users: false + remember_lost_users: false # parameters for lc prediction lane_change_detection: diff --git a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml index f9a1c4f930..878bea4cd8 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml @@ -12,6 +12,10 @@ map_length_x: 150.0 # [m] map_length_y: 150.0 # [m] + # downsample input pointcloud + downsample_input_pointcloud: true + downsample_voxel_size: 0.25 # [m] + # each grid map parameters ogm_creation_config: height_filter: @@ -20,7 +24,7 @@ max_height: 2.0 enable_single_frame_mode: true # use sensor pointcloud to filter obstacle pointcloud - filter_obstacle_pointcloud_by_raw_pointcloud: true + filter_obstacle_pointcloud_by_raw_pointcloud: false grid_map_type: "OccupancyGridMapFixedBlindSpot" OccupancyGridMapFixedBlindSpot: diff --git a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml index e8344bee3a..f418b2aef4 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml @@ -8,6 +8,10 @@ min_height: -1.0 max_height: 2.0 + # downsample input pointcloud + downsample_input_pointcloud: true + downsample_voxel_size: 0.125 # [m] + enable_single_frame_mode: false # use sensor pointcloud to filter obstacle pointcloud filter_obstacle_pointcloud_by_raw_pointcloud: false 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 f2289d0776..e8d8be5335 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 @@ -132,6 +132,10 @@ th_shiftable_ratio: 0.8 # [-] min_road_shoulder_width: 0.5 # [m] FOR DEVELOPER + # for merging/deviating vehicle + merging_vehicle: + th_overhang_distance: 0.0 # [m] + # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. avoidance_for_ambiguous_vehicle: enable: true # [-] @@ -290,4 +294,3 @@ # for debug debug: marker: false - console: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 6dee628c59..b43179c844 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -1,6 +1,5 @@ /**: ros__parameters: - verbose: false max_iteration_num: 100 traffic_light_signal_timeout: 1.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index 0a563498be..c1f4646ef7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml @@ -12,9 +12,9 @@ bus: true trailer: true unknown: false - bicycle: false + bicycle: true motorcycle: true - pedestrian: false + pedestrian: true max_obstacle_vel: 100.0 # [m/s] min_obstacle_vel: 0.0 # [m/s] @@ -40,6 +40,7 @@ max_overtaking_object_angle: 1.05 min_oncoming_object_vel: 1.0 max_oncoming_object_angle: 0.523 + max_pedestrian_crossing_vel: 0.8 front_object: max_object_angle: 0.785 @@ -55,6 +56,10 @@ min_longitudinal_polygon_margin: 3.0 # [m] lat_offset_from_obstacle: 1.0 # [m] + margin_distance_around_pedestrian: 2.0 # [m] + predicted_path: + end_time_to_consider: 3.0 # [s] + threshold_confidence: 0.0 # [] not probability max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s] lpf_gain_for_lat_avoid_to_offset: 0.9 # [-] 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 82a586d7b7..7cada2de35 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 @@ -43,6 +43,7 @@ ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) ego_pass_later_margin_y: [13.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering + ego_min_assumed_speed: 2.0 # [m/s] assumed speed to calculate the time to collision point no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk. 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 c918aa3772..f550636892 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 @@ -101,7 +101,7 @@ creep_velocity: 0.8333 peeking_offset: -0.5 occlusion_required_clearance_distance: 55.0 - possible_object_bbox: [1.75, 2.5] + possible_object_bbox: [1.9, 2.5] ignore_parked_vehicle_speed_threshold: 0.8333 occlusion_detection_hold_time: 1.5 temporal_stop_time_before_peeking: 0.1 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml index 689775ab91..b13df72409 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml @@ -3,6 +3,7 @@ out_of_lane: # module to stop or slowdown before overlapping another lane with other objects mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc" skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane + ignore_overlaps_over_lane_changeable_lanelets: true # if true, overlaps on lane changeable lanelets are ignored threshold: time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time 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 9c2bc5106f..b7dbf48d0f 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 @@ -87,7 +87,7 @@ obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop stop: - max_lat_margin: 0.2 # lateral margin between obstacle and trajectory band with ego's width + max_lat_margin: 0.3 # lateral margin between obstacle and trajectory band with ego's width crossing_obstacle: collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml index d22ce0e6b4..0471ee13aa 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml @@ -8,25 +8,30 @@ id: 0 # id of the candidate paths for which to print/show details (e.g., footprint in rviz) preprocessing: - force_zero_initial_deviation: True # if true, initial planning starts from the reference path - force_zero_initial_heading: True # if true, initial planning starts with a heading aligned with the reference path + force_zero_initial_deviation: False # if true, initial planning starts from the reference path + force_zero_initial_heading: False # if true, initial planning starts with a heading aligned with the reference path smooth_reference_trajectory: False # if true, the reference trajectory is smoothed before being used for planning constraints: hard: max_curvature: 0.1 # [m⁻¹] maximum curvature of a sampled path min_curvature: -0.1 # [m⁻¹] minimum curvature of a sampled path + min_distance_from_obstacles: 0.5 # [m] min allowed distance from obstacles + limit_footprint_inside_drivable_area: false # if true, paths where the ego footprint exits the drivable area are rejected soft: lateral_deviation_weight: 1.0 # cost weight for lateral deviation between the end of a sampled path and the reference path length_weight: 1.0 # cost weight for the length of a sampled path curvature_weight: 1.0 # cost weight for the curvature of a sampled path + path_reuse: + maximum_lateral_deviation: 1.0 # [m] reset the previous path if ego deviates from it by more than this value + direct_reuse_distance: 2.0 # [m] a new path is generated only after ego travels this distance along the previously calculated path, or if it has become invalid sampling: enable_frenet: True enable_bezier: True resolution: 0.5 # [m] target distance between sampled path points previous_path_reuse_points_nb: 2 # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc) target_lengths: [10.0, 20.0] # [m] target lengths of the sampled paths - nb_target_lateral_positions: 2 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) - target_lateral_positions: [-0.5, 0.0, 0.5] # manual values that are only used if nb_target_lateral_positions = 0 + nb_target_lateral_positions: 0 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) + target_lateral_positions: [-2.0, -1.5, -1.0, -0.5, 0.0, 0.5, 1.0, 1.5, 2.0] # manual values that are only used if nb_target_lateral_positions = 0 frenet: # target values for the sampled "lateral deviation over longitudinal position" polynomial target_lateral_velocities: [-0.1, 0.0, 0.1] target_lateral_accelerations: [0.0] diff --git a/autoware_launch/config/simulator/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml index ac02442d70..d608a7ab11 100644 --- a/autoware_launch/config/simulator/fault_injection.param.yaml +++ b/autoware_launch/config/simulator/fault_injection.param.yaml @@ -3,7 +3,7 @@ event_diag_list: vehicle_is_out_of_lane: "lane_departure" trajectory_deviation_is_high: "trajectory_deviation" - localization_matching_score_is_low: "ndt_scan_matcher" + localization_matching_score_is_low: "scan_matching_status" localization_accuracy_is_low: "localization_error_ellipse" map_version_is_different: "map_version" trajectory_is_invalid: "trajectory_point_validation" diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index 83aa09f615..f4463dc71f 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -154,19 +154,6 @@ error_rate: 1.0 timeout: 1.0 -- module: localization - mode: [online, logging_simulation] - type: autonomous - args: - node_name_suffix: pose_estimator_pose - topic: /localization/pose_estimator/pose_with_covariance - topic_type: geometry_msgs/msg/PoseWithCovarianceStamped - best_effort: false - transient_local: false - warn_rate: 2.0 - error_rate: 1.0 - timeout: 1.0 - - module: perception mode: [online, logging_simulation, planning_simulation] type: launch 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 index 3a571d323a..9ff7c1b5fa 100644 --- 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 @@ -26,7 +26,7 @@ # /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/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/localization/performance_monitoring/localization_error_ellipse: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/localization/performance_monitoring/localization_stability: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } 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 85fa57bf4f..a7b174bafa 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 @@ -26,7 +26,7 @@ /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/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/localization/performance_monitoring/localization_error_ellipse: default /autoware/localization/performance_monitoring/localization_stability: default /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" } 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 43ddd792b8..afdc066659 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 @@ -25,7 +25,7 @@ /autoware/control/control_command_gate/node_alive_monitoring: 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/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } # /autoware/localization/performance_monitoring/localization_error_ellipse: default /autoware/map/node_alive_monitoring: default diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index fe2183434f..77cd324c51 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -21,6 +21,7 @@ + @@ -136,7 +137,7 @@ - + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index e13201aaa5..0a40f390d4 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -250,18 +250,18 @@ Visualization Manager: Enabled: true Gear Topic Test: /vehicle/status/gear_status Hazard Lights Topic: /vehicle/status/hazard_lights_status - Height: 175 - Left: 10 + Height: 100 + Left: 0 Name: SignalDisplay Signal Color: 0; 230; 120 Speed Limit Topic: /planning/scenario_planning/current_max_velocity Speed Topic: /vehicle/status/velocity_status Steering Topic: /vehicle/status/steering_status Top: 10 - Traffic Topic: /perception/traffic_light_recognition/traffic_signals + Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal Turn Signals Topic: /vehicle/status/turn_indicators_status Value: true - Width: 517 + Width: 550 Enabled: true Name: Vehicle - Class: rviz_plugins/MrmSummaryOverlayDisplay @@ -930,6 +930,14 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/mission_planning/echo_back_goal_pose Value: true + - Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay + Name: MissionDetailsDisplay + Width: 170 + Height: 100 + Right: 10 + Top: 10 + Remaining Distance and Time Topic: /planning/mission_remaining_distance_time + Enabled: true Enabled: true Name: MissionPlanning - Class: rviz_common/Group