diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 4b9105a923..2aa48be7ab 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,5 +1,5 @@ ci: - autofix_commit_msg: "ci(pre-commit): autofix" + autofix_commit_msg: "style(pre-commit): autofix" autoupdate_commit_msg: "ci(pre-commit): autoupdate" repos: @@ -37,7 +37,10 @@ repos: rev: v0.8.0 hooks: - id: flake8-ros + - id: prettier-xacro + - id: prettier-launch-xml - id: prettier-package-xml + - id: ros-include-guard - id: sort-package-xml - repo: https://github.com/shellcheck-py/shellcheck-py diff --git a/README.md b/README.md index dc6f607866..45153ea612 100644 --- a/README.md +++ b/README.md @@ -1,23 +1,3 @@ -# autoware_launcher +# autoware_launch -## Getting started - -### Using real vehicle - -```bash -ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=[vehicle_name] sensor_model:=[sensor_name] -``` - -### Using planning simulator - -```bash -ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map_folder vehicle_model:=[vehicle_name] sensor_model:=[sensor_name] -``` - -## Directory structure - -- [autoware_launch](./autoware_launch) -- [control_launch](./control_launch) -- [integration_launch](./integration_launch) -- [planning_launch](./planning_launch) -- [system_launch](./system_launch) +A launch configuration repository for [Autoware](https://github.com/autowarefoundation/autoware), containing node configurations and their parameters. diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 365b42c47a..4c29059581 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -51,6 +51,7 @@ num_threads: 4 # The covariance of output pose + # Do note that this covariance matrix is empirically derived output_pose_covariance: [ 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index af8009a416..295769acb3 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -2,6 +2,7 @@ ros__parameters: lane_change: lane_change_prepare_duration: 4.0 # [s] + lane_changing_safety_check_duration: 8.0 # [s] minimum_lane_change_prepare_distance: 2.0 # [m] minimum_lane_change_length: 16.5 # [m] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml index 0e3391e69e..8ba0a402ee 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml @@ -7,8 +7,6 @@ - "intersection" - "no_stopping_area" - "traffic_light" - - "ext_request_lane_change_left" - - "ext_request_lane_change_right" - "lane_change_left" - "lane_change_right" - "avoidance_left" diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index a6d035830c..c2aab909e8 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -152,6 +152,9 @@ num: 3 radius_ratio: 0.8 + fitting_uniform_circle: + num: 3 # must be greater than 1 + rear_drive: num_for_calculation: 3 front_radius_ratio: 1.0 diff --git a/autoware_launch/config/system/diagnostic_aggregator/system.param.yaml b/autoware_launch/config/system/diagnostic_aggregator/system.param.yaml deleted file mode 100644 index 27cbe3fed2..0000000000 --- a/autoware_launch/config/system/diagnostic_aggregator/system.param.yaml +++ /dev/null @@ -1,15 +0,0 @@ -/**: - ros__parameters: - system: - type: diagnostic_aggregator/AnalyzerGroup - path: system - analyzers: - debug_data_logger: - type: diagnostic_aggregator/AnalyzerGroup - path: debug_data_logger - analyzers: - storage_error: - type: diagnostic_aggregator/GenericAnalyzer - path: storage_error - contains: ["bagpacker"] - timeout: 3.0 diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml index 76ea50719a..652a984ce5 100644 --- a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml +++ b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml @@ -1,3 +1,5 @@ +# Default configuration for emergency handler +--- /**: ros__parameters: update_rate: 10 diff --git a/autoware_launch/config/system/diagnostic_aggregator/vehicle.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml similarity index 100% rename from autoware_launch/config/system/diagnostic_aggregator/vehicle.param.yaml rename to autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml 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 b9a5a4fa79..71dc2ac600 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 @@ -32,10 +32,11 @@ /autoware/planning/node_alive_monitoring: default /autoware/planning/performance_monitoring/trajectory_validation: default - /autoware/sensing/node_alive_monitoring: default + # /autoware/sensing/node_alive_monitoring: default /autoware/system/node_alive_monitoring: default /autoware/system/emergency_stop_operation: default + /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/vehicle/node_alive_monitoring: default @@ -46,5 +47,6 @@ /autoware/system/node_alive_monitoring: default /autoware/system/emergency_stop_operation: default + /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/vehicle/node_alive_monitoring: default 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 27fd3c1e4d..9708456df4 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 @@ -1,3 +1,4 @@ +# Description: # name: diag name # sf_at: diag level where it becomes Safe Fault # lf_at: diag level where it becomes Latent Fault @@ -21,8 +22,8 @@ /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/localization_accuracy: default + # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } + # /autoware/localization/performance_monitoring/localization_accuracy: default /autoware/map/node_alive_monitoring: default @@ -35,7 +36,8 @@ /autoware/system/node_alive_monitoring: default /autoware/system/emergency_stop_operation: default - /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } + # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } /autoware/vehicle/node_alive_monitoring: default @@ -45,5 +47,6 @@ /autoware/system/node_alive_monitoring: default /autoware/system/emergency_stop_operation: default + /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml index cb7e1b4838..d72b8d1334 100644 --- a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml +++ b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml @@ -1,9 +1,9 @@ /**: ros__parameters: - devices: ["*"] - traffic_reader_port: 7636 - monitor_program: "greengrass" - crc_error_check_duration: 1 - crc_error_count_threshold: 1 - reassembles_failed_check_duration: 1 - reassembles_failed_check_count: 1 + devices: ["*"] + traffic_reader_port: 7636 + monitor_program: "greengrass" + crc_error_check_duration: 1 + crc_error_count_threshold: 1 + reassembles_failed_check_duration: 1 + reassembles_failed_check_count: 1 diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index b24d3344fd..e3d9755f15 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -104,8 +104,8 @@ - - - + + + diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index 7ef5fa06fc..242ec17642 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -1,7 +1,8 @@ - + + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 84ac5197a5..d73d5b3b5a 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,12 +1,10 @@ - + - - @@ -14,8 +12,7 @@ - - + diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index 08c5b12a8f..eb83f2597c 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -5,8 +5,6 @@ The autoware_launch package Yukihiro Saito - Takagi, Isamu - Akihiro Sakurai Apache License 2.0 ament_cmake_auto diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 4fe3b9cd80..fbfe61ad3c 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -365,6 +365,7 @@ Visualization Manager: pedestrian_marking: true right_lane_bound: true road_lanelets: false + speed_bump: true stop_lines: true shoulder_center_lane_line: false shoulder_left_lane_bound: true @@ -1036,36 +1037,13 @@ Visualization Manager: - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: true - Name: PathChangeCandidate_ExternalRequestLaneChangeRight - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/ext_request_lane_change_right - Value: true - View Path: - Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false - Value: true - Width: 2 - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_ExternalRequestLaneChangeLeft + Name: PathChangeCandidate_Avoidance Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/path_candidate/ext_request_lane_change_left + Value: /planning/path_candidate/avoidance Value: true View Path: Alpha: 0.30000001192092896 @@ -1082,13 +1060,13 @@ Visualization Manager: - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: true - Name: PathChangeCandidate_Avoidance + Name: PathChangeCandidate_PullOut Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/path_candidate/avoidance + Value: /planning/path_candidate/pull_out Value: true View Path: Alpha: 0.30000001192092896 @@ -1105,13 +1083,13 @@ Visualization Manager: - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: true - Name: PathChangeCandidate_PullOut + Name: PathChangeCandidate_PullOver Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/path_candidate/pull_out + Value: /planning/path_candidate/pull_over Value: true View Path: Alpha: 0.30000001192092896 @@ -1125,29 +1103,20 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 + - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: PathChangeCandidate_PullOver + Name: Bound + Namespaces: + left_bound: true + right_bound: true Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/path_candidate/pull_over + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound Value: true - View Path: - Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false - Value: true - Width: 2 - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray @@ -1174,18 +1143,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (Walkway) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/walkway - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: VirtualWall (DetectionArea) @@ -1295,13 +1252,9 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/run_out Value: true - Enabled: true - Name: VirtualWall - - Class: rviz_common/Group - Displays: - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Arrow + Enabled: true + Name: VirtualWall (SpeedBump) Namespaces: {} Topic: @@ -1309,11 +1262,15 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path - Value: false + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: Crosswalk + Name: Arrow Namespaces: {} Topic: @@ -1321,11 +1278,11 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: Walkway + Name: Crosswalk Namespaces: {} Topic: @@ -1333,7 +1290,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/walkway + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false @@ -1515,6 +1472,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/sideshift Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SpeedBump + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump + Value: false Enabled: false Name: DebugMarker Enabled: true @@ -1582,62 +1551,10 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/virtual_wall Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (ObstacleCruise) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall - Value: true Enabled: true Name: VirtualWall - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: ObstacleStop - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker - Value: true - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: CruiseVirtualWall - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: DebugMarker - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker - Value: true - Enabled: true - 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