From 569922cd7a010fe5cc619049db66af07e60d1275 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 15 Jan 2024 00:25:32 +0900 Subject: [PATCH 01/25] feat: use obstacle_cruise_planner and change safe_distance_margin Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 7bd3dd26b3..8954026761 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -94,7 +94,7 @@ launch: - arg: name: motion_stop_planner_type - default: obstacle_stop_planner + default: obstacle_cruise_planner # option: obstacle_stop_planner # obstacle_cruise_planner # none 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 90e897fda3..4d38226c26 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 @@ -12,7 +12,7 @@ idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s] min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] - safe_distance_margin : 6.0 # This is also used as a stop margin [m] + safe_distance_margin : 5.0 # This is also used as a stop margin [m] terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s] hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m] From 40935760292c21974bd17e70438dec137c1ace54 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 15 Jan 2024 00:26:09 +0900 Subject: [PATCH 02/25] feat: set max_vel to 40km/h Signed-off-by: Takayuki Murooka --- .../motion_velocity_smoother.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 235c76a5c1..44450b1848 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: # motion state constraints - max_velocity: 20.0 # max velocity limit [m/s] + max_velocity: 11.1 # max velocity limit [m/s] stop_decel: 0.0 # deceleration at a stop point[m/ss] # external velocity limit parameter From df2779015b1b807ce70a4a62487d885c4156be6a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 16 Jan 2024 11:31:15 +0900 Subject: [PATCH 03/25] feat: enable surround_obstacle_checker Signed-off-by: Takayuki Murooka --- .../launch/components/tier4_planning_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 06740146f5..a6b5744f1b 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -8,7 +8,7 @@ - + From 39191f2dc0b589c61a592303f1cca8fd73a19200 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 16 Jan 2024 16:13:18 +0900 Subject: [PATCH 04/25] feat: enable surround_obstacle_checker Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index b57696d324..7c4b452bbf 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -112,7 +112,7 @@ launch: - arg: name: launch_surround_obstacle_checker - default: "false" + default: "true" # parking modules - arg: From 1e6387a7bdfd1c00afa9a727d68d122d1d766ba6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 22 Jan 2024 02:04:51 +0900 Subject: [PATCH 05/25] feat: enable dynamic_avoidance and disable outside_drivable_area_stop Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- .../obstacle_avoidance_planner.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 7c4b452bbf..72921af441 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -8,7 +8,7 @@ launch: default: "true" - arg: name: launch_dynamic_avoidance_module - default: "false" + default: "true" - arg: name: launch_lane_change_right_module default: "true" 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 db89a81e47..17a044fb67 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 @@ -3,7 +3,7 @@ option: enable_skip_optimization: false # skip elastic band and model predictive trajectory enable_reset_prev_optimization: false # If true, optimization has no fix constraint to the previous result. - enable_outside_drivable_area_stop: true # stop if the ego's trajectory footprint is outside the drivable area + enable_outside_drivable_area_stop: false # stop if the ego's trajectory footprint is outside the drivable area use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered. debug: From 45bb96c523138405c90f533b007f22968994c7af Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 6 Mar 2024 22:47:49 +0900 Subject: [PATCH 06/25] feat: disable AEB and set the maximum velocity to 40km/h Signed-off-by: Takayuki Murooka --- .../config/planning/scenario_planning/common/common.param.yaml | 2 +- .../launch/components/tier4_control_component.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 0dba945718..face8610c7 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - max_vel: 4.17 # max velocity limit [m/s] + max_vel: 11.1 # max velocity limit [m/s] # constraints param for normal driving normal: diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 5c3cf06ad0..d15e050d7a 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -4,7 +4,7 @@ - + From ae6d0bb952374ac38ff6752dcc69a0827b0a6d68 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 19 Mar 2024 23:53:45 +0900 Subject: [PATCH 07/25] enable intersection_occlusion detection Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 68d4070cbf..abd12a9470 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 @@ -89,7 +89,7 @@ object_time_margin_to_collision_point: 4.0 occlusion: - enable: false + enable: true occlusion_attention_area_length: 70.0 free_space_max: 43 occupied_min: 58 From d8b1c9199fe76bc85213d54d9fd92b33bb136fbe Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 3 Jun 2024 21:16:19 +0900 Subject: [PATCH 08/25] chore(planning_launch): update motion module name (#1014) Signed-off-by: satoshi-ota --- .../config/planning/preset/default_preset.yaml | 6 +++--- .../Analytical.param.yaml | 0 .../JerkFiltered.param.yaml | 0 .../L2.param.yaml | 0 .../Linf.param.yaml | 0 .../velocity_smoother.param.yaml} | 0 .../path_optimizer.param.yaml} | 0 .../components/tier4_planning_component.launch.xml | 13 ++++++++----- autoware_launch/rviz/autoware.rviz | 2 +- 9 files changed, 12 insertions(+), 9 deletions(-) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/Analytical.param.yaml (100%) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/JerkFiltered.param.yaml (100%) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/L2.param.yaml (100%) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/Linf.param.yaml (100%) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother/motion_velocity_smoother.param.yaml => autoware_velocity_smoother/velocity_smoother.param.yaml} (100%) rename autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/{obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml => autoware_path_optimizer/path_optimizer.param.yaml} (100%) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 82fbd43399..55c9de67ad 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -93,8 +93,8 @@ launch: - arg: name: motion_path_planner_type - default: obstacle_avoidance_planner - # option: obstacle_avoidance_planner + default: path_optimizer + # option: path_optimizer # path_sampler # none @@ -111,7 +111,7 @@ launch: # none - arg: - name: motion_velocity_smoother_type + name: velocity_smoother_type default: JerkFiltered # option: JerkFiltered # L2 diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/JerkFiltered.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/JerkFiltered.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/L2.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/L2.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Linf.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Linf.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml 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/autoware_path_optimizer/path_optimizer.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index c9f4e2ceae..5a48ea8908 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -43,7 +43,7 @@ - + @@ -68,7 +68,7 @@ - + @@ -77,11 +77,14 @@ - + - - + + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 627d9e8923..5e7cba18cf 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2127,7 +2127,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/motion_velocity_smoother/virtual_wall + Value: /planning/scenario_planning/velocity_smoother/virtual_wall Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true From 2fd46d00be5c8265243247cd4815bdc25ee9ac79 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Thu, 20 Jun 2024 10:09:27 +0900 Subject: [PATCH 09/25] disable AEB diag check Signed-off-by: Daniel Sanchez --- .../system/diagnostic_graph_aggregator/autoware-awsim.yaml | 1 + .../system/diagnostic_graph_aggregator/autoware-main.yaml | 3 +++ .../system/diagnostic_graph_aggregator/autoware-psim.yaml | 3 +++ 3 files changed, 7 insertions(+) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml index 9950acbc7e..7f002b1380 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml @@ -3,3 +3,4 @@ files: edits: - { type: remove, path: /autoware/system/duplicated_node_checker } + - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml index 42af3f79a3..f35f219df6 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml @@ -1,2 +1,5 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml } + +edits: + - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml index dfc820f93c..e11f391606 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml @@ -1,2 +1,5 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml } + +edits: + - { type: remove, path: /autoware/control/emergency_braking } From 321cffa4237a625acaa04637ba64799fe06c3222 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 20 Jun 2024 15:16:34 +0900 Subject: [PATCH 10/25] feat(diagnostic_graph_utils): launch logging node for diagnostic_graph Signed-off-by: Takamasa Horibe --- .../launch/components/tier4_system_component.launch.xml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index d5082a91e8..6fda11ac7a 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -34,4 +34,11 @@ + + + + + + + From 14946c04dc8f3eb5867a12802db568c2e6f98117 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 18 Jul 2024 17:35:11 +0900 Subject: [PATCH 11/25] feat(api): set launch_deprecated_api true (#496) feat(api): launch_deprecated_api=true Signed-off-by: kosuke55 --- .../components/tier4_autoware_api_component.launch.xml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index 1c7b520108..bc582fbb9a 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -1,7 +1,8 @@ - - + + + From 1b046040129bc661ffa1993888cbe8e6b114ade8 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 19 Jul 2024 14:00:39 +0900 Subject: [PATCH 12/25] fix(api): disable rosbridge to fix duplicated node (#497) Signed-off-by: kosuke55 --- .../launch/components/tier4_autoware_api_component.launch.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index bc582fbb9a..2b6083bed6 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -2,7 +2,5 @@ - - From 2f787838cbc0ea7ae31738194020cae3f1263dd9 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 1 Aug 2024 11:23:49 +0900 Subject: [PATCH 13/25] Revert "fix(api): disable rosbridge to fix duplicated node" (#523) Revert "fix(api): disable rosbridge to fix duplicated node (#497)" This reverts commit 1b046040129bc661ffa1993888cbe8e6b114ade8. --- .../launch/components/tier4_autoware_api_component.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index 2b6083bed6..bc582fbb9a 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -2,5 +2,7 @@ + + From 6ed90f92c382140de55e44c64078a08e666fa0e4 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 1 Oct 2024 17:28:17 +0900 Subject: [PATCH 14/25] revert(obstacle_cruise): revert an awf change (#617) Revert "fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios (#1166)" --- .../obstacle_cruise_planner.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 3de8577c60..5f27fef6fb 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 @@ -88,8 +88,8 @@ stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle # hysteresis for cruise and stop - obstacle_velocity_threshold_from_cruise_to_stop : 1.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] - obstacle_velocity_threshold_from_stop_to_cruise : 1.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] + obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] + obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] # if crossing vehicle is determined as target obstacles or not crossing_obstacle: From 53cd6f32274b2e82227d92c4df88c109638ae78c Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 10 Oct 2024 15:51:38 +0900 Subject: [PATCH 15/25] revert(obstacle_cruise): reduce using predicted paths to maintain conventional behavior (#621) Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 d37554eba7..d31c30ce61 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 @@ -126,7 +126,7 @@ ego_obstacle_overlap_time_threshold : 0.2 # time threshold to decide cut-in obstacle for cruise or stop [s] max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s] - num_of_predicted_paths: 3 # number of the highest confidence predicted path to check collision between obstacle and ego + num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego yield: enable_yield: true lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding From 39b51361df7de62b1d263276fc85154b2666bf2d Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Thu, 10 Oct 2024 18:19:38 +0900 Subject: [PATCH 16/25] Remove emergency braking from autoware-psim.yaml and enable autonomous emergency braking in tier4_control_component.launch.xml Signed-off-by: kyoichi-sugahara --- .../system/diagnostic_graph_aggregator/autoware-psim.yaml | 3 --- .../launch/components/tier4_control_component.launch.xml | 2 +- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml index e11f391606..dfc820f93c 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml @@ -1,5 +1,2 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml } - -edits: - - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index bfa64229ee..a66ed49405 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -4,7 +4,7 @@ - + From 487faa67a1ea440687f5897735d14826e32dca9c Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 31 Oct 2024 19:30:52 +0900 Subject: [PATCH 17/25] revert(diagnostic_graph_aggregeator): revert aeb diag (#646) delete remove Signed-off-by: Yuki Takagi --- .../system/diagnostic_graph_aggregator/autoware-awsim.yaml | 1 - .../system/diagnostic_graph_aggregator/autoware-main.yaml | 3 --- 2 files changed, 4 deletions(-) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml index 7f002b1380..9950acbc7e 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml @@ -3,4 +3,3 @@ files: edits: - { type: remove, path: /autoware/system/duplicated_node_checker } - - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml index f35f219df6..42af3f79a3 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml @@ -1,5 +1,2 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml } - -edits: - - { type: remove, path: /autoware/control/emergency_braking } From b181ae1efb3d3a72c3af237be998a6674bcc3b81 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 7 Nov 2024 12:07:59 +0900 Subject: [PATCH 18/25] enable collision_detector Signed-off-by: Go Sakayori --- .../config/system/system_diagnostic_monitor/control.yaml | 6 ++++++ .../launch/components/tier4_control_component.launch.xml | 2 +- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml index 5551ed4575..32877af749 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml @@ -9,6 +9,7 @@ units: - { type: link, link: /autoware/control/performance_monitoring/lane_departure } - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation } - { type: link, link: /autoware/control/performance_monitoring/control_state } + - { type: link, link: /autoware/control/collision_detector} - path: /autoware/control/local type: and @@ -66,3 +67,8 @@ units: type: diag node: external_cmd_converter name: remote_control_topic_status + + - path: /autoware/control/collision_detector + type: diag + node: collision_detector + name: collision_detect diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 64061ce176..095d0a2c60 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -6,7 +6,7 @@ - + From d890e00678cee4d4f908e4689b087e26ceefebdc Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 7 Nov 2024 07:39:35 +0000 Subject: [PATCH 19/25] style(pre-commit): autofix --- .../config/system/system_diagnostic_monitor/control.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml index 32877af749..6a04ed6714 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml @@ -9,7 +9,7 @@ units: - { type: link, link: /autoware/control/performance_monitoring/lane_departure } - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation } - { type: link, link: /autoware/control/performance_monitoring/control_state } - - { type: link, link: /autoware/control/collision_detector} + - { type: link, link: /autoware/control/collision_detector } - path: /autoware/control/local type: and From 69ab8e036cfaaf6eb2c2d5327400e55a714251aa Mon Sep 17 00:00:00 2001 From: xtk8532704 <1041084556@qq.com> Date: Fri, 25 Oct 2024 17:28:20 +0900 Subject: [PATCH 20/25] change the old diagnostic_convertor to scenario_simulator_v2_adapter. --- .../launch/components/tier4_simulator_component.launch.xml | 4 ++-- autoware_launch/launch/planning_simulator.launch.xml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index 504337c1a0..864088a40a 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -4,7 +4,7 @@ - + @@ -20,7 +20,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 3aba78c292..798e6ec99b 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -88,14 +88,14 @@ - + - + From 28767b448f5d29f83311cfdbe836d97bcfefaea9 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 19 Nov 2024 11:35:12 +0900 Subject: [PATCH 21/25] feat: enable MRM summary Signed-off-by: Takayuki Murooka --- autoware_launch/rviz/autoware.rviz | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index c53d5d62e6..589c9cbfd5 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -269,13 +269,13 @@ Visualization Manager: Enabled: true Name: Vehicle - Class: rviz_plugins/MrmSummaryOverlayDisplay - Enabled: false + Enabled: true Font Size: 10 - Left: 512 + Left: 10 Max Letter Num: 100 Name: MRM Summary Text Color: 25; 255; 240 - Top: 64 + Top: 10 Topic: Depth: 5 Durability Policy: Volatile From 72c84f116e5e1546e42e851b24ccfe67668552b0 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Wed, 27 Nov 2024 17:43:37 +0900 Subject: [PATCH 22/25] chore: rename codeowners file Signed-off-by: tomoya.kimura --- .github/{CODEOWNERS => _CODEOWNERS} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename .github/{CODEOWNERS => _CODEOWNERS} (100%) diff --git a/.github/CODEOWNERS b/.github/_CODEOWNERS similarity index 100% rename from .github/CODEOWNERS rename to .github/_CODEOWNERS From cf5cdb7225571c56256c4a3d8090e39229a0c694 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 28 Nov 2024 05:48:29 +0900 Subject: [PATCH 23/25] Revert "fix(dynamic_obstacle_avoidance): improve avoidance for moving NPCs (#1170)" This reverts commit e14b2c849950930475fc644b78e62630f2510cd7. --- .../dynamic_obstacle_avoidance.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml index 9bba8c52dc..aa1fdb3048 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml @@ -56,10 +56,10 @@ object_path_base: min_longitudinal_polygon_margin: 3.0 # [m] - lat_offset_from_obstacle: 0.3 # [m] - margin_distance_around_pedestrian: 0.8 # [m] + lat_offset_from_obstacle: 1.0 # [m] + margin_distance_around_pedestrian: 2.0 # [m] predicted_path: - end_time_to_consider: 1.0 # [s] + end_time_to_consider: 2.0 # [s] threshold_confidence: 0.0 # [] not probability max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s] From 9a4809d8593b581adcf5342bdd242a95d03d2085 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 28 Nov 2024 05:48:42 +0900 Subject: [PATCH 24/25] Revert "fix(static_obstacle_avoidance): improve avoidance for parked NPCs (#1129)" This reverts commit d91c508a2dce751b158460995434b601d7e53c21. --- .../static_obstacle_avoidance.param.yaml | 36 +++++++++---------- 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index 3480bb66e5..31e35dcad5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -23,9 +23,9 @@ th_moving_time: 2.0 # [s] longitudinal_margin: 0.0 # [m] lateral_margin: - soft_margin: 0.5 # [m] + soft_margin: 0.7 # [m] hard_margin: 0.2 # [m] - hard_margin_for_parked_vehicle: 0.2 # [m] + 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] @@ -34,9 +34,9 @@ th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.5 + soft_margin: 0.7 hard_margin: 0.2 - hard_margin_for_parked_vehicle: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 th_error_eclipse_long_radius : 0.6 @@ -45,9 +45,9 @@ th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.5 + soft_margin: 0.7 hard_margin: 0.2 - hard_margin_for_parked_vehicle: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 th_error_eclipse_long_radius : 0.6 @@ -56,9 +56,9 @@ th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.5 + soft_margin: 0.7 hard_margin: 0.2 - hard_margin_for_parked_vehicle: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 th_error_eclipse_long_radius : 0.6 @@ -67,7 +67,7 @@ th_moving_time: 1.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.5 + soft_margin: 0.7 hard_margin: -0.2 hard_margin_for_parked_vehicle: -0.2 max_expand_ratio: 0.0 @@ -76,33 +76,33 @@ bicycle: th_moving_speed: 0.28 th_moving_time: 1.0 - longitudinal_margin: 0.6 + longitudinal_margin: 1.0 lateral_margin: soft_margin: 0.7 hard_margin: 0.5 - hard_margin_for_parked_vehicle: 0.2 + 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 - longitudinal_margin: 0.6 + longitudinal_margin: 1.0 lateral_margin: - soft_margin: 0.5 + soft_margin: 0.7 hard_margin: 0.3 - hard_margin_for_parked_vehicle: 0.2 + 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 - longitudinal_margin: 0.6 + longitudinal_margin: 1.0 lateral_margin: soft_margin: 0.7 hard_margin: 0.5 - hard_margin_for_parked_vehicle: 0.2 + hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 th_error_eclipse_long_radius : 0.6 @@ -232,7 +232,7 @@ # avoidance distance parameters longitudinal: min_prepare_time: 1.0 # [s] - max_prepare_time: 2.0 # [s] + max_prepare_time: 3.0 # [s] min_prepare_distance: 1.0 # [m] min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER @@ -294,7 +294,7 @@ velocity: [1.39, 4.17, 11.1] # [m/s] max_accel_values: [0.5, 0.5, 0.5] # [m/ss] min_jerk_values: [0.2, 0.2, 0.2] # [m/sss] - max_jerk_values: [3.0, 3.0, 3.0] # [m/sss] + max_jerk_values: [1.0, 1.0, 1.0] # [m/sss] # longitudinal constraints longitudinal: From cc3b7b99682b8de01579a1f8ec8cff44eed4ce1e Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 29 Nov 2024 13:07:22 +0900 Subject: [PATCH 25/25] refactor(system_diagnostic_monitor, dummy_diag_publisher, diagnostic_graph_aggregator): combine diag list setting directories (#1253) Signed-off-by: yuki-takagi-66 --- .../system/diagnostic_graph_aggregator/autoware-awsim.yaml | 5 ----- .../system/diagnostic_graph_aggregator/autoware-main.yaml | 2 -- .../config/system/diagnostics/autoware-awsim.yaml | 5 +++++ .../autoware-main.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/control.yaml | 0 .../dummy_diag_publisher.param.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/hardware.yaml | 0 .../localization.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/map.yaml | 0 .../perception.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/planning.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/system.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/vehicle.yaml | 0 autoware_launch/launch/autoware.launch.xml | 2 +- .../launch/components/tier4_system_component.launch.xml | 4 ++-- autoware_launch/launch/e2e_simulator.launch.xml | 2 +- autoware_launch/launch/logging_simulator.launch.xml | 2 +- autoware_launch/launch/planning_simulator.launch.xml | 2 +- 18 files changed, 11 insertions(+), 13 deletions(-) delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml create mode 100644 autoware_launch/config/system/diagnostics/autoware-awsim.yaml rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/autoware-main.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/control.yaml (100%) rename autoware_launch/config/system/{dummy_diag_publisher => diagnostics}/dummy_diag_publisher.param.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/hardware.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/localization.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/map.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/perception.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/planning.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/system.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/vehicle.yaml (100%) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml deleted file mode 100644 index 937cfdeb65..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml +++ /dev/null @@ -1,5 +0,0 @@ -files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml } - -edits: - - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml deleted file mode 100644 index c96dd5ed46..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml +++ /dev/null @@ -1,2 +0,0 @@ -files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml } diff --git a/autoware_launch/config/system/diagnostics/autoware-awsim.yaml b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml new file mode 100644 index 0000000000..4abae34a31 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml @@ -0,0 +1,5 @@ +files: + - { path: $(dirname)/autoware-main.yaml } + +edits: + - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/diagnostics/autoware-main.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml rename to autoware_launch/config/system/diagnostics/autoware-main.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/diagnostics/control.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/control.yaml rename to autoware_launch/config/system/diagnostics/control.yaml diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml similarity index 100% rename from autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml rename to autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml b/autoware_launch/config/system/diagnostics/hardware.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml rename to autoware_launch/config/system/diagnostics/hardware.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml b/autoware_launch/config/system/diagnostics/localization.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/localization.yaml rename to autoware_launch/config/system/diagnostics/localization.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/map.yaml b/autoware_launch/config/system/diagnostics/map.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/map.yaml rename to autoware_launch/config/system/diagnostics/map.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml b/autoware_launch/config/system/diagnostics/perception.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/perception.yaml rename to autoware_launch/config/system/diagnostics/perception.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml b/autoware_launch/config/system/diagnostics/planning.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/planning.yaml rename to autoware_launch/config/system/diagnostics/planning.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/diagnostics/system.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/system.yaml rename to autoware_launch/config/system/diagnostics/system.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml b/autoware_launch/config/system/diagnostics/vehicle.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml rename to autoware_launch/config/system/diagnostics/vehicle.yaml diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 29378cc0c8..4bf18af889 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -37,7 +37,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index fa5056b9d9..e729fef464 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,7 +1,7 @@ - + @@ -14,7 +14,7 @@ - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 3237754c48..c4fd15b41c 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -71,7 +71,7 @@ - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index f1a9ad5fab..123bd01ed3 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -65,7 +65,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index be175553b7..3c56e11412 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -70,7 +70,7 @@ - +