diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
index cf41a4cf55..0ba1b1a2e1 100644
--- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
+++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -43,6 +43,11 @@
# The number of particles to estimate initial pose
initial_estimate_particles_num: 200
+ # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator).
+ # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0.
+ # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search.
+ n_startup_trials: 20
+
# Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
lidar_topic_timeout_sec: 1.0
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 31fae9c811..260ae45da2 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
@@ -2,6 +2,7 @@
ros__parameters:
enable_delay_compensation: true
prediction_time_horizon: 10.0 #[s]
+ lateral_control_time_horizon: 5.0 #[s]
prediction_sampling_delta_time: 0.5 #[s]
min_velocity_for_map_based_prediction: 1.39 #[m/s]
min_crosswalk_user_velocity: 1.39 #[m/s]
diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml
new file mode 100644
index 0000000000..f80adffb41
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml
@@ -0,0 +1,27 @@
+# general parameters for radar_object_tracker node
+/**:
+ ros__parameters:
+ # basic settings
+ world_frame_id: "map"
+ tracker_lifetime: 1.0 # [sec]
+ # if empty, use default config declared in this package
+ tracking_config_directory: ""
+
+ # delay compensate parameters
+ publish_rate: 10.0
+ enable_delay_compensation: false
+
+ # logging
+ enable_logging: false
+ logging_file_path: "/tmp/association_log.json"
+
+ # filtering
+ ## 1. distance based filtering: remove closer objects than this threshold
+ use_distance_based_noise_filtering: true
+ minimum_range_threshold: 70.0 # [m]
+
+ ## 2. lanelet map based filtering
+ use_map_based_noise_filtering: true
+ max_distance_from_lane: 5.0 # [m]
+ max_angle_diff_from_lane: 0.785398 # [rad] (45 deg)
+ max_lateral_velocity: 5.0 # [m/s]
diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml
new file mode 100644
index 0000000000..71367f4575
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml
@@ -0,0 +1,32 @@
+default:
+ # This file defines the parameters for the linear motion tracker.
+ # All this parameter coordinate is assumed to be in the vehicle coordinate system.
+ # So, the x axis is pointing to the front of the vehicle, y axis is pointing to the left of the vehicle.
+ ekf_params:
+ # random walk noise is used to model the acceleration noise
+ process_noise_std: # [m/s^2]
+ ax: 0.98 # assume 0.1G acceleration noise
+ ay: 0.98
+ vx: 0.1 # assume 0.1m/s velocity noise
+ vy: 0.1
+ x: 1.0 # assume 1m position noise
+ y: 1.0
+ measurement_noise_std:
+ x: 0.6 # [m]
+ y: 0.9 # [m]
+ vx: 0.4 # [m/s]
+ vy: 1 # [m/s]
+ initial_covariance_std:
+ x: 3.0 # [m]
+ y: 6.0 # [m]
+ vx: 1.0 # [m/s]
+ vy: 5.0 # [m/s]
+ ax: 0.5 # [m/s^2]
+ ay: 1.0 # [m/s^2]
+ # output limitation
+ limit:
+ max_speed: 80.0 # [m/s]
+ # low pass filter is used to smooth the yaw and shape estimation
+ low_pass_filter:
+ time_constant: 1.0 # [s]
+ sampling_time: 0.1 # [s]
diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml
new file mode 100644
index 0000000000..702809b3ce
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml
@@ -0,0 +1,168 @@
+/**:
+ ros__parameters:
+ lidar-lidar:
+ can_assign_matrix:
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
+ [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
+ 0, 1, 1, 1, 1, 0, 0, 0, #CAR
+ 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
+ 0, 1, 1, 1, 1, 0, 0, 0, #BUS
+ 0, 1, 1, 1, 1, 0, 0, 0, #TRAILER
+ 0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE
+ 0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE
+ 0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN
+
+ max_dist_matrix:
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+ [4.0, 4.0, 5.0, 5.0, 5.0, 2.0, 2.0, 2.0, #UNKNOWN
+ 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR
+ 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK
+ 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS
+ 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER
+ 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #MOTORBIKE
+ 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #BICYCLE
+ 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN
+
+ max_rad_matrix: # If value is greater than pi, it will be ignored.
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
+ [3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN
+ 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR
+ 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK
+ 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS
+ 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER
+ 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE
+ 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE
+ 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN
+
+ max_velocity_diff_matrix: # Ignored when value is larger than 100.0
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+ [100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #UNKNOWN
+ 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #CAR
+ 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRUCK
+ 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #BUS
+ 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRAILER
+ 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #MOTORBIKE
+ 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #BICYCLE
+ 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0] #PEDESTRIAN
+
+ min_iou_matrix: # If value is negative, it will be ignored.
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+ [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN
+ 0.1, 0.3, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR
+ 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK
+ 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS
+ 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER
+ 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE
+ 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE
+ 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] #PEDESTRIAN
+
+ lidar-radar:
+ can_assign_matrix:
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
+ [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
+ 0, 1, 1, 1, 1, 0, 0, 0, #CAR
+ 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
+ 0, 1, 1, 1, 1, 0, 0, 0, #BUS
+ 0, 1, 1, 1, 1, 0, 0, 0, #TRAILER
+ 0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE
+ 0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE
+ 0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN
+
+ max_dist_matrix:
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+ [4.0, 4.0, 5.0, 5.0, 5.0, 3.5, 3.5, 3.5, #UNKNOWN
+ 4.0, 5.5, 6.0, 6.0, 6.0, 1.0, 1.0, 1.0, #CAR
+ 5.0, 6.0, 6.5, 6.5, 6.5, 1.0, 1.0, 1.0, #TRUCK
+ 5.0, 6.0, 6.5, 6.5, 6.5, 1.0, 1.0, 1.0, #BUS
+ 5.0, 6.0, 6.5, 6.5, 6.5, 1.0, 1.0, 1.0, #TRAILER
+ 3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #MOTORBIKE
+ 3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #BICYCLE
+ 3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.5] #PEDESTRIAN
+
+ max_rad_matrix: # If value is greater than pi, it will be ignored.
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
+ [3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN
+ 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR
+ 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK
+ 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS
+ 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER
+ 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE
+ 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE
+ 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN
+
+ max_velocity_diff_matrix: # Ignored when value is larger than 100.0
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+ [100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #UNKNOWN
+ 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #CAR
+ 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRUCK
+ 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #BUS
+ 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRAILER
+ 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #MOTORBIKE
+ 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #BICYCLE
+ 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0] #PEDESTRIAN
+
+ min_iou_matrix: # set all value to 0.0 to disable this constraint
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #UNKNOWN
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #CAR
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #TRUCK
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #BUS
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #TRAILER
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #MOTORBIKE
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #BICYCLE
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #PEDESTRIAN
+
+ radar-radar:
+ can_assign_matrix:
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
+ [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
+ 0, 1, 1, 1, 1, 0, 0, 0, #CAR
+ 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
+ 0, 1, 1, 1, 1, 0, 0, 0, #BUS
+ 0, 1, 1, 1, 1, 0, 0, 0, #TRAILER
+ 0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE
+ 0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE
+ 0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN
+
+ max_dist_matrix:
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+ [4.0, 4.0, 5.0, 5.0, 5.0, 3.5, 3.5, 3.5, #UNKNOWN
+ 4.0, 7.0, 7.5, 7.5, 7.5, 1.0, 1.0, 1.0, #CAR
+ 5.0, 7.5, 7.5, 7.5, 7.5, 1.0, 1.0, 1.0, #TRUCK
+ 5.0, 7.5, 7.5, 7.5, 7.5, 1.0, 1.0, 1.0, #BUS
+ 5.0, 7.5, 7.5, 7.5, 7.5, 1.0, 1.0, 1.0, #TRAILER
+ 3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #MOTORBIKE
+ 3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #BICYCLE
+ 3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.5] #PEDESTRIAN
+ max_rad_matrix: # If value is greater than pi, it will be ignored.
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
+ [3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN
+ 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR
+ 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK
+ 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS
+ 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER
+ 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE
+ 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE
+ 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN
+
+ max_velocity_diff_matrix: # Ignored when value is larger than 100.0
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+ [100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #UNKNOWN
+ 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #CAR
+ 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRUCK
+ 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #BUS
+ 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRAILER
+ 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #MOTORBIKE
+ 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #BICYCLE
+ 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0] #PEDESTRIAN
+
+ min_iou_matrix: # set all value to 0.0 to disable this constraint
+ #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #UNKNOWN
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #CAR
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #TRUCK
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #BUS
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #TRAILER
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #MOTORBIKE
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #BICYCLE
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #PEDESTRIAN
diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml
new file mode 100644
index 0000000000..13369d5422
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml
@@ -0,0 +1,26 @@
+# Node parameters
+/**:
+ ros__parameters:
+ base_link_frame_id: "base_link"
+ time_sync_threshold: 0.999
+ sub_object_timeout_sec: 0.8
+ publish_interpolated_sub_objects: true #for debug
+
+ # choose the input sensor type for each object type
+ # "lidar", "radar", "camera" are available
+ main_sensor_type: "lidar"
+ sub_sensor_type: "radar"
+
+ # tracker settings
+ tracker_state_parameter:
+ remove_probability_threshold: 0.3
+ publish_probability_threshold: 0.5
+ default_lidar_existence_probability: 0.7
+ default_radar_existence_probability: 0.6
+ default_camera_existence_probability: 0.5
+ decay_rate: 0.1
+ max_dt: 1.0
+
+ # logging
+ enable_logging: false
+ log_file_path: "/tmp/decorative_tracker_merger.log"
diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger_policy.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger_policy.param.yaml
new file mode 100644
index 0000000000..0b98e1b202
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger_policy.param.yaml
@@ -0,0 +1,16 @@
+# Merger policy for decorative tracker merger node
+# decorative tracker merger works by merging the sub-object trackers into a main object tracker result
+# There are 3 merger policy:
+# 1. "skip": skip the sub-object tracker result
+# 2. "overwrite": overwrite the main object tracker result with sub-object tracker result
+# 3. "fusion": merge the main object tracker result with sub-object tracker result by using covariance based fusion
+/**:
+ ros__parameters:
+ kinematics_to_be_merged: "velocity" # currently only support "velocity"
+
+ # choose the merger policy for each object type
+ # : "skip", "overwrite", "fusion"
+ kinematics_merge_policy: "overwrite"
+ classification_merge_policy: "skip"
+ existence_prob_merge_policy: "skip"
+ shape_merge_policy: "skip"
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 5f80c76111..fe9c37d200 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
@@ -118,8 +118,6 @@
object_ignore_section_crosswalk_in_front_distance: 30.0 # [m]
object_ignore_section_crosswalk_behind_distance: 30.0 # [m]
# detection range
- object_check_forward_distance: 150.0 # [m]
- object_check_backward_distance: 10.0 # [m]
object_check_goal_distance: 20.0 # [m]
# filtering parking objects
threshold_distance_object_is_on_center: 1.0 # [m]
@@ -128,6 +126,13 @@
# lost object compensation
object_last_seen_threshold: 2.0
+ # detection area generation parameters
+ detection_area:
+ static: false # [-]
+ min_forward_distance: 50.0 # [m]
+ max_forward_distance: 150.0 # [m]
+ backward_distance: 10.0 # [m]
+
# For safety check
safety_check:
# safety check configuration
@@ -169,6 +174,7 @@
hard_road_shoulder_margin: 0.3 # [m]
max_right_shift_length: 5.0
max_left_shift_length: 5.0
+ max_deviation_from_lane: 0.5 # [m]
# avoidance distance parameters
longitudinal:
prepare_time: 2.0 # [s]
@@ -219,12 +225,6 @@
max_jerk: 1.0 # [m/sss]
max_acceleration: 1.0 # [m/ss]
- target_velocity_matrix:
- col_size: 2
- matrix:
- [2.78, 13.9, # velocity [m/s]
- 0.50, 1.00] # margin [m]
-
shift_line_pipeline:
trim:
quantize_filter_threshold: 0.1
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 5de4c0d27b..3a7393a4c9 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 +1,7 @@
/**:
ros__parameters:
verbose: false
+ max_iteration_num: 100
groot_zmq_publisher_port: 1666
groot_zmq_server_port: 1667
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
index 160ebdc180..e1a0c7e38d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -5,15 +5,19 @@
drivable_area_left_bound_offset: 0.0
drivable_area_types_to_skip: [road_border]
- # Dynamic expansion by projecting the ego footprint along the path
+ # Dynamic expansion by using the path curvature
dynamic_expansion:
enabled: false
+ print_runtime: false
+ max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
+ smoothing:
+ curvature_average_window: 3 # window size used for smoothing the curvatures using a moving window average
+ max_bound_rate: 1.0 # [m/m] maximum rate of change of the bound lateral distance over its arc length
+ extra_arc_length: 2.0 # [m] extra arc length where an expansion distance is initially applied
ego:
- extra_footprint_offset:
- front: 0.5 # [m] extra length to add to the front of the ego footprint
- rear: 0.5 # [m] extra length to add to the rear of the ego footprint
- left: 0.5 # [m] extra length to add to the left of the ego footprint
- right: 0.5 # [m] extra length to add to the rear of the ego footprint
+ extra_wheelbase: 0.0 # [m] extra length to add to the wheelbase
+ extra_front_overhang: 0.5 # [m] extra length to add to the front overhang
+ extra_width: 1.0 # [m] extra length to add to the width
dynamic_objects:
avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects
extra_footprint_offset:
@@ -24,16 +28,9 @@
path_preprocessing:
max_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used)
- expansion:
- method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'.
- # 'lanelet': add lanelets overlapped by the ego footprints
- # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area
- max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
- extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint
+ reuse_max_deviation: 0.5 # [m] if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused.
avoid_linestring:
types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area
- road_border
+ - curbstone
distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid
- compensate:
- enable: true # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction
- extra_distance: 3.0 # [m] extra distance to add to the compensation
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 a090a6d3a8..e09f6e479b 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
@@ -45,6 +45,14 @@
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 2.5
longitudinal_velocity_delta_time: 0.6
+ stuck:
+ expected_front_deceleration: -1.0
+ expected_rear_deceleration: -1.0
+ rear_vehicle_reaction_time: 2.0
+ rear_vehicle_safety_time_margin: 1.0
+ lateral_distance_max_threshold: 2.0
+ longitudinal_distance_min_threshold: 3.0
+ longitudinal_velocity_delta_time: 0.8
# lane expansion for object filtering
lane_expansion:
@@ -82,7 +90,7 @@
# ego vehicle stuck detection
stuck_detection:
- velocity: 0.1 # [m/s]
+ velocity: 0.5 # [m/s]
stop_time: 3.0 # [s]
# lane change cancel
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 4b8f15ab27..c49be22d0a 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
@@ -12,7 +12,14 @@
use_intersection_area: false
path_interpolation_ds: 0.1 # [m]
consider_wrong_direction_vehicle: false
+ max_accel: -2.8
+ max_jerk: -5.0
+ delay_response_time: 0.5
stuck_vehicle:
+ turn_direction:
+ left: true
+ right: true
+ straight: true
use_stuck_stopline: true # stopline generated before the first conflicting area
stuck_vehicle_detect_dist: 5.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h
@@ -20,17 +27,23 @@
# assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
timeout_private_area: 3.0 # [s] cancel stuck vehicle stop in private area
enable_private_area_stuck_disregard: false #In the intersections which labeled as "private area", the obstacle vehicles judged as "stuck" are neglected if this param is set as true.
+ yield_stuck:
+ turn_direction:
+ left: true
+ right: false
+ straight: false
+ distance_thr: 1.0 # [m]
collision_detection:
- state_transit_margin_time: 1.0
+ state_transit_margin_time: 0.0
min_predicted_path_confidence: 0.05
minimum_ego_predicted_velocity: 1.388 # [m/s]
fully_prioritized:
collision_start_margin_time: 2.0
collision_end_margin_time: 0.0
partially_prioritized:
- collision_start_margin_time: 2.0
- collision_end_margin_time: 2.0
+ collision_start_margin_time: 4.0
+ collision_end_margin_time: 6.0
not_prioritized:
collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
@@ -40,7 +53,9 @@
yield_on_green_traffic_light:
distance_to_assigned_lanelet_start: 10.0
duration: 3.0
- range: 50.0 # [m]
+ object_dist_to_stopline: 10.0 # [m]
+ ignore_on_amber_traffic_light:
+ object_expected_deceleration: 2.0 # [m/ss]
occlusion:
enable: false
@@ -64,6 +79,7 @@
maximum_peeking_distance: 6.0 # [m]
attention_lane_crop_curvature_threshold: 0.25
attention_lane_curvature_calculation_ds: 0.5
+ static_occlusion_with_traffic_light_timeout: 0.5
enable_rtc:
intersection: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
index f9668549f2..2641214ac5 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -48,3 +48,8 @@
enable: true
max_jerk: -0.7 # [m/s^3] minimum jerk deceleration for safe brake.
max_acc : -2.0 # [m/s^2] minimum accel deceleration for safe brake.
+
+ # prevent abrupt stops caused by false positives in perception
+ ignore_momentary_detection:
+ enable: true
+ time_threshold: 0.15 # [sec] ignores detections that persist for less than this duration
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
index 8e77420dd4..c67d29c418 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
@@ -40,7 +40,7 @@
enable: true # if true, only perform smoothing when the input changes significantly
max_path_shape_around_ego_lat_dist: 2.0 # threshold of path shape change around ego [m]
max_path_shape_forward_lon_dist: 100.0 # forward point to check lateral distance difference [m]
- max_path_shape_forward_lat_dist: 0.1 # threshold of path shape change around forward point [m]
+ max_path_shape_forward_lat_dist: 0.2 # threshold of path shape change around forward point [m]
max_ego_moving_dist: 5.0 # threshold of ego's moving distance for replan [m]
# make max_goal_moving_dist long to keep start point fixed for pull over
max_goal_moving_dist: 15.0 # threshold of goal's moving distance for replan [m]
diff --git a/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml
new file mode 100644
index 0000000000..54b4f691b6
--- /dev/null
+++ b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml
@@ -0,0 +1,4 @@
+/**:
+ ros__parameters:
+ update_rate: 10.0
+ add_duplicated_node_names_to_msg: false # if true, duplicated node names are added to msg
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 251486dafd..b8da5f4e7c 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
@@ -38,6 +38,7 @@
/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: "error", spf_at: "none" }
+ /autoware/system/duplicated_node_checker: default
/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 2c5fe6e8f5..522dbb51ee 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
@@ -39,6 +39,7 @@
/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: "error", spf_at: "none" }
+ # /autoware/system/duplicated_node_checker: default
/autoware/vehicle/node_alive_monitoring: default
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 1ec8f2c22f..e3df873492 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -81,6 +81,18 @@
name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml"
/>
+
+
+
+
+
+
+
+
+
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index 1bd74ccbbf..a90fdb89a5 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -10,6 +10,7 @@
+
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 00e924da39..cdb1ffe690 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2439,8 +2439,329 @@ Visualization Manager:
Enabled: true
Name: Map
- Class: rviz_common/Group
- Displays: ~
- Enabled: true
+ Displays:
+ - Class: rviz_default_plugins/Camera
+ Enabled: true
+ Far Plane Distance: 100
+ Image Rendering: background and overlay
+ Name: PointcloudOnCamera
+ Overlay Alpha: 0.5
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/camera/camera6/image_raw
+ Value: true
+ Visibility:
+ Control:
+ Debug/AEB: true
+ Debug/MPC: true
+ Debug/PurePursuit: true
+ Predicted Trajectory: true
+ Value: false
+ Debug:
+ Control: true
+ Localization:
+ EKFPoseHistory: true
+ NDT pointclouds: true
+ NDTLoadedPCDMap: true
+ NDTPoseHistory: true
+ Value: true
+ Map: true
+ Perception:
+ CameraLidarFusion(purple): true
+ Centerpoint(red1): true
+ CenterpointROIFusion(red3): true
+ CenterpointValidator(red2): true
+ Detection(yellow): true
+ DetectionByTracker(cyan): true
+ PointPainting(light_green1): true
+ PointPaintingROIFusion(light_green3): true
+ PointPaintingValidator(light_green2): true
+ Prediction(light_blue): true
+ RadarFarObjects(white): true
+ Tracking(green): true
+ Value: true
+ Planning: true
+ Sensing:
+ ConcatenatePointCloud: true
+ PointcloudOnCamera: true
+ RadarRawObjects(white): true
+ Value: true
+ Value: true
+ Localization:
+ EKF:
+ PoseHistory: true
+ Value: true
+ NDT:
+ Aligned: true
+ Initial: true
+ MonteCarloInitialPose: true
+ PoseHistory: true
+ PoseWithCovAligned: true
+ PoseWithCovInitial: true
+ Value: true
+ Value: false
+ Map:
+ Lanelet2VectorMap: true
+ PointCloudMap: true
+ Value: false
+ Perception:
+ ObjectRecognition:
+ Detection:
+ DetectedObjects: true
+ Value: true
+ Prediction:
+ Maneuver: true
+ PredictedObjects: true
+ Value: true
+ Tracking:
+ TrackedObjects: true
+ Value: true
+ Value: true
+ OccupancyGrid:
+ Map: true
+ Value: true
+ Segmentation:
+ NoGroundPointCloud: true
+ Value: true
+ TrafficLight:
+ MapBasedDetectionResult: true
+ RecognitionResultOnImage: true
+ Value: true
+ Value: false
+ Planning:
+ Diagnostic:
+ PlanningErrorMarker: true
+ Value: true
+ MissionPlanning:
+ GoalPose: true
+ RouteArea: true
+ Value: true
+ ScenarioPlanning:
+ LaneDriving:
+ BehaviorPlanning:
+ (old)PathChangeCandidate_LaneChange: true
+ Bound: true
+ DebugMarker:
+ Arrow: true
+ Avoidance: true
+ Blind Spot: true
+ Crosswalk: true
+ DetectionArea: true
+ DynamicAvoidance: true
+ GoalPlanner: true
+ Intersection: true
+ LaneFollowing: true
+ LeftLaneChange: true
+ NoDrivableLane: true
+ NoStoppingArea: true
+ OcclusionSpot: true
+ OutOfLane: true
+ RightLaneChange: true
+ RunOut: true
+ SideShift: true
+ SpeedBump: true
+ StartPlanner: true
+ StopLine: true
+ TrafficLight: true
+ Value: true
+ VirtualTrafficLight: true
+ InfoMarker:
+ Info (Avoidance): true
+ Info (AvoidanceByLC): true
+ Info (DynamicAvoidance): true
+ Info (ExtLaneChangeLeft): true
+ Info (ExtLaneChangeRight): true
+ Info (GoalPlanner): true
+ Info (LaneChangeLeft): true
+ Info (LaneChangeRight): true
+ Info (StartPlanner): true
+ Value: true
+ Path: true
+ PathChangeCandidate_Avoidance: true
+ PathChangeCandidate_AvoidanceByLC: true
+ PathChangeCandidate_ExternalRequestLaneChangeLeft: true
+ PathChangeCandidate_ExternalRequestLaneChangeRight: true
+ PathChangeCandidate_GoalPlanner: true
+ PathChangeCandidate_LaneChangeLeft: true
+ PathChangeCandidate_LaneChangeRight: true
+ PathChangeCandidate_StartPlanner: true
+ PathReference_Avoidance: true
+ PathReference_AvoidanceByLC: true
+ PathReference_GoalPlanner: true
+ PathReference_LaneChangeLeft: true
+ PathReference_LaneChangeRight: true
+ PathReference_StartPlanner: true
+ Value: true
+ VirtualWall:
+ Value: true
+ VirtualWall (Avoidance): true
+ VirtualWall (AvoidanceByLC): true
+ VirtualWall (BlindSpot): true
+ VirtualWall (Crosswalk): true
+ VirtualWall (DetectionArea): true
+ VirtualWall (ExtLaneChangeLeft): true
+ VirtualWall (ExtLaneChangeRight): true
+ VirtualWall (GoalPlanner): true
+ VirtualWall (Intersection): true
+ VirtualWall (LaneChangeLeft): true
+ VirtualWall (LaneChangeRight): true
+ VirtualWall (MergeFromPrivateArea): true
+ VirtualWall (NoDrivableLane): true
+ VirtualWall (NoStoppingArea): true
+ VirtualWall (OcclusionSpot): true
+ VirtualWall (OutOfLane): true
+ VirtualWall (RunOut): true
+ VirtualWall (SpeedBump): true
+ VirtualWall (StartPlanner): true
+ VirtualWall (StopLine): true
+ VirtualWall (TrafficLight): true
+ VirtualWall (VirtualTrafficLight): true
+ VirtualWall (Walkway): true
+ MotionPlanning:
+ DebugMarker:
+ ObstacleAvoidance: true
+ ObstacleCruise:
+ CruiseVirtualWall: true
+ DebugMarker: true
+ SlowDownVirtualWall: true
+ Value: true
+ ObstacleStop: true
+ SurroundObstacleChecker:
+ Footprint: true
+ FootprintOffset: true
+ FootprintRecoverOffset: true
+ SurroundObstacleCheck: true
+ Value: true
+ Value: true
+ Trajectory: true
+ Value: true
+ VirtualWall:
+ Value: true
+ VirtualWall (ObstacleAvoidance): true
+ VirtualWall (ObstacleCruise): true
+ VirtualWall (ObstacleStop): true
+ VirtualWall (SurroundObstacle): true
+ Value: true
+ ModifiedGoal: true
+ Parking:
+ Costmap: true
+ PartialPoseArray: true
+ PoseArray: true
+ Value: true
+ ScenarioTrajectory: true
+ Value: true
+ Value: false
+ Sensing:
+ GNSS:
+ PoseWithCovariance: true
+ Value: true
+ LiDAR:
+ ConcatenatePointCloud: true
+ MeasurementRange: true
+ Value: true
+ Value: true
+ System:
+ Grid: true
+ MRM Summary: true
+ TF: true
+ Value: false
+ Vehicle:
+ AccelerationMeter: true
+ ConsoleMeter: true
+ MaxVelocity: true
+ PolarGridDisplay: true
+ SteeringAngle: true
+ TurnSignal: true
+ Value: true
+ VehicleModel: true
+ VelocityHistory: true
+ Value: true
+ Zoom Factor: 1
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 5
+ Min Value: -1
+ Value: false
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz_default_plugins/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: AxisColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: ConcatenatePointCloud
+ Position Transformer: XYZ
+ Selectable: false
+ Size (Pixels): 3
+ Size (m): 0.019999999552965164
+ Style: Points
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/lidar/concatenated/pointcloud
+ Use Fixed Frame: false
+ Use rainbow: true
+ Value: true
+ - BUS:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ CAR:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ CYCLIST:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+ Display Acceleration: true
+ Display Label: true
+ Display PoseWithCovariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display UUID: true
+ Display Velocity: true
+ Enabled: true
+ Line Width: 0.029999999329447746
+ MOTORCYCLE:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Name: RadarRawObjects(white)
+ Namespaces:
+ {}
+ PEDESTRIAN:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ TRUCK:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/radar/detected_objects
+ UNKNOWN:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Value: true
+ Visualization Type: Normal
+ Enabled: false
Name: Sensing
- Class: rviz_common/Group
Enabled: true
@@ -2549,7 +2870,571 @@ Visualization Manager:
Value: /localization/pose_twist_fusion_filter/pose
Value: true
- Class: rviz_common/Group
- Displays: ~
+ Displays:
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
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+ Topic:
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+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/pointpainting/validation/objects
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+ Value: /perception/object_recognition/detection/detection_by_tracker/objects
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+ Topic:
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+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects
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+ Name: RadarFarObjects(white)
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+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/radar/far_objects
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+ History Policy: Keep Last
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+ Value: /perception/object_recognition/detection/objects
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+ Display Acceleration: true
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+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/tracking/objects
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+ CAR:
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+ Class: autoware_auto_perception_rviz_plugin/PredictedObjects
+ Display Acceleration: true
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+ Display UUID: true
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+ Topic:
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+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/objects
+ UNKNOWN:
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+ Value: false
+ Visualization Type: Normal
Enabled: true
Name: Perception
- Class: rviz_common/Group