Merge branch 'main' into tmp/murooka/enable-drivable-area-expansion

autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    tracker_ignore_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false

autoware_launch/config/planning/preset/default_preset.yaml

@@ -0,0 +1,120 @@
+launch:
+  # behavior path modules
+  - arg:
+      name: launch_avoidance_module
+      default: "true"
+  - arg:
+      name: launch_avoidance_by_lane_change_module
+      default: "true"
+  - arg:
+      name: launch_dynamic_avoidance_module
+      default: "false"
+  - arg:
+      name: launch_lane_change_right_module
+      default: "true"
+  - arg:
+      name: launch_lane_change_left_module
+      default: "true"
+  - arg:
+      name: launch_external_request_lane_change_right_module
+      default: "false"
+  - arg:
+      name: launch_external_request_lane_change_left_module
+      default: "false"
+  - arg:
+      name: launch_goal_planner_module
+      default: "true"
+  - arg:
+      name: launch_start_planner_module
+      default: "true"
+  - arg:
+      name: launch_side_shift_module
+      default: "true"
+  - arg:
+      name: use_experimental_lane_change_function
+      default: "true"
+
+  # behavior velocity modules
+  - arg:
+      name: launch_crosswalk_module
+      default: "true"
+  - arg:
+      name: launch_walkway_module
+      default: "true"
+  - arg:
+      name: launch_traffic_light_module
+      default: "true"
+  - arg:
+      name: launch_intersection_module
+      default: "true"
+  - arg:
+      name: launch_merge_from_private_module
+      default: "true"
+  - arg:
+      name: launch_blind_spot_module
+      default: "true"
+  - arg:
+      name: launch_detection_area_module
+      default: "true"
+  - arg:
+      name: launch_virtual_traffic_light_module
+      default: "false"
+  - arg:
+      name: launch_no_stopping_area_module
+      default: "true"
+  - arg:
+      name: launch_stop_line_module
+      default: "true"
+  - arg:
+      name: launch_occlusion_spot_module
+      default: "false"
+  - arg:
+      name: launch_run_out_module
+      default: "true"
+  - arg:
+      name: launch_speed_bump_module
+      default: "false"
+  - arg:
+      name: launch_out_of_lane_module
+      default: "true"
+  - arg:
+      name: launch_no_drivable_lane_module
+      default: "false"
+
+  # motion planning modules
+  - arg:
+      name: motion_path_smoother_type
+      default: elastic_band
+      # option: elastic_band
+      #         none
+
+  - arg:
+      name: motion_path_planner_type
+      default: obstacle_avoidance_planner
+      # option: obstacle_avoidance_planner
+      #         path_sampler
+      #         none
+
+  - arg:
+      name: motion_stop_planner_type
+      default: obstacle_stop_planner
+      # option: obstacle_stop_planner
+      #         obstacle_cruise_planner
+      #         none
+
+  - arg:
+      name: motion_velocity_smoother_type
+      default: JerkFiltered
+      # option: JerkFiltered
+      #         L2
+      #         Linf(Unstable)
+      #         Analytical
+
+  - arg:
+      name: launch_surround_obstacle_checker
+      default: "true"
+
+  # parking modules
+  - arg:
+      name: launch_parking_module
+      default: "true"

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml

@@ -5,9 +5,6 @@
 
     traffic_light_signal_timeout: 1.0
 
-    groot_zmq_publisher_port: 1666
-    groot_zmq_server_port: 1667
-
     planning_hz: 10.0
     backward_path_length: 5.0
     forward_path_length: 300.0

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml

@@ -4,7 +4,6 @@
 /**:
   ros__parameters:
     external_request_lane_change_left:
-      enable_module: false
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
@@ -13,7 +12,6 @@
       max_module_size: 1
 
     external_request_lane_change_right:
-      enable_module: false
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
@@ -22,7 +20,6 @@
       max_module_size: 1
 
     lane_change_left:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
@@ -31,7 +28,6 @@
       max_module_size: 1
 
     lane_change_right:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
@@ -40,7 +36,6 @@
       max_module_size: 1
 
     start_planner:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
@@ -49,7 +44,6 @@
       max_module_size: 1
 
     side_shift:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
@@ -58,7 +52,6 @@
       max_module_size: 1
 
     goal_planner:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
@@ -67,7 +60,6 @@
       max_module_size: 1
 
     avoidance:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
@@ -76,7 +68,6 @@
       max_module_size: 1
 
     avoidance_by_lc:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
@@ -85,7 +76,6 @@
       max_module_size: 1
 
     dynamic_avoidance:
-      enable_module: false
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml

@@ -8,19 +8,3 @@
     system_delay: 0.5
     delay_response_time: 0.5
     is_publish_debug_path: false # publish all debug path with lane id in each module
-    launch_modules:
-      - behavior_velocity_planner::CrosswalkModulePlugin
-      - behavior_velocity_planner::WalkwayModulePlugin
-      - behavior_velocity_planner::TrafficLightModulePlugin
-      - behavior_velocity_planner::IntersectionModulePlugin      # Intersection module should be before merge from private to declare intersection parameters.
-      - behavior_velocity_planner::MergeFromPrivateModulePlugin
-      - behavior_velocity_planner::BlindSpotModulePlugin
-      - behavior_velocity_planner::DetectionAreaModulePlugin
-      # behavior_velocity_planner::VirtualTrafficLightModulePlugin
-      - behavior_velocity_planner::NoStoppingAreaModulePlugin     # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom.
-      - behavior_velocity_planner::StopLineModulePlugin           # Permanent stop line module should be after no stopping area
-      # behavior_velocity_planner::OcclusionSpotModulePlugin
-      # behavior_velocity_planner::RunOutModulePlugin
-      # behavior_velocity_planner::SpeedBumpModulePlugin
-      - behavior_velocity_planner::OutOfLaneModulePlugin
-      # behavior_velocity_planner::NoDrivableLaneModulePlugin

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml

@@ -45,7 +45,7 @@
 
       # parameter to avoid sudden stopping
       slow_down_limit:
-        enable: true
+        enable: false
         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.
 

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml

@@ -182,10 +182,19 @@
       labels:
         - "default"
       default:
-        min_lat_margin: 0.2
-        max_lat_margin: 1.0
-        min_ego_velocity: 2.0
-        max_ego_velocity: 8.0
+        moving:
+          min_lat_margin: 0.2
+          max_lat_margin: 1.0
+          min_ego_velocity: 2.0
+          max_ego_velocity: 8.0
+        static:
+          min_lat_margin: 0.2
+          max_lat_margin: 1.0
+          min_ego_velocity: 2.0
+          max_ego_velocity: 8.0
+
+      moving_object_speed_threshold: 0.5 # [m/s] how fast the object needs to move to be considered as "moving"
+      moving_object_hysteresis_range: 0.1 # [m/s] hysteresis range used to prevent chattering when obstacle moves close to moving_object_speed_threshold
 
       time_margin_on_target_velocity: 1.5 # [s]
 

autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml

@@ -39,7 +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/system/duplicated_node_checker: default
 
         /autoware/vehicle/node_alive_monitoring: default
 

autoware_launch/launch/autoware.launch.xml

@@ -8,6 +8,9 @@
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
+  <!-- launch module preset -->
+  <arg name="planning_module_preset" default="default" description="planning module preset"/>
+
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
   <arg name="launch_vehicle" default="true" description="launch vehicle"/>
@@ -98,7 +101,9 @@
 
   <!-- Planning -->
   <group if="$(var launch_planning)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
+      <arg name="module_preset" value="$(var planning_module_preset)"/>
+    </include>
   </group>
 
   <!-- Control -->

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -64,6 +64,10 @@
       name="object_recognition_detection_object_merger_distance_threshold_list_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
     />
+    <arg
+      name="object_recognition_detection_detection_by_tracker_param"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml"
+    />
     <arg
       name="object_recognition_detection_radar_lanelet_filtering_range_param"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml"

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -1,31 +1,16 @@
 <?xml version="1.0"?>
 <launch>
   <!-- NOTE: optional parameters are written here -->
-  <!-- behavior -->
-  <arg name="use_experimental_lane_change_function" default="true"/>
-  <!-- motion -->
-  <arg name="motion_path_smoother_type" default="elastic_band" description="options: elastic_band, none"/>
-  <arg name="motion_path_planner_type" default="obstacle_avoidance_planner" description="options: obstacle_avoidance_planner, path_sampler, none"/>
-  <arg name="motion_stop_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
-  <arg name="motion_velocity_smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
-  <arg name="enable_surround_check" default="true"/>
-
-  <!-- variables -->
-  <arg name="behavior_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning"/>
-  <arg name="behavior_path_config_path" default="$(var behavior_config_path)/behavior_path_planner"/>
-  <arg name="behavior_velocity_config_path" default="$(var behavior_config_path)/behavior_velocity_planner"/>
-  <arg name="motion_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning"/>
-  <arg name="common_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
-
-  <!-- parking module -->
-  <arg name="launch_parking_module" default="true"/>
+  <arg name="module_preset" default="default"/>
+  <include file="$(find-pkg-share autoware_launch)/config/planning/preset/$(var module_preset)_preset.yaml"/>
 
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
 
     <!-- common -->
+    <arg name="common_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
     <arg name="common_param_path" value="$(var common_config_path)/common.param.yaml"/>
     <arg name="nearest_search_param_path" value="$(var common_config_path)/nearest_search.param.yaml"/>
     <arg name="costmap_generator_param_path" value="$(var common_config_path)/costmap_generator.param.yaml"/>
@@ -34,6 +19,7 @@
     <arg name="mission_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>
 
     <!-- behavior path planner -->
+    <arg name="behavior_path_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"/>
     <arg name="behavior_path_planner_common_param_path" value="$(var behavior_path_config_path)/behavior_path_planner.param.yaml"/>
     <arg name="behavior_path_planner_scene_module_manager_param_path" value="$(var behavior_path_config_path)/scene_module_manager.param.yaml"/>
     <arg name="behavior_path_planner_side_shift_module_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
@@ -46,6 +32,7 @@
     <arg name="behavior_path_planner_drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
 
     <!-- behavior velocity planner -->
+    <arg name="behavior_velocity_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"/>
     <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
     <arg name="behavior_velocity_planner_common_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
     <arg name="behavior_velocity_planner_blind_spot_module_param_path" value="$(var behavior_velocity_config_path)/blind_spot.param.yaml"/>
@@ -68,6 +55,7 @@
     <arg name="freespace_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/>
 
     <!-- motion -->
+    <arg name="motion_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning"/>
     <arg name="elastic_band_smoother_param_path" value="$(var motion_config_path)/path_smoother/elastic_band_smoother.param.yaml"/>
     <arg name="obstacle_avoidance_planner_param_path" value="$(var motion_config_path)/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"/>
     <arg name="path_sampler_param_path" value="$(var motion_config_path)/path_sampler/path_sampler.param.yaml"/>

autoware_launch/launch/e2e_simulator.launch.xml

@@ -6,6 +6,9 @@
   <arg name="sensor_model" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
+  <!-- launch module preset -->
+  <arg name="planning_module_preset" default="default" description="planning module preset"/>
+
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
   <arg name="vehicle" default="true" description="launch vehicle"/>
@@ -43,6 +46,8 @@
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="data_path" value="$(var data_path)"/>
+      <!-- launch module preset -->
+      <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
       <!-- Modules to be launched -->
       <arg name="launch_vehicle" value="$(var vehicle)"/>
       <arg name="launch_map" value="$(var map)"/>