Rebase all x2 changes to tier4/main

fix parameter namespace remove old parameter file remove old style parameter file remove unused parameter remove duplicated parameter remove old style parameter remove old style parameter pick new style parameter remove duplicated parameter remove unnecessary parameter remove old parameter Revert "feat: sp tuning for low obstacle (#578)" This reverts commit f00363f. Revert "chore(ground_segmentation): reduce ground_segmentation range (#649)" This reverts commit 3aacc89. fix ekf parameter remove temporary parameter disable pull over of mrm change initial_selector_mode to local reset analytical smoother parameter remove hazard lights selector remove l4toolkit enable stuck vehicle detection in left turn chore diagnostic_graph_aggregator params fix module name chore x2_preset.yaml fix(static_obstacle_avoidance): parameter tuning Signed-off-by: satoshi-ota <[email protected]> fix(slow_down): parameter tuning Signed-off-by: satoshi-ota <[email protected]> fix typo remove duplicated parameter remove old node revert common planning param for safety reason. use mrm_handler as default relax emergency stop acceleration for safety reason modify rviz setting remove l4toolkit from simulation fix lane change priority fix behavior velocity planner parameter make same mpt param as main update mlmodel parameter style fix old parameter name
tier4 · Jun 28, 2024 · 8c52fd2 · 8c52fd2
1 parent 000c7b4
commit 8c52fd2
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diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml
@@ -10,4 +10,3 @@
 
     thresholds:
       max_distance_deviation: 1.0
-      min_velocity_for_checking: 1.0  # m/s
diff --git a/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml b/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml
@@ -1,4 +1,4 @@
 /**:
   ros__parameters:
     update_rate: 10.0
-    initial_selector_mode: "remote" # ["local", "remote"]
+    initial_selector_mode: "local" # ["local", "remote"]
diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -71,9 +71,8 @@
 
     # slope compensation
     # pitch
-    use_trajectory_for_pitch_calculation: true
     lpf_pitch_gain: 0.95
-    slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
+    slope_source: "trajectory_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
     adaptive_trajectory_velocity_th: 1.0
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1
diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -1,10 +1,12 @@
 /**:
   ros__parameters:
-    show_debug_info: false
-    enable_yaw_bias_estimation: false
-    predict_frequency: 50.0
-    tf_rate: 50.0
-    extend_state_step: 50
+    node:
+      show_debug_info: false
+      enable_yaw_bias_estimation: false
+      predict_frequency: 50.0
+      tf_rate: 50.0
+      publish_tf: true
+      extend_state_step: 50
 
     pose_measurement:
       # for Pose measurement
@@ -40,7 +42,5 @@
 
     misc:
       # for velocity measurement limitation (Set 0.0 if you want to ignore)
-      threshold_observable_velocity_mps: 0.0 # [m/s]
+      threshold_observable_velocity_mps: 0.5 # [m/s]
       pose_frame_id: "map"
-    # for velocity measurement limitation (Set 0.0 if you want to ignore)
-    threshold_observable_velocity_mps: 0.5 # [m/s]
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
diff --git a/...ion/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/...ion/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
@@ -3,7 +3,7 @@
     tolerance: 0.7
     voxel_leaf_size: 0.3
     min_points_number_per_voxel: 1
-    min_cluster_size: 3
+    min_cluster_size: 10
     max_cluster_size: 3000
     use_height: false
     input_frame: "base_link"

diff --git a/...unch/config/perception/object_recognition/detection/lidar_model/centerpoint_x2.param.yaml b/...unch/config/perception/object_recognition/detection/lidar_model/centerpoint_x2.param.yaml
@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+
+    # weight files
+    encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+    encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+    head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+    head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
+    trt_precision: fp16
+    post_process_params:
+      # post-process params
+      circle_nms_dist_threshold: 0.5
+      iou_nms_target_class_names: ["CAR"]
+      iou_nms_search_distance_2d: 10.0
+      iou_nms_threshold: 0.1
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+      score_threshold: 0.35
+    densification_params:
+      world_frame_id: map
+      num_past_frames: 1
diff --git a/...erception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/...erception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
@@ -2,13 +2,13 @@
   ros__parameters:
 
     # voxel size for downsample filter
-    down_sample_voxel_size: 0.05
+    down_sample_voxel_size: 0.1
 
     # distance threshold for compare compare
     distance_threshold: 0.5
 
     # ratio to reduce voxel_leaf_size and neighbor points distance threshold in z axis
-    downsize_ratio_z_axis: 0.3
+    downsize_ratio_z_axis: 0.6
 
     # publish voxelized map pointcloud for debug
     publish_debug_pcd: False

diff --git a/...ption/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/...ption/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
@@ -56,7 +56,7 @@
 
     min_iou_matrix: # If value is negative, it will be ignored.
       #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,   MOTORBIKE, BICYCLE, PEDESTRIAN
-      [0.0,  0.1,   0.1,   0.1,    0.1,       0.1,       0.1,     0.1,       #UNKNOWN
+      [0.0001,  0.1,   0.1,   0.1,    0.1,       0.1,       0.1,     0.1,       #UNKNOWN
           0.1,  0.1,   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

diff --git a/...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -1,29 +1,29 @@
 /**:
   ros__parameters:
-    additional_lidars: ["front_lower"]
+    additional_lidars: []
     ransac_input_topics: []
     use_single_frame_filter: False
     use_time_series_filter: True
 
     common_crop_box_filter:
       parameters:
         min_x: -70.0
-        max_x: 100.0
+        max_x: 120.0
         min_y: -75.0
         max_y: 75.0
-        max_z: 3.2
-        min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        margin_max_z: 3.2
+        margin_min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
         negative: False
 
     common_ground_filter:
       plugin: "ground_segmentation::ScanGroundFilterComponent"
       parameters:
         global_slope_max_angle_deg: 10.0
         local_slope_max_angle_deg: 25.0 # recommended 30.0 for non elevation_grid_mode
-        split_points_distance_tolerance: 0.15
+        split_points_distance_tolerance: 0.2
         use_virtual_ground_point: True
         split_height_distance: 0.2
-        non_ground_height_threshold: 0.12
+        non_ground_height_threshold: 0.20
         grid_size_m: 0.2
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 5
@@ -44,12 +44,12 @@
 
     front_upper_crop_box_filter:
       parameters:
-        min_x: 5.8
+        min_x: -50.0
         max_x: 100.0
         min_y: -50.0
         max_y: 50.0
-        max_z: 3.2  # recommended 2.5 for non elevation_grid_mode
-        min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        margin_max_z: 3.2  # recommended 2.5 for non elevation_grid_mode
+        margin_min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
         negative: False
 
     front_upper_ground_filter:
@@ -58,7 +58,7 @@
         global_slope_max_angle_deg: 10.0
         local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode
         split_points_distance_tolerance: 0.20  # recommended 0.045 for non elevation_grid_mode
-        split_height_distance: 0.15 # recommended 0.15 for non elevation_grid_mode
+        split_height_distance: 0.2 # recommended 0.15 for non elevation_grid_mode
         use_virtual_ground_point: False
         non_ground_height_threshold: 0.1
         grid_size_m: 0.1
@@ -74,59 +74,29 @@
 
     front_lower_crop_box_filter:
       parameters:
-        min_x: 5.8
+        min_x: -50.0
         max_x: 100.0
         min_y: -50.0
         max_y: 50.0
-        max_z: 3.2  # recommended 2.5 for non elevation_grid_mode
-        min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        margin_max_z: 3.2  # recommended 2.5 for non elevation_grid_mode
+        margin_min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
         negative: False
 
     front_lower_ground_filter:
       plugin: "ground_segmentation::ScanGroundFilterComponent"
       parameters:
         global_slope_max_angle_deg: 10.0
         local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode
-        split_points_distance_tolerance: 0.10 # recommended 0.1 for non elevation_grid_mode
-        split_height_distance: 0.05      # recommended 0.05 for non elevation_grid_mode
-        use_virtual_ground_point: true
+        split_points_distance_tolerance: 0.20 # recommended 0.1 for non elevation_grid_mode
+        split_height_distance: 0.2      # recommended 0.05 for non elevation_grid_mode
+        use_virtual_ground_point: False
         non_ground_height_threshold: 0.1
         grid_size_m: 0.1
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 4
         detection_range_z_max: 3.2
-        elevation_grid_mode: true
-        use_recheck_ground_cluster: true
-        use_lowest_point: true
-        low_priority_region_x: -20.0
-        center_pcl_shift: 0.0
-        radial_divider_angle_deg: 1.0
-
-    left_upper_crop_box_filter:
-      parameters:
-        min_x: 5.8
-        max_x: 40.0
-        min_y: -10.0
-        max_y: 10.0
-        max_z: 1.  # recommended 2.5 for non elevation_grid_mode
-        min_z: -1.0 # recommended 0.0 for non elevation_grid_mode
-        negative: False
-
-    left_upper_ground_filter:
-      plugin: "ground_segmentation::ScanGroundFilterComponent"
-      parameters:
-        global_slope_max_angle_deg: 6.0
-        local_slope_max_angle_deg: 6.0 # recommended 30.0 for non elevation_grid_mode
-        split_points_distance_tolerance: 0.20  # recommended 0.045 for non elevation_grid_mode
-        split_height_distance: 0.2 # recommended 0.15 for non elevation_grid_mode
-        use_virtual_ground_point: False
-        non_ground_height_threshold: 0.05
-        grid_size_m: 0.2
-        grid_mode_switch_radius: 10.0
-        gnd_grid_buffer_size: 3
-        detection_range_z_max: 3.2
-        elevation_grid_mode: true
-        use_recheck_ground_cluster: true
+        elevation_grid_mode: false
+        use_recheck_ground_cluster: false
         use_lowest_point: true
         low_priority_region_x: -20.0
         center_pcl_shift: 0.0

diff --git a/autoware_launch/config/planning/preset/x2_preset.yaml b/autoware_launch/config/planning/preset/x2_preset.yaml
@@ -1,14 +1,17 @@
 launch:
   # behavior path modules
   - arg:
-      name: launch_avoidance_module
+      name: launch_static_obstacle_avoidance
       default: "true"
   - arg:
       name: launch_avoidance_by_lane_change_module
       default: "false"
   - arg:
-      name: launch_dynamic_avoidance_module
+      name: launch_dynamic_obstacle_avoidance
       default: "false"
+  - arg:
+      name: launch_sampling_planner_module
+      default: "false" # Warning, experimental module, use only in simulations
   - arg:
       name: launch_lane_change_right_module
       default: "true"
@@ -71,9 +74,6 @@ launch:
   - 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"
@@ -87,21 +87,31 @@ launch:
 
   - arg:
       name: motion_path_planner_type
-      default: obstacle_avoidance_planner
-      # option: obstacle_avoidance_planner
+      default: path_optimizer
+      # option: path_optimizer
       #         path_sampler
       #         none
 
+  # motion velocity planner modules
+  - arg:
+      name: launch_dynamic_obstacle_stop_module
+      default: "false"
+  - arg:
+      name: launch_out_of_lane_module
+      default: "true"
+  - arg:
+      name: launch_obstacle_velocity_limiter_module
+      default: "true"
+
   - arg:
       name: motion_stop_planner_type
-      default: obstacle_cruise_planner_with_pseudo_occlusion
+      default: obstacle_cruise_planner
       # option: obstacle_stop_planner
       #         obstacle_cruise_planner
-      #         obstacle_cruise_planner_with_pseudo_occlusion
       #         none
 
   - arg:
-      name: motion_velocity_smoother_type
+      name: velocity_smoother_type
       default: JerkFiltered
       # option: JerkFiltered
       #         L2

diff --git a/...config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml b/...config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml
@@ -17,8 +17,8 @@
       kp: 0.3
 
     backward:
-      start_jerk: -0.3
-      min_jerk_mild_stop: -0.5
+      start_jerk: -0.1
+      min_jerk_mild_stop: -0.3
       min_jerk: -1.5
       min_acc_mild_stop: -1.0
       min_acc: -2.5
Original file line number	Diff line number	Diff line change
Expand Up		@@ -10,4 +10,3 @@

		thresholds:
		max_distance_deviation: 1.0
		min_velocity_for_checking: 1.0 # m/s