From 132ceef950cd2085baeca8493bc785e60cd805d1 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 22 May 2024 15:23:25 +0900 Subject: [PATCH 01/35] fix(avoidance): change lateral jerk param (#995) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 dc42af0412..3a251f692c 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 @@ -270,7 +270,7 @@ constraints: # lateral constraints lateral: - velocity: [1.0, 1.38, 11.1] # [m/s] + 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: [1.0, 1.0, 1.0] # [m/sss] From a05b6c6e40a3c20f0b301b826893f1e41052124c Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 23 May 2024 12:53:58 +0900 Subject: [PATCH 02/35] feat!(avoidance): make it selectable output debug marker from yaml (#996) feat(avoidance): make it selectable output debug marker from yaml Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) 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 3a251f692c..24e88c8ed6 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 @@ -293,4 +293,11 @@ # for debug debug: - marker: false + enable_other_objects_marker: false + enable_other_objects_info: false + enable_detection_area_marker: false + enable_drivable_bound_marker: false + enable_safety_check_marker: false + enable_shift_line_marker: false + enable_lane_marker: false + enable_misc_marker: false From b0581a96b44acfc823d29e8eb4e018135f1de348 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 23 May 2024 15:16:45 +0900 Subject: [PATCH 03/35] feat(multi_object_tracker): add multi object input config file (#989) * feat: add multi-input channel config Signed-off-by: Taekjin LEE * fix: component config Signed-off-by: Taekjin LEE * fix: remove expected interval, add spawn Signed-off-by: Taekjin LEE * fix: missing config, default value Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../input_channels.param.yaml | 82 +++++++++++++++++++ .../multi_object_tracker_node.param.yaml | 3 +- .../tier4_perception_component.launch.xml | 4 + .../tier4_simulator_component.launch.xml | 4 + 4 files changed, 91 insertions(+), 2 deletions(-) create mode 100644 autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml new file mode 100644 index 0000000000..b57f37675d --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml @@ -0,0 +1,82 @@ +/**: + ros__parameters: + input_channels: + detected_objects: + topic: "/perception/object_recognition/detection/objects" + can_spawn_new_tracker: true + optional: + name: "detected_objects" + short_name: "all" + # LIDAR - rule-based + lidar_clustering: + topic: "/perception/object_recognition/detection/clustering/objects" + can_spawn_new_tracker: true + optional: + name: "clustering" + short_name: "Lcl" + # LIDAR - DNN + lidar_centerpoint: + topic: "/perception/object_recognition/detection/centerpoint/objects" + can_spawn_new_tracker: true + optional: + name: "centerpoint" + short_name: "Lcp" + lidar_centerpoint_validated: + topic: "/perception/object_recognition/detection/centerpoint/validation/objects" + can_spawn_new_tracker: true + optional: + name: "centerpoint" + short_name: "Lcp" + lidar_apollo: + topic: "/perception/object_recognition/detection/apollo/objects" + can_spawn_new_tracker: true + optional: + name: "apollo" + short_name: "Lap" + lidar_apollo_validated: + topic: "/perception/object_recognition/detection/apollo/validation/objects" + can_spawn_new_tracker: true + optional: + name: "apollo" + short_name: "Lap" + # LIDAR-CAMERA - DNN + # cspell:ignore lidar_pointpainitng pointpainting + lidar_pointpainitng: + topic: "/perception/object_recognition/detection/pointpainting/objects" + can_spawn_new_tracker: true + optional: + name: "pointpainting" + short_name: "Lpp" + lidar_pointpainting_validated: + topic: "/perception/object_recognition/detection/pointpainting/validation/objects" + can_spawn_new_tracker: true + optional: + name: "pointpainting" + short_name: "Lpp" + # CAMERA-LIDAR + camera_lidar_fusion: + topic: "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects" + can_spawn_new_tracker: true + optional: + name: "camera_lidar_fusion" + short_name: "CLf" + # CAMERA-LIDAR+TRACKER + detection_by_tracker: + topic: "/perception/object_recognition/detection/detection_by_tracker/objects" + can_spawn_new_tracker: false + optional: + name: "detection_by_tracker" + short_name: "dbT" + # RADAR + radar: + topic: "/sensing/radar/detected_objects" + can_spawn_new_tracker: true + optional: + name: "radar" + short_name: "R" + radar_far: + topic: "/perception/object_recognition/detection/radar/far_objects" + can_spawn_new_tracker: true + optional: + name: "radar_far" + short_name: "Rf" diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml index 32a12f8bf5..006c179ae1 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -13,11 +13,10 @@ publish_rate: 10.0 world_frame_id: map enable_delay_compensation: true - pass_through_unknown_objects: false - publish_untracked_objects: false # debug parameters publish_processing_time: true publish_tentative_objects: false + publish_debug_markers: true diagnostics_warn_delay: 0.5 # [sec] diagnostics_error_delay: 1.0 # [sec] diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 8418afabdf..0584a98f4b 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -116,6 +116,10 @@ name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml" /> + + Date: Fri, 24 May 2024 20:41:58 +0900 Subject: [PATCH 04/35] feat: add diagnostic graph settings (#991) Signed-off-by: Takagi, Isamu --- .../launch/components/tier4_system_component.launch.xml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 9fac31c3af..40f154e6a0 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -27,10 +27,10 @@ - + - - - + + + From 9ecea1f850f48efded245e499a46492d524be0c4 Mon Sep 17 00:00:00 2001 From: Giovanni Muhammad Raditya Date: Mon, 27 May 2024 18:15:15 +0900 Subject: [PATCH 05/35] feat(e2e_simulator.launch): add argument for running the CARLA interface (#924) Signed-off-by: Giovanni Muhammad Raditya --- autoware_launch/launch/e2e_simulator.launch.xml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 902d9bc33c..0899b6055f 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -6,6 +6,7 @@ + @@ -39,6 +40,9 @@ + + + From 6bd742fb4e611b5c5e4e11f18784546ed4630496 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Mon, 27 May 2024 12:39:18 +0300 Subject: [PATCH 06/35] fix(rviz): remove StringStampedOverlayDisplay reference (#1001) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- autoware_launch/rviz/autoware.rviz | 16 ---------------- 1 file changed, 16 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 40db36a916..9005a0fdba 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -3608,22 +3608,6 @@ Visualization Manager: Value: true Enabled: true Name: Objects Of Interest - - Class: rviz_plugins/StringStampedOverlayDisplay - Enabled: true - Font Size: 15 - Left: 1024 - Max Letter Num: 100 - Name: StringStampedOverlayDisplay - Text Color: 25; 255; 240 - Top: 128 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state - Value: true - Value height offset: 0 Enabled: true Name: Planning - Class: rviz_common/Group From b2f5bac88e5867f55c70ca23c44d126abbd6cd29 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Mon, 27 May 2024 20:15:38 +0900 Subject: [PATCH 07/35] feat(autoware_launch): add diagnostic graph config for awsim (#1000) Signed-off-by: Takagi, Isamu --- .../system/diagnostic_graph_aggregator/autoware-awsim.yaml | 5 +++++ .../system/diagnostic_graph_aggregator/autoware-main.yaml | 2 ++ .../system/diagnostic_graph_aggregator/autoware-psim.yaml | 2 ++ autoware_launch/launch/autoware.launch.xml | 1 + .../launch/components/tier4_system_component.launch.xml | 7 ++++--- autoware_launch/launch/e2e_simulator.launch.xml | 1 + autoware_launch/launch/logging_simulator.launch.xml | 1 + autoware_launch/launch/planning_simulator.launch.xml | 1 + 8 files changed, 17 insertions(+), 3 deletions(-) create mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml create mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml create mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml new file mode 100644 index 0000000000..9950acbc7e --- /dev/null +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml @@ -0,0 +1,5 @@ +files: + - { path: $(find-pkg-share system_diagnostic_monitor)/config/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 new file mode 100644 index 0000000000..42af3f79a3 --- /dev/null +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml @@ -0,0 +1,2 @@ +files: + - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml new file mode 100644 index 0000000000..dfc820f93c --- /dev/null +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml @@ -0,0 +1,2 @@ +files: + - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml } diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 3d713f3716..38f8550f72 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -37,6 +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 40f154e6a0..d5082a91e8 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,6 +1,8 @@ + + @@ -29,8 +31,7 @@ - - - + + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 0899b6055f..d05d0acb62 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -72,6 +72,7 @@ + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 77d17d7897..8780578a6e 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -63,6 +63,7 @@ + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index b389abf61c..d038e7096b 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -61,6 +61,7 @@ + From b6a858a924829d8127f3dc3c1f3b93f21cfb2406 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 28 May 2024 12:27:17 +0900 Subject: [PATCH 08/35] feat(object_lanelet_filter): update object_lanelet_filter parameter yaml (#998) feat: update object_lanelet_filter parameter Signed-off-by: yoshiri --- .../object_filter/object_lanelet_filter.param.yaml | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml index dfdee95642..99050d9738 100644 --- a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml @@ -9,3 +9,13 @@ MOTORCYCLE : false BICYCLE : false PEDESTRIAN : false + + filter_settings: + # polygon overlap based filter + polygon_overlap_filter: + enabled: true + # velocity direction based filter + lanelet_direction_filter: + enabled: false + velocity_yaw_threshold: 0.785398 # [rad] (45 deg) + object_speed_threshold: 3.0 # [m/s] From 5c77b288daa240e2ee38167bba1f614841445b37 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 29 May 2024 13:53:20 +0900 Subject: [PATCH 09/35] feat(blind_spot): consider time to collision (#1002) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/blind_spot.param.yaml | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml index 424029300a..d7131d8c19 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml @@ -3,10 +3,12 @@ blind_spot: use_pass_judge_line: true stop_line_margin: 1.0 # [m] - backward_length: 50.0 # [m] - ignore_width_from_center_line: 0.0 # [m] - max_future_movement_time: 10.0 # [second] - threshold_yaw_diff: 0.523 # [rad] + backward_detection_length: 100.0 # [m] + ignore_width_from_center_line: 0.7 # [m] adjacent_extend_width: 1.5 # [m] opposite_adjacent_extend_width: 1.5 # [m] - enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. + max_future_movement_time: 10.0 # [second] + ttc_min: -5.0 # [s] + ttc_max: 5.0 # [s] + ttc_ego_minimal_velocity: 5.0 # [m/s] + enable_rtc: 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 From d0c066050bdf140854662f301825244ca13e7633 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 29 May 2024 14:16:59 +0900 Subject: [PATCH 10/35] feat(map_based_prediction): use different time horizon (#967) Signed-off-by: Mamoru Sobue --- .../prediction/map_based_prediction.param.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) 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 ba1b08abd6..e123b0dda6 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 @@ -1,7 +1,10 @@ /**: ros__parameters: enable_delay_compensation: true - prediction_time_horizon: 10.0 #[s] + prediction_time_horizon: + vehicle: 15.0 #[s] + pedestrian: 10.0 #[s] + unknown: 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] From 83b9a97c34bea527a18a1f4340e963e2715600c2 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 29 May 2024 17:29:54 +0900 Subject: [PATCH 11/35] revert(map_based_prediction): use different time horizon (#967) (#1006) Signed-off-by: Mamoru Sobue --- .../prediction/map_based_prediction.param.yaml | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) 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 e123b0dda6..ba1b08abd6 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 @@ -1,10 +1,7 @@ /**: ros__parameters: enable_delay_compensation: true - prediction_time_horizon: - vehicle: 15.0 #[s] - pedestrian: 10.0 #[s] - unknown: 10.0 #[s] + 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] From 7edbb42b0b21f5e6365f71c4dc65512487574c5d Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 30 May 2024 14:45:38 +0900 Subject: [PATCH 12/35] feat(behavior_path_planner_common,turn_signal_decider): add turn_signal_remaining_shift_length_threshold (#1007) add turn_signal_remaining_shift_length_threshold Signed-off-by: Daniel Sanchez --- .../behavior_path_planner/behavior_path_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 b43179c844..cb1c2b9e30 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 @@ -19,6 +19,7 @@ turn_signal_minimum_search_distance: 10.0 turn_signal_search_time: 3.0 turn_signal_shift_length_threshold: 0.3 + turn_signal_remaining_shift_length_threshold: 0.1 turn_signal_on_swerving: true enable_akima_spline_first: false From f7e6dd7e254107ec44f6cc9f05db1788f190b238 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 30 May 2024 15:58:24 +0900 Subject: [PATCH 13/35] feat(map_based_prediction): use different time horizon (#1005) Signed-off-by: Mamoru Sobue --- .../prediction/map_based_prediction.param.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) 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 ba1b08abd6..e123b0dda6 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 @@ -1,7 +1,10 @@ /**: ros__parameters: enable_delay_compensation: true - prediction_time_horizon: 10.0 #[s] + prediction_time_horizon: + vehicle: 15.0 #[s] + pedestrian: 10.0 #[s] + unknown: 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] From d59ae2684a37cca4a374676aeb01812b98a9e043 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 30 May 2024 17:01:05 +0900 Subject: [PATCH 14/35] feat(motion_velocity_planner): add new motion velocity planning (#992) Signed-off-by: Maxime CLEMENT --- .../planning/preset/default_preset.yaml | 7 ++- .../motion_velocity_planner.param.yaml | 3 ++ .../out_of_lane.param.yaml | 44 +++++++++++++++++++ .../tier4_planning_component.launch.xml | 3 ++ autoware_launch/rviz/autoware.rviz | 28 ++++++++++++ 5 files changed, 84 insertions(+), 1 deletion(-) create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 674b3e07e7..fb50fb0e08 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -76,7 +76,7 @@ launch: default: "false" - arg: name: launch_out_of_lane_module - default: "true" + default: "false" - arg: name: launch_no_drivable_lane_module default: "false" @@ -98,6 +98,11 @@ launch: # path_sampler # none + # motion velocity planner modules + - arg: + name: launch_motion_out_of_lane_module + default: "true" + - arg: name: motion_stop_planner_type default: obstacle_cruise_planner diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml new file mode 100644 index 0000000000..5b2fea537d --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + smooth_velocity_before_planning: true # [-] if true, smooth the velocity profile of the input trajectory before planning diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml new file mode 100644 index 0000000000..b13df72409 --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml @@ -0,0 +1,44 @@ +/**: + ros__parameters: + out_of_lane: # module to stop or slowdown before overlapping another lane with other objects + mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc" + skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane + ignore_overlaps_over_lane_changeable_lanelets: true # if true, overlaps on lane changeable lanelets are ignored + + threshold: + time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time + intervals: # consider objects if their estimated time interval spent on the overlap intersect the estimated time interval of ego + ego_time_buffer: 0.5 # [s] extend the ego time interval by this buffer + objects_time_buffer: 0.5 # [s] extend the time intervals of objects by this buffer + ttc: + threshold: 3.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap + + objects: + minimum_velocity: 0.5 # [m/s] objects lower than this velocity will be ignored + use_predicted_paths: true # if true, use the predicted paths to estimate future positions. + # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in. + predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value. + distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane + cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights + + overlap: + minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered + extra_length: 0.0 # [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times) + + action: # action to insert in the path if an object causes a conflict at an overlap + skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed + precision: 0.1 # [m] precision when inserting a stop pose in the path + distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane + min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled + slowdown: + distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap + velocity: 2.0 # [m/s] slowdown velocity + stop: + distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap + + ego: + min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego + extra_front_offset: 0.0 # [m] extra front distance + extra_rear_offset: 0.0 # [m] extra rear distance + extra_right_offset: 0.0 # [m] extra right distance + extra_left_offset: 0.0 # [m] extra left distance diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index f093ce8133..9f59a2191e 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -69,6 +69,9 @@ + + + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 9005a0fdba..e0c4315f42 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2128,6 +2128,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/motion_velocity_smoother/virtual_wall Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OutOfLane) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls + Value: true Enabled: true Name: VirtualWall - Class: rviz_common/Group @@ -2251,6 +2263,22 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: OutOfLane + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers + Value: true + Enabled: false + Name: MotionVelocityPlanner Enabled: false Name: DebugMarker Enabled: true From 89f616d4d540f450d2864e119d74c91045301309 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 31 May 2024 12:39:11 +0900 Subject: [PATCH 15/35] chore(planning_launch): update module name (#1008) * chore(planning_launch): update module name Signed-off-by: satoshi-ota * chore(rviz): update rviz config Signed-off-by: satoshi-ota * chore(avoidance): update module name Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../planning/preset/default_preset.yaml | 4 +- .../dynamic_obstacle_avoidance.param.yaml} | 0 .../static_obstacle_avoidance.param.yaml} | 0 .../scene_module_manager.param.yaml | 4 +- .../tier4_planning_component.launch.xml | 10 ++++- autoware_launch/rviz/autoware.rviz | 38 +++++++++---------- 6 files changed, 31 insertions(+), 25 deletions(-) rename autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/{dynamic_avoidance/dynamic_avoidance.param.yaml => autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml} (100%) rename autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/{avoidance/avoidance.param.yaml => autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml} (100%) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index fb50fb0e08..b1c4bd3992 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -1,13 +1,13 @@ 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: "true" - arg: - name: launch_dynamic_avoidance_module + name: launch_dynamic_obstacle_avoidance default: "false" - arg: name: launch_sampling_planner_module diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_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 similarity index 100% rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml rename to 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 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/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml rename to 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 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 8d4fe057b4..59289d30f5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -59,7 +59,7 @@ priority: 1 max_module_size: 1 - avoidance: + static_obstacle_avoidance: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false @@ -75,7 +75,7 @@ priority: 3 max_module_size: 1 - dynamic_avoidance: + dynamic_obstacle_avoidance: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 9f59a2191e..c9f4e2ceae 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -26,10 +26,16 @@ - + - + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index e0c4315f42..5e1924c66d 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1022,7 +1022,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/path_reference/avoidance + Value: /planning/path_reference/static_obstacle_avoidance Value: true View Path: Alpha: 0.3 @@ -1275,7 +1275,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/path_candidate/avoidance + Value: /planning/path_candidate/static_obstacle_avoidance Value: true View Path: Alpha: 0.30000001192092896 @@ -1353,7 +1353,7 @@ Visualization Manager: Displays: - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (Avoidance) + Name: VirtualWall (StaticObstacleAvoidance) Namespaces: {} Topic: @@ -1361,7 +1361,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/static_obstacle_avoidance Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -1778,7 +1778,7 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: Avoidance + Name: StaticObstacleAvoidance Namespaces: {} Topic: @@ -1786,7 +1786,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/static_obstacle_avoidance Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false @@ -1886,7 +1886,7 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: DynamicAvoidance + Name: DynamicObstacleAvoidance Namespaces: {} Topic: @@ -1894,7 +1894,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false @@ -1926,7 +1926,7 @@ Visualization Manager: Displays: - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: Info (Avoidance) + Name: Info (StaticObstacleAvoidance) Namespaces: avoidable_target_objects_info: false avoidable_target_objects_info_reason: false @@ -1939,7 +1939,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/static_obstacle_avoidance Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false @@ -2027,7 +2027,7 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: Info (DynamicAvoidance) + Name: Info (DynamicObstacleAvoidance) Namespaces: {} Topic: @@ -2035,7 +2035,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_obstacle_avoidance Value: false Enabled: false Name: InfoMarker @@ -2576,11 +2576,11 @@ Visualization Manager: Bound: true DebugMarker: Arrow: true - Avoidance: true + StaticObstacleAvoidance: true Blind Spot: true Crosswalk: true DetectionArea: true - DynamicAvoidance: true + DynamicObstacleAvoidance: true GoalPlanner: true Intersection: true LaneFollowing: true @@ -2599,9 +2599,9 @@ Visualization Manager: Value: true VirtualTrafficLight: true InfoMarker: - Info (Avoidance): true + Info (StaticObstacleAvoidance): true Info (AvoidanceByLC): true - Info (DynamicAvoidance): true + Info (DynamicObstacleAvoidance): true Info (ExtLaneChangeLeft): true Info (ExtLaneChangeRight): true Info (GoalPlanner): true @@ -2627,7 +2627,7 @@ Visualization Manager: Value: true VirtualWall: Value: true - VirtualWall (Avoidance): true + VirtualWall (StaticObstacleAvoidance): true VirtualWall (AvoidanceByLC): true VirtualWall (BlindSpot): true VirtualWall (Crosswalk): true @@ -3500,7 +3500,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/avoidance_left + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -3512,7 +3512,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/avoidance_right + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true From 8803095c059afba440f7eb75e246b9e6d0257f99 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 31 May 2024 16:34:40 +0900 Subject: [PATCH 16/35] feat(obstacle_cruise_planner)!: ignore to garze against unknwon objects (#1009) Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 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 dc314511a1..6826e78b57 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 @@ -87,7 +87,8 @@ obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop stop: - max_lat_margin: 0.3 # lateral margin between obstacle and trajectory band with ego's width + max_lat_margin: 0.3 # lateral margin between the obstacles and ego's footprint + max_lat_margin_against_unknown: -0.3 # lateral margin between the unknown obstacles and ego's footprint crossing_obstacle: collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] From 322c686f4fcda4b7b6f4c6c17740e4968f1405d1 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri, 31 May 2024 21:47:27 +0900 Subject: [PATCH 17/35] refactor(image_projection_based_fusion): rework params (#845) --- .../{roi_sync.param.yaml => fusion_common.param.yaml} | 0 .../launch/components/tier4_perception_component.launch.xml | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) rename autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/{roi_sync.param.yaml => fusion_common.param.yaml} (100%) diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml similarity index 100% rename from autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml rename to autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 0584a98f4b..e13b987607 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -49,7 +49,7 @@ /> Date: Sat, 1 Jun 2024 08:05:53 +0900 Subject: [PATCH 18/35] feat(lane_departure_checker): add params for lane departure margin (#1011) * add params Signed-off-by: Daniel Sanchez * add param for start planner lane departure expansion margin Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../lane_departure_checker/lane_departure_checker.param.yaml | 1 + .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 2 files changed, 2 insertions(+) diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml index 253737609b..3094edf914 100644 --- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml +++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml @@ -16,6 +16,7 @@ # Core footprint_margin_scale: 1.0 + footprint_extra_margin: 0.0 resample_interval: 0.3 max_deceleration: 2.8 delay_time: 1.3 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index f2ba29e926..354a44b629 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -40,6 +40,7 @@ geometric_pull_out_velocity: 1.0 arc_path_interval: 1.0 lane_departure_margin: 0.2 + lane_departure_check_expansion_margin: 0.0 backward_velocity: -1.0 pull_out_max_steer_angle: 0.26 # 15deg # search start pose backward From 12d04d7100a60b9b1bd66580f5b3926fad1f0169 Mon Sep 17 00:00:00 2001 From: Khalil Selyan <36904941+KhalilSelyan@users.noreply.github.com> Date: Mon, 3 Jun 2024 00:06:12 +0300 Subject: [PATCH 19/35] feat: update rviz layout (#1004) Signed-off-by: KhalilSelyan --- autoware_launch/rviz/autoware.rviz | 63 +++++++++++++++--------------- 1 file changed, 32 insertions(+), 31 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 5e1924c66d..a5ab865707 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -5,7 +5,7 @@ Panels: Property Tree Widget: Expanded: ~ Splitter Ratio: 0.557669460773468 - Tree Height: 397 + Tree Height: 185 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -77,62 +77,62 @@ Visualization Manager: Expand Tree: false Link Tree Style: Links in Alphabetic Order base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera0/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera0/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera1/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera1/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera2/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera2/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera3/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera3/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera4/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera4/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera5/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera5/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false gnss_link: @@ -159,69 +159,69 @@ Visualization Manager: Show Trail: false Value: true sensor_kit_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false tamagawa/imu_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true traffic_light_left_camera/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true traffic_light_left_camera/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false traffic_light_right_camera/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true traffic_light_right_camera/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false velodyne_left: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_left_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_rear: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_rear_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_right: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_right_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_top: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_top_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true @@ -408,7 +408,7 @@ Visualization Manager: Name: LiDAR - Class: rviz_common/Group Displays: - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -936,6 +936,7 @@ Visualization Manager: Top: 10 Remaining Distance and Time Topic: /planning/mission_remaining_distance_time Enabled: true + Value: true Enabled: true Name: MissionPlanning - Class: rviz_common/Group @@ -2516,7 +2517,6 @@ Visualization Manager: Planning: true Sensing: ConcatenatePointCloud: true - PointcloudOnCamera: true RadarRawObjects(white): true Value: true Value: true @@ -2567,6 +2567,7 @@ Visualization Manager: Value: true MissionPlanning: GoalPose: true + MissionDetailsDisplay: true RouteArea: true Value: true ScenarioPlanning: @@ -3779,7 +3780,7 @@ Window Geometry: Hide Right Dock: false Image: collapsed: false - QMainWindow State: 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 + QMainWindow State: 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 RecognitionResultOnImage: collapsed: false Selection: From 728e5c94c09d7a2d39f2df4023f0ab3a447baff5 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Mon, 3 Jun 2024 13:28:06 +0900 Subject: [PATCH 20/35] feat: rename autoware_auto_perception_rviz_plugin to autoware_perception_rviz_plugin (#1013) Signed-off-by: Ryohsuke Mitsudome --- autoware_launch/rviz/autoware.rviz | 32 +++++++++++++++--------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index a5ab865707..627d9e8923 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -687,7 +687,7 @@ Visualization Manager: CYCLIST: Alpha: 0.999 Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display 3d polygon: true Display Label: true Display PoseWithCovariance: true @@ -735,7 +735,7 @@ Visualization Manager: CYCLIST: Alpha: 0.999 Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/TrackedObjects + Class: autoware_perception_rviz_plugin/TrackedObjects Display 3d polygon: true Display Label: true Display PoseWithCovariance: true @@ -783,7 +783,7 @@ Visualization Manager: CYCLIST: Alpha: 0.999 Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/PredictedObjects + Class: autoware_perception_rviz_plugin/PredictedObjects Display 3d polygon: true Display Label: true Display PoseWithCovariance: false @@ -2749,7 +2749,7 @@ Visualization Manager: CYCLIST: Alpha: 0.5 Color: 255; 255; 255 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -2906,7 +2906,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 255; 138; 128 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -2953,7 +2953,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 255; 82; 82 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3000,7 +3000,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 213; 0; 0 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3047,7 +3047,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 178; 255; 89 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3094,7 +3094,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 118; 255; 3 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3141,7 +3141,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 100; 221; 23 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3188,7 +3188,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 255; 145; 0 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3235,7 +3235,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 213; 0; 249 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3282,7 +3282,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 255; 255; 255 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3329,7 +3329,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 255; 234; 0 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3376,7 +3376,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 0; 230; 118 - Class: autoware_auto_perception_rviz_plugin/TrackedObjects + Class: autoware_perception_rviz_plugin/TrackedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3423,7 +3423,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 0; 176; 255 - Class: autoware_auto_perception_rviz_plugin/PredictedObjects + Class: autoware_perception_rviz_plugin/PredictedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: false From cf37437e511170cea357af55325d26d4add30755 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 21/35] 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 b1c4bd3992..ed7b79ee9b 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 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 22/35] 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 9e2619b31196df81455142e2e9be9c2a8f29e7a2 Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Wed, 5 Jun 2024 01:39:20 +0900 Subject: [PATCH 23/35] feat!: change from autoware_auto_msgs to autoware_msgs (#1012) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * feat(autoware_launch): replace autoware_auto_mapping_msg with autoware_map_msg (#688) feat(autoware_launch): remove autoware auto mapping msg Signed-off-by: liu cui * fix: planning_msg (#717) fix:planning_msg Signed-off-by: jack.song * feat(autoware_launch): replace autoware_control_msg with autoware_con… (#725) feat(autoware_launch): replace autoware_control_msg with autoware_control_msg Signed-off-by: NorahXiong * feat(autoware_launch): replace autoware_auto_vehicle_msgs with autoware_vehicle_msgs Signed-off-by: liu cui * fix(topics.yaml): fix AUTO button bug Signed-off-by: liu cui * feat(autoware_launch): rename autoware_auto_perception_rviz_plugin to autoware_perception_rviz_plugin Signed-off-by: Ryohsuke Mitsudome * feat: rename TrafficSignal messages to TrafficLightGroup Signed-off-by: liu cui --------- Signed-off-by: liu cui Signed-off-by: jack.song Signed-off-by: NorahXiong Signed-off-by: Ryohsuke Mitsudome Co-authored-by: cyn-liu <104069308+cyn-liu@users.noreply.github.com> Co-authored-by: shulanbushangshu <102840938+shulanbushangshu@users.noreply.github.com> Co-authored-by: NorahXiong <103234047+NorahXiong@users.noreply.github.com> Co-authored-by: liu cui Co-authored-by: Ryohsuke Mitsudome --- .../system/component_state_monitor/topics.yaml | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index 098aa0e56b..3845a96108 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -4,7 +4,7 @@ args: node_name_suffix: vector_map topic: /map/vector_map - topic_type: autoware_auto_mapping_msgs/msg/HADMapBin + topic_type: autoware_map_msgs/msg/LaneletMapBin best_effort: false transient_local: true warn_rate: 0.0 @@ -69,7 +69,7 @@ args: node_name_suffix: object_recognition_objects topic: /perception/object_recognition/objects - topic_type: autoware_auto_perception_msgs/msg/PredictedObjects + topic_type: autoware_perception_msgs/msg/PredictedObjects best_effort: false transient_local: false warn_rate: 5.0 @@ -82,7 +82,7 @@ args: node_name_suffix: traffic_light_recognition_traffic_signals topic: /perception/traffic_light_recognition/traffic_signals - topic_type: autoware_perception_msgs/msg/TrafficSignalArray + topic_type: autoware_perception_msgs/msg/TrafficLightGroupArray best_effort: false transient_local: false warn_rate: 5.0 @@ -108,7 +108,7 @@ args: node_name_suffix: scenario_planning_trajectory topic: /planning/scenario_planning/trajectory - topic_type: autoware_auto_planning_msgs/msg/Trajectory + topic_type: autoware_planning_msgs/msg/Trajectory best_effort: false transient_local: false warn_rate: 5.0 @@ -121,7 +121,7 @@ args: node_name_suffix: trajectory_follower_control_cmd topic: /control/trajectory_follower/control_cmd - topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand + topic_type: autoware_control_msgs/msg/Control best_effort: false transient_local: false warn_rate: 5.0 @@ -134,7 +134,7 @@ args: node_name_suffix: control_command_control_cmd topic: /control/command/control_cmd - topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand + topic_type: autoware_control_msgs/msg/Control best_effort: false transient_local: false warn_rate: 5.0 @@ -147,7 +147,7 @@ args: node_name_suffix: vehicle_status_velocity_status topic: /vehicle/status/velocity_status - topic_type: autoware_auto_vehicle_msgs/msg/VelocityReport + topic_type: autoware_vehicle_msgs/msg/VelocityReport best_effort: false transient_local: false warn_rate: 5.0 @@ -160,7 +160,7 @@ args: node_name_suffix: vehicle_status_steering_status topic: /vehicle/status/steering_status - topic_type: autoware_auto_vehicle_msgs/msg/SteeringReport + topic_type: autoware_vehicle_msgs/msg/SteeringReport best_effort: false transient_local: false warn_rate: 5.0 @@ -173,7 +173,7 @@ args: node_name_suffix: system_emergency_control_cmd topic: /system/emergency/control_cmd - topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand + topic_type: autoware_control_msgs/msg/Control best_effort: false transient_local: false warn_rate: 5.0 From aeabd597d860e466557a4512bec31cf48754f7bc Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 7 Jun 2024 13:21:43 +0900 Subject: [PATCH 24/35] feat(obstacle_curise): revert lateral stop margin for unknown objects (#1015) 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 6826e78b57..7dcd52a4d9 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 @@ -88,7 +88,7 @@ stop: max_lat_margin: 0.3 # lateral margin between the obstacles and ego's footprint - max_lat_margin_against_unknown: -0.3 # lateral margin between the unknown obstacles and ego's footprint + max_lat_margin_against_unknown: 0.3 # lateral margin between the unknown obstacles and ego's footprint crossing_obstacle: collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] From d723d7172f4bba25bba57af2075ab43c86a82934 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 7 Jun 2024 17:58:06 +0900 Subject: [PATCH 25/35] feat(obstacle_cruise)!: type specified stop deccel limit and enabling abandon to stop (#1003) abandon_to_stop Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner.param.yaml | 12 ++++++++++++ 1 file changed, 12 insertions(+) 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 7dcd52a4d9..59388eccf9 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 @@ -206,3 +206,15 @@ lpf_gain_slow_down_vel: 0.99 # low-pass filter gain for slow down velocity lpf_gain_lat_dist: 0.999 # low-pass filter gain for lateral distance from obstacle to ego's path lpf_gain_dist_to_slow_down: 0.7 # low-pass filter gain for distance to slow down start + stop: + type_specified_params: + labels: # For the listed types, the node try to read the following type specified values + - "default" + - "unknown" + # default: For the default type, which denotes the other types listed above, the following param is defined implicitly, and the other type-specified parameters are not defined. + # limit_min_acc: common_param.yaml/limit.min_acc + unknown: + limit_min_acc: -1.2 # overwrite the deceleration limit, in usually, common_param.yaml/limit.min_acc is referred. + sudden_object_acc_threshold: -1.1 # If a stop can be achieved by a deceleration smaller than this value, it is not considered as “sudden stop". + sudden_object_dist_threshold: 1000.0 # If a stop distance is longer than this value, it is not considered as “sudden stop". + abandon_to_stop: false # If true, the planner gives up to stop when it cannot avoid to run over while maintaining the deceleration limit. From 257a024aa471df251f72ec440abca62d9e8d5d2e Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 7 Jun 2024 22:18:12 +0900 Subject: [PATCH 26/35] feat(autonomous_emergency_braking): add autoware prefix to AEB (#1019) * rename AEB param folder Signed-off-by: Daniel Sanchez * change param path and add commented out emergency stop enabling Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking.param.yaml | 0 .../system_error_monitor/system_error_monitor.awsim.param.yaml | 1 + .../system/system_error_monitor/system_error_monitor.param.yaml | 1 + .../system_error_monitor.planning_simulation.param.yaml | 2 +- .../launch/components/tier4_control_component.launch.xml | 2 +- 5 files changed, 4 insertions(+), 2 deletions(-) rename autoware_launch/config/control/{autonomous_emergency_braking => autoware_autonomous_emergency_braking}/autonomous_emergency_braking.param.yaml (100%) diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml similarity index 100% rename from autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml rename to autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml index 8210c7db23..9710e1a1e4 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml @@ -35,6 +35,7 @@ /autoware/planning/performance_monitoring/trajectory_validation: default # /autoware/sensing/node_alive_monitoring: default + # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"} /autoware/system/node_alive_monitoring: default /autoware/system/emergency_stop_operation: default 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 af8ec0da30..c1821a05ab 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 @@ -35,6 +35,7 @@ /autoware/planning/performance_monitoring/trajectory_validation: default # /autoware/sensing/node_alive_monitoring: default + # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"} /autoware/system/node_alive_monitoring: default /autoware/system/emergency_stop_operation: 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 7a219a4c89..8b76c48ac7 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 @@ -25,7 +25,7 @@ /autoware/localization/node_alive_monitoring: default # /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } # /autoware/localization/performance_monitoring/localization_error_ellipse: default - + # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"} /autoware/map/node_alive_monitoring: default /autoware/perception/node_alive_monitoring: default diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 30dc655102..965006a50d 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -39,7 +39,7 @@ - + From 7f8a7af3b54f73a403ded4cd96147b5a58fd69ad Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Sun, 9 Jun 2024 15:27:05 +0900 Subject: [PATCH 27/35] refactor(out_of_lane): remove from behavior_velocity (#1020) Signed-off-by: Maxime CLEMENT --- .../planning/preset/default_preset.yaml | 5 +-- .../out_of_lane.param.yaml | 44 ------------------- .../tier4_planning_component.launch.xml | 1 - autoware_launch/rviz/autoware.rviz | 26 ----------- 4 files changed, 1 insertion(+), 75 deletions(-) delete mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index ed7b79ee9b..31bf0555e2 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -74,9 +74,6 @@ launch: - arg: name: launch_speed_bump_module default: "false" - - arg: - name: launch_out_of_lane_module - default: "false" - arg: name: launch_no_drivable_lane_module default: "false" @@ -100,7 +97,7 @@ launch: # motion velocity planner modules - arg: - name: launch_motion_out_of_lane_module + name: launch_out_of_lane_module default: "true" - arg: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml deleted file mode 100644 index b13df72409..0000000000 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml +++ /dev/null @@ -1,44 +0,0 @@ -/**: - ros__parameters: - out_of_lane: # module to stop or slowdown before overlapping another lane with other objects - mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc" - skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane - ignore_overlaps_over_lane_changeable_lanelets: true # if true, overlaps on lane changeable lanelets are ignored - - threshold: - time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time - intervals: # consider objects if their estimated time interval spent on the overlap intersect the estimated time interval of ego - ego_time_buffer: 0.5 # [s] extend the ego time interval by this buffer - objects_time_buffer: 0.5 # [s] extend the time intervals of objects by this buffer - ttc: - threshold: 3.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap - - objects: - minimum_velocity: 0.5 # [m/s] objects lower than this velocity will be ignored - use_predicted_paths: true # if true, use the predicted paths to estimate future positions. - # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in. - predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value. - distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane - cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights - - overlap: - minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered - extra_length: 0.0 # [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times) - - action: # action to insert in the path if an object causes a conflict at an overlap - skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed - precision: 0.1 # [m] precision when inserting a stop pose in the path - distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane - min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled - slowdown: - distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap - velocity: 2.0 # [m/s] slowdown velocity - stop: - distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap - - ego: - min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego - extra_front_offset: 0.0 # [m] extra front distance - extra_rear_offset: 0.0 # [m] extra rear distance - extra_right_offset: 0.0 # [m] extra right distance - extra_left_offset: 0.0 # [m] extra left distance diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 5a48ea8908..6e3fb719f2 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -57,7 +57,6 @@ - diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 5e7cba18cf..90e32e802c 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1605,18 +1605,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (OutOfLane) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: VirtualWall (NoDrivableLane) @@ -1873,18 +1861,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: OutOfLane - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane - Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false Name: DynamicObstacleAvoidance @@ -2589,7 +2565,6 @@ Visualization Manager: NoDrivableLane: true NoStoppingArea: true OcclusionSpot: true - OutOfLane: true RightLaneChange: true RunOut: true SideShift: true @@ -2643,7 +2618,6 @@ Visualization Manager: VirtualWall (NoDrivableLane): true VirtualWall (NoStoppingArea): true VirtualWall (OcclusionSpot): true - VirtualWall (OutOfLane): true VirtualWall (RunOut): true VirtualWall (SpeedBump): true VirtualWall (StartPlanner): true From 84fe16dfe1b9114abfc65147d9a781bc7a917569 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 10 Jun 2024 19:29:45 +0900 Subject: [PATCH 28/35] refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (#1021) fix Signed-off-by: Takayuki Murooka --- .../raw_vehicle_cmd_converter.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml index aa76152e57..c11af361f3 100644 --- a/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml +++ b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml @@ -1,8 +1,8 @@ /**: ros__parameters: - csv_path_accel_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv - csv_path_brake_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv - csv_path_steer_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv + csv_path_accel_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/accel_map.csv + csv_path_brake_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/brake_map.csv + csv_path_steer_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/steer_map.csv convert_accel_cmd: true convert_brake_cmd: true convert_steer_cmd: false From b860c62d162392c87641fa4736163401185558ab Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 11 Jun 2024 21:17:13 +0900 Subject: [PATCH 29/35] feat(obstacle_velocity_limiter): move to motion_velocity_planner (#1023) Signed-off-by: Maxime CLEMENT --- .../planning/preset/default_preset.yaml | 3 +++ .../obstacle_velocity_limiter.param.yaml | 0 .../tier4_planning_component.launch.xml | 2 +- autoware_launch/rviz/autoware.rviz | 24 +++++++++++++++++++ 4 files changed, 28 insertions(+), 1 deletion(-) rename autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/{obstacle_velocity_limiter => motion_velocity_planner}/obstacle_velocity_limiter.param.yaml (100%) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 31bf0555e2..a8a9fac4f7 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -99,6 +99,9 @@ launch: - arg: name: launch_out_of_lane_module default: "true" + - arg: + name: launch_obstacle_velocity_limiter_module + default: "true" - arg: name: motion_stop_planner_type diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter.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 6e3fb719f2..60d0ae31df 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -69,13 +69,13 @@ - + Date: Wed, 12 Jun 2024 11:34:55 +0900 Subject: [PATCH 30/35] refactor(start_planner): remove unused parameters in start planner module (#1022) refactor: remove unused parameters in start planner module Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner.param.yaml | 5 ----- 1 file changed, 5 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 354a44b629..7d8985828b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -26,7 +26,6 @@ allow_check_shift_path_lane_departure_override: false shift_collision_check_distance_from_end: -10.0 minimum_shift_pull_out_distance: 0.0 - deceleration_interval: 15.0 maximum_longitudinal_deviation: 1.0 # Note, should be the same or less than planning validator's "longitudinal_distance_deviation" lateral_jerk: 0.5 lateral_acceleration_sampling_num: 3 @@ -38,7 +37,6 @@ geometric_collision_check_distance_from_end: 0.0 divide_pull_out_path: true geometric_pull_out_velocity: 1.0 - arc_path_interval: 1.0 lane_departure_margin: 0.2 lane_departure_check_expansion_margin: 0.0 backward_velocity: -1.0 @@ -52,9 +50,6 @@ ignore_distance_from_lane_end: 15.0 # turns signal prepare_time_before_start: 0.0 - th_turn_signal_on_lateral_offset: 1.0 - intersection_search_length: 30.0 - length_ratio_for_turn_signal_deactivation_near_intersection: 0.5 # freespace planner freespace_planner: enable_freespace_planner: true From 45758426d9fe18a4c81b84a968e17b5155cc0657 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 13 Jun 2024 16:43:43 +0900 Subject: [PATCH 31/35] fix(start_planner): redefine the necessary parameters (#1027) restore necessary param Signed-off-by: kyoichi-sugahara --- .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 7d8985828b..7d64d8c44a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -35,6 +35,7 @@ # geometric pull out enable_geometric_pull_out: true geometric_collision_check_distance_from_end: 0.0 + arc_path_interval: 1.0 divide_pull_out_path: true geometric_pull_out_velocity: 1.0 lane_departure_margin: 0.2 From 4c03755a1aaa9cdb61ba5b6d168423dcda18bcd4 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 13 Jun 2024 17:04:08 +0900 Subject: [PATCH 32/35] refactor(dynamic_obstacle_stop): move to motion_velocity_planner (#1025) Signed-off-by: Maxime CLEMENT --- .../planning/preset/default_preset.yaml | 6 +-- .../dynamic_obstacle_stop.param.yaml | 2 +- .../tier4_planning_component.launch.xml | 2 +- autoware_launch/rviz/autoware.rviz | 48 +++++++++---------- 4 files changed, 29 insertions(+), 29 deletions(-) rename autoware_launch/config/planning/scenario_planning/lane_driving/{behavior_planning/behavior_velocity_planner => motion_planning/motion_velocity_planner}/dynamic_obstacle_stop.param.yaml (87%) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index a8a9fac4f7..5a3139e4c5 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -77,9 +77,6 @@ launch: - arg: name: launch_no_drivable_lane_module default: "false" - - arg: - name: launch_dynamic_obstacle_stop_module - default: "true" # motion planning modules - arg: @@ -96,6 +93,9 @@ launch: # none # motion velocity planner modules + - arg: + name: launch_dynamic_obstacle_stop_module + default: "true" - arg: name: launch_out_of_lane_module default: "true" diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop.param.yaml similarity index 87% rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop.param.yaml index ac95cd75c8..10d749e57a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop.param.yaml @@ -8,5 +8,5 @@ hysteresis: 1.0 # [m] once a collision has been detected, this hysteresis is used on the collision detection add_stop_duration_buffer : 0.5 # [s] duration where a collision must be continuously detected before a stop decision is added remove_stop_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being remove - minimum_object_distance_from_ego_path: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision + minimum_object_distance_from_ego_trajectory: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision ignore_unavoidable_collisions : true # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight) diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 60d0ae31df..1f929543d4 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -58,7 +58,6 @@ - @@ -74,6 +73,7 @@ + Date: Thu, 13 Jun 2024 19:30:43 +0900 Subject: [PATCH 33/35] refactor(ndt scan matcher): update parameter (#1018) * rename to sensor_points.timeout_sec Signed-off-by: Yamato Ando * parameterize skipping_publish_num Signed-off-by: Yamato Ando * parameterize initial_to_result_distance_tolerance_m Signed-off-by: Yamato Ando * add new line Signed-off-by: Yamato Ando --------- Signed-off-by: Yamato Ando --- .../ndt_scan_matcher/ndt_scan_matcher.param.yaml | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml index ec80a0ef79..f62329b8bd 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml @@ -12,6 +12,9 @@ sensor_points: + # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] + timeout_sec: 1.0 + # Required distance of input sensor points. [m] # If the max distance of input sensor points is lower than this value, the scan matching will not be performed. required_distance: 10.0 @@ -52,18 +55,21 @@ validation: - # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] - lidar_topic_timeout_sec: 1.0 - # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] initial_pose_timeout_sec: 1.0 # Tolerance of distance difference between two initial poses used for linear interpolation. [m] initial_pose_distance_tolerance_m: 10.0 + # Tolerance of distance difference from initial pose to result pose. [m] + initial_to_result_distance_tolerance_m: 3.0 + # The execution time which means probably NDT cannot matches scans properly. [ms] critical_upper_bound_exe_time_ms: 100.0 + # Tolerance for the number of times rejected estimation results consecutively + skipping_publish_num: 5 + score_estimation: # Converged param type From af3aa4a42df7fb3d821fc42d1b6382bde35f8c5d Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 17 Jun 2024 11:08:57 +0900 Subject: [PATCH 34/35] feat(autonomous_emergency_braking): add param to toggle on or off object speed calc for aeb (#1029) add param to toggle on or off object speed calc for aeb Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index 68a42383fe..4233f8b6be 100644 --- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -3,6 +3,7 @@ # Ego path calculation use_predicted_trajectory: true use_imu_path: false + use_object_velocity_calculation: true min_generated_path_length: 0.5 imu_prediction_time_horizon: 1.5 imu_prediction_time_interval: 0.1 From 70e0e06bc5848f8ead743475347b9a13000820e2 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 18 Jun 2024 00:51:01 +0900 Subject: [PATCH 35/35] feat: add use_waypoints parameter in map_loader (#1028) Signed-off-by: Takayuki Murooka --- autoware_launch/config/map/lanelet2_map_loader.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/map/lanelet2_map_loader.param.yaml b/autoware_launch/config/map/lanelet2_map_loader.param.yaml index b830e038f1..48152605ec 100755 --- a/autoware_launch/config/map/lanelet2_map_loader.param.yaml +++ b/autoware_launch/config/map/lanelet2_map_loader.param.yaml @@ -1,4 +1,5 @@ /**: ros__parameters: - center_line_resolution: 5.0 # [m] + center_line_resolution: 5.0 # [m] + use_waypoints: true # "centerline" in the Lanelet2 map will be used as a "waypoints" tag. lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path