From 4826fafc44a05eab7de0c4c13d797f0b59008c1e Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 29 Nov 2024 13:07:22 +0900 Subject: [PATCH 1/6] refactor(system_diagnostic_monitor, dummy_diag_publisher, diagnostic_graph_aggregator): combine diag list setting directories (#1253) Signed-off-by: yuki-takagi-66 --- .../system/diagnostic_graph_aggregator/autoware-awsim.yaml | 5 ----- .../system/diagnostic_graph_aggregator/autoware-main.yaml | 2 -- .../config/system/diagnostics/autoware-awsim.yaml | 5 +++++ .../autoware-main.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/control.yaml | 0 .../dummy_diag_publisher.param.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/hardware.yaml | 0 .../localization.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/map.yaml | 0 .../perception.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/planning.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/system.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/vehicle.yaml | 0 autoware_launch/launch/autoware.launch.xml | 2 +- .../launch/components/tier4_system_component.launch.xml | 4 ++-- autoware_launch/launch/e2e_simulator.launch.xml | 2 +- autoware_launch/launch/logging_simulator.launch.xml | 2 +- autoware_launch/launch/planning_simulator.launch.xml | 2 +- 18 files changed, 11 insertions(+), 13 deletions(-) delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml create mode 100644 autoware_launch/config/system/diagnostics/autoware-awsim.yaml rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/autoware-main.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/control.yaml (100%) rename autoware_launch/config/system/{dummy_diag_publisher => diagnostics}/dummy_diag_publisher.param.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/hardware.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/localization.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/map.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/perception.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/planning.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/system.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/vehicle.yaml (100%) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml deleted file mode 100644 index 937cfdeb65..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml +++ /dev/null @@ -1,5 +0,0 @@ -files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml } - -edits: - - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml deleted file mode 100644 index c96dd5ed46..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml +++ /dev/null @@ -1,2 +0,0 @@ -files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml } diff --git a/autoware_launch/config/system/diagnostics/autoware-awsim.yaml b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml new file mode 100644 index 0000000000..4abae34a31 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml @@ -0,0 +1,5 @@ +files: + - { path: $(dirname)/autoware-main.yaml } + +edits: + - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/diagnostics/autoware-main.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml rename to autoware_launch/config/system/diagnostics/autoware-main.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/diagnostics/control.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/control.yaml rename to autoware_launch/config/system/diagnostics/control.yaml diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml similarity index 100% rename from autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml rename to autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml b/autoware_launch/config/system/diagnostics/hardware.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml rename to autoware_launch/config/system/diagnostics/hardware.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml b/autoware_launch/config/system/diagnostics/localization.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/localization.yaml rename to autoware_launch/config/system/diagnostics/localization.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/map.yaml b/autoware_launch/config/system/diagnostics/map.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/map.yaml rename to autoware_launch/config/system/diagnostics/map.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml b/autoware_launch/config/system/diagnostics/perception.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/perception.yaml rename to autoware_launch/config/system/diagnostics/perception.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml b/autoware_launch/config/system/diagnostics/planning.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/planning.yaml rename to autoware_launch/config/system/diagnostics/planning.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/diagnostics/system.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/system.yaml rename to autoware_launch/config/system/diagnostics/system.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml b/autoware_launch/config/system/diagnostics/vehicle.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml rename to autoware_launch/config/system/diagnostics/vehicle.yaml diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 29378cc0c8..4bf18af889 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -37,7 +37,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 5bb8403dc2..31cc739683 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,7 +1,7 @@ - + @@ -14,7 +14,7 @@ - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 3237754c48..c4fd15b41c 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -71,7 +71,7 @@ - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index f1a9ad5fab..123bd01ed3 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -65,7 +65,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index be175553b7..3c56e11412 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -70,7 +70,7 @@ - + From 3cd81cc2b0b56a29eea917daa72a440df520fd1a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Sebastian=20Z=C4=99derowski?= Date: Mon, 2 Dec 2024 01:36:54 +0100 Subject: [PATCH 2/6] =?UTF-8?q?feat(object=5Flanelet=5Ffilter):=20add=20co?= =?UTF-8?q?nfigurable=20margin=20for=20object=20lanel=E2=80=A6=20(#1210)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit feat(object_lanelet_filter): add configurable margin for object lanelet filter Signed-off-by: Sebastian Zęderowski Co-authored-by: Sebastian Zęderowski --- .../detected_object_validation/object_lanelet_filter.param.yaml | 2 ++ .../detection/object_filter/object_lanelet_filter.param.yaml | 2 ++ .../detection/object_filter/radar_lanelet_filter.param.yaml | 2 ++ 3 files changed, 6 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml index 99050d9738..d15b2c81cf 100644 --- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml @@ -19,3 +19,5 @@ enabled: false velocity_yaw_threshold: 0.785398 # [rad] (45 deg) object_speed_threshold: 3.0 # [m/s] + debug: false + lanelet_extra_margin: 0.0 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 fb6f1131e1..da9b694564 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 @@ -19,3 +19,5 @@ enabled: false velocity_yaw_threshold: 0.785398 # [rad] (45 deg) object_speed_threshold: 3.0 # [m/s] + debug: false + lanelet_extra_margin: 0.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml index 330a4605a1..a784fcb8c0 100644 --- a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml @@ -19,3 +19,5 @@ enabled: false velocity_yaw_threshold: 0.785398 # [rad] (45 deg) object_speed_threshold: 3.0 # [m/s] + debug: false + lanelet_extra_margin: 0.0 From 6bbe983259580ef4cb3daf9792962a5bc58bb695 Mon Sep 17 00:00:00 2001 From: "Kem (TiankuiXian)" <1041084556@qq.com> Date: Mon, 2 Dec 2024 21:34:47 +0900 Subject: [PATCH 3/6] fix(rviz): fix a bug about visualizing ego model (#1257) fix a visulization bug. Signed-off-by: temkei.kem <1041084556@qq.com> --- autoware_launch/rviz/planning_bev.rviz | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/rviz/planning_bev.rviz b/autoware_launch/rviz/planning_bev.rviz index 4b7ce39e51..533b601ccf 100644 --- a/autoware_launch/rviz/planning_bev.rviz +++ b/autoware_launch/rviz/planning_bev.rviz @@ -118,7 +118,7 @@ Visualization Manager: Depth: 5 Durability Policy: Volatile History Policy: Keep Last - Reliability Policy: Best Effort + Reliability Policy: Reliable Value: /robot_description Enabled: true Links: From b6530a56b3e02bdd56c31153d1814493acf2966c Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 4 Dec 2024 14:07:05 +0100 Subject: [PATCH 4/6] refactor(glog_component): prefix package and namespace with autoware (#1245) Signed-off-by: Esteve Fernandez --- autoware_launch/launch/pointcloud_container.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py index 650e555e27..d7e31a3e9b 100644 --- a/autoware_launch/launch/pointcloud_container.launch.py +++ b/autoware_launch/launch/pointcloud_container.launch.py @@ -39,7 +39,7 @@ def add_launch_arg(name: str, default_value=None): ) glog_component = ComposableNode( - package="glog_component", + package="autoware_glog_component", plugin="GlogComponent", name="glog_component", namespace="pointcloud_container", From d9ac509094faef84d423b90e4f5a91f095210f9c Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 4 Dec 2024 15:24:34 +0100 Subject: [PATCH 5/6] refactor(global_parameter_loader): prefix package and namespace with autoware (#1246) Signed-off-by: Esteve Fernandez --- autoware_launch/launch/autoware.launch.xml | 2 +- autoware_launch/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 4bf18af889..b125d23186 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -52,7 +52,7 @@ - + diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index 678c08d7b6..52101d1034 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -12,7 +12,7 @@ ament_cmake_auto ad_api_adaptors - global_parameter_loader + autoware_global_parameter_loader python3-bson python3-tornado rviz2 From a8368db1c112b1e91e3f8e8a27dcf61f359de5b5 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Thu, 5 Dec 2024 09:05:36 +0900 Subject: [PATCH 6/6] feat(lane_change): add new lane change parameter (#1224) * add minimum prepare duration parameter Signed-off-by: mohammad alqudah * increase min_prepare_duration to 1.0 s Signed-off-by: mohammad alqudah * increase min prepare duration value, add new parameter Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index fe8915c784..27349f077d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -11,7 +11,8 @@ # trajectory generation trajectory: - prepare_duration: 4.0 + max_prepare_duration: 4.0 + min_prepare_duration: 2.0 lateral_jerk: 0.5 min_longitudinal_acc: -1.0 max_longitudinal_acc: 1.0 @@ -20,6 +21,7 @@ min_lane_changing_velocity: 2.78 lon_acc_sampling_num: 5 lat_acc_sampling_num: 3 + lane_changing_decel_factor: 0.5 # delay lane change delay_lane_change: