From 35ff91faf17e17c5f0eed81db7e396f52128bee2 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Tue, 25 Jun 2024 09:46:51 +0900 Subject: [PATCH 1/2] ci: add sync-beta-upstream (#459) * ci: add sync-beta-upstream Signed-off-by: Shumpei Wakabayashi * style(pre-commit): autofix --------- Signed-off-by: Shumpei Wakabayashi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .github/workflows/sync-beta-upstream.yaml | 32 +++++++++++++++++++++++ 1 file changed, 32 insertions(+) create mode 100644 .github/workflows/sync-beta-upstream.yaml diff --git a/.github/workflows/sync-beta-upstream.yaml b/.github/workflows/sync-beta-upstream.yaml new file mode 100644 index 0000000000..25b83306ca --- /dev/null +++ b/.github/workflows/sync-beta-upstream.yaml @@ -0,0 +1,32 @@ +# This workflow is intended for the use in the repositories created by forking tier4/autoware_launch. +name: sync-beta-upstream + +on: + schedule: + - cron: 0 20 * * * + workflow_dispatch: + +jobs: + sync-tier4-upstream: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: beta/ + sync-pr-branch: sync-beta-upstream + sync-target-repository: https://github.com/tier4/autoware_launch.git + sync-target-branch: beta/ + pr-title: "chore: sync beta upstream" + pr-labels: | + bot + sync-tier4-upstream + auto-merge-method: merge From d4a290d81ab358c1c455611d08f42e78fd18ac55 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 27 Jun 2024 10:15:32 +0900 Subject: [PATCH 2/2] feat(behavior_path_planner): add yaw threshold param (#1040) add yaw threshold param Signed-off-by: Daniel Sanchez --- .../static_obstacle_avoidance.param.yaml | 1 + .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 1 + .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 + .../start_planner/start_planner.param.yaml | 2 ++ 4 files changed, 5 insertions(+) diff --git a/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 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 index 24e88c8ed6..3113f27801 100644 --- a/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 +++ 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 @@ -178,6 +178,7 @@ safety_check_backward_distance: 100.0 # [m] hysteresis_factor_expand_rate: 1.5 # [-] hysteresis_factor_safe_count: 3 # [-] + collision_check_yaw_diff_threshold: 3.1416 # [rad] # predicted path parameters min_velocity: 1.38 # [m/s] max_velocity: 50.0 # [m/s] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index eea6d0acdc..adbda50864 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -182,6 +182,7 @@ time_horizon: 10.0 # hysteresis factor to expand/shrink polygon with the value hysteresis_factor_expand_rate: 1.0 + collision_check_yaw_diff_threshold: 3.1416 # temporary backward_path_length: 30.0 forward_path_length: 100.0 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 10757691c9..d301e96deb 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 @@ -30,6 +30,7 @@ # safety check safety_check: allow_loose_check_for_cancel: true + collision_check_yaw_diff_threshold: 3.1416 execution: expected_front_deceleration: -1.0 expected_rear_deceleration: -1.0 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 7d64d8c44a..13c43cd4d4 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 @@ -143,8 +143,10 @@ lateral_distance_max_threshold: 2.0 longitudinal_distance_min_threshold: 3.0 longitudinal_velocity_delta_time: 0.8 + extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path" # hysteresis factor to expand/shrink polygon hysteresis_factor_expand_rate: 1.0 + collision_check_yaw_diff_threshold: 1.578 # temporary backward_path_length: 30.0 forward_path_length: 100.0