diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 3e2397e427..7b1db618d1 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -9,7 +9,7 @@ autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier
autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
-autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp alqudah.mohammad@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp
+autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp alqudah.mohammad@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp yuki.takagi@tier4.jp
autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
autoware_launch/config/system/** fumihito.ito@tier4.jp isamu.takagi@tier4.jp
autoware_launch/config/vehicle/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp mamoru.sobue@tier4.jp
diff --git a/.github/CODEOWNERS-manual b/.github/CODEOWNERS-manual
index 382818e897..a27c2cc109 100644
--- a/.github/CODEOWNERS-manual
+++ b/.github/CODEOWNERS-manual
@@ -4,7 +4,7 @@ autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodr
autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
-autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
+autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp
autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
autoware_launch/config/system/** fumihito.ito@tier4.jp isamu.takagi@tier4.jp
@@ -13,7 +13,7 @@ autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.
autoware_launch/launch/components/tier4_control_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
autoware_launch/launch/components/tier4_localization_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
autoware_launch/launch/components/tier4_map_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
-autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
+autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp
autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
autoware_launch/launch/components/tier4_simulator_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
index 135aecc56b..b358e95f86 100644
--- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -5,6 +5,7 @@
use_steer_prediction: false # flag for using steer prediction (do not use steer measurement)
admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value
admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value
+ use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory
# -- path smoothing --
enable_path_smoothing: false # flag for path smoothing
@@ -75,4 +76,4 @@
average_num: 1000
steering_offset_limit: 0.02
- debug_publish_predicted_trajectory: true # publish debug predicted trajectory in Frenet coordinate
+ publish_debug_trajectories: true # flag to publish predicted trajectory and resampled reference trajectory for debug purpose
diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
index 3f33218eb3..0237671ccf 100644
--- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
+++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -34,3 +34,6 @@
low_priority_region_x: -20.0
center_pcl_shift: 0.0
radial_divider_angle_deg: 1.0
+
+ # debug parameters
+ publish_processing_time_detail: false
diff --git a/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml
index 61cd3a2dc1..20289d02f9 100644
--- a/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml
+++ b/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml
@@ -10,3 +10,6 @@
cost_threshold: 45
use_radius_search_2d_filter: true
enable_debugger: false
+
+ # debug parameters
+ publish_processing_time_detail: False
diff --git a/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml
index 9dcc722587..eaaeb026d0 100644
--- a/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml
+++ b/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml
@@ -16,3 +16,6 @@
map_length: 150.0
map_width: 150.0
map_resolution: 0.5
+
+ # debug parameters
+ publish_processing_time_detail: false
diff --git a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml
index 878bea4cd8..8ed3fdddfa 100644
--- a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml
+++ b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml
@@ -12,6 +12,9 @@
map_length_x: 150.0 # [m]
map_length_y: 150.0 # [m]
+ # debug parameters
+ publish_processing_time_detail: false
+
# downsample input pointcloud
downsample_input_pointcloud: true
downsample_voxel_size: 0.25 # [m]
diff --git a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
index a87e8b95a0..c739c68306 100644
--- a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
+++ b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
@@ -32,3 +32,6 @@
projection_dz_threshold: 0.01 # [m] for avoiding null division
obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length
pub_debug_grid: false
+
+ # debug parameters
+ publish_processing_time_detail: false
diff --git a/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml
index f8a2dc2fbc..42966e01fa 100644
--- a/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml
+++ b/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml
@@ -18,3 +18,6 @@
fusion_map_length_x: 100.0
fusion_map_length_y: 100.0
fusion_map_resolution: 0.5
+
+ # debug parameters
+ publish_processing_time_detail: false
diff --git a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
index 9b7dcffbc6..ecfbdab9e5 100644
--- a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
+++ b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
@@ -10,3 +10,4 @@
minimum_reroute_length: 30.0
consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not.
check_footprint_inside_lanes: true
+ allow_reroute_in_autonomous_mode: true
diff --git a/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 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
index 32d0caffd8..aa1fdb3048 100644
--- a/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
+++ 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
@@ -51,6 +51,7 @@
max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller than this value.
drivable_area_generation:
+ expand_drivable_area: false
polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
object_path_base:
min_longitudinal_polygon_margin: 3.0 # [m]
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 b8a772f0b5..41f8f53a8f 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
@@ -24,5 +24,3 @@
enable_cog_on_centerline: false
input_path_interval: 2.0
output_path_interval: 2.0
-
- visualize_maximum_drivable_area: true
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 b1b03c21c1..5eb71126bb 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
@@ -23,6 +23,10 @@
ignore_distance_from_lane_start: 0.0
margin_from_boundary: 0.75
high_curvature_threshold: 0.1
+ bus_stop_area:
+ use_bus_stop_area: false
+ goal_search_interval: 0.5
+ lateral_offset_interval: 0.25
# occupancy grid map
occupancy_grid:
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 10eb7486db..a71c202b05 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
@@ -7,6 +7,7 @@
th_stopped_time: 1.0
collision_check_margins: [2.0, 1.0, 0.5, 0.1]
collision_check_margin_from_front_object: 5.0
+ skip_rear_vehicle_check: false
extra_width_margin_for_rear_obstacle: 0.5
th_moving_object_velocity: 1.0
object_types_to_check_for_path_generation:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index ca1d211d1d..3e99e140c8 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -16,7 +16,10 @@
# For the case where the crosswalk width is very wide
far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object).
# For the case where the stop position is determined according to the object position.
- stop_distance_from_object: 3.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
+ stop_distance_from_object_preferred: 3.0 # [m]
+ stop_distance_from_object_limit: 3.0 # [m]
+ min_acc_preferred: -1.0 # min acceleration [m/ss]
+ min_jerk_preferred: -1.0 # min jerk [m/sss]
# params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false".
slow_down:
@@ -45,11 +48,10 @@
ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
ego_min_assumed_speed: 2.0 # [m/s] assumed speed to calculate the time to collision point
- no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
- max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
- min_acc: -1.0 # min acceleration [m/ss]
- min_jerk: -1.0 # min jerk [m/sss]
- max_jerk: 1.0 # max jerk [m/sss]
+ no_stop_decision: # parameters to determine stop cancel. {-$overrun_threshold_length + f($min_acc, $min_jerk)} is compared against distance to stop pose.
+ min_acc: -1.5 # min acceleration [m/ss]
+ min_jerk: -1.5 # min jerk [m/sss]
+ overrun_threshold_length: 1.0 # [m] required to avoid giving up against backward movement of the stop position due to approaching pedestrians, etc.
stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph)
min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
@@ -60,6 +62,11 @@
timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s]
timeout_ego_stop_for_yield: 1.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.
+ # params for suppressing the ego to restart when the ego is close to the next stop position.
+ restart_suppression:
+ min_distance_to_stop: 0.5
+ max_distance_to_stop: 1.0
+
# param for target object filtering
object_filtering:
crosswalk_attention_range: 2.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
index c8905f66da..d5d353742c 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -17,7 +17,7 @@
ego_cut_line_length: 3.0 # The width of the ego's cut line
ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path
keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path.
- keep_stop_point_time: 1.0 # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled
+ keep_stop_point_time: 2.0 # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled
# Parameter to create abstracted dynamic obstacles
dynamic_obstacle:
@@ -29,7 +29,7 @@
std_dev_multiplier: 1.96 # [-] min and max velocity of the obstacles are calculated from this value and covariance
diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points
height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points
- max_prediction_time: 3.0 # [sec] create predicted path until this time
+ max_prediction_time: 7.0 # [sec] create predicted path until this time
time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
@@ -44,7 +44,7 @@
# Parameter to prevent abrupt stops caused by false positives in perception
ignore_momentary_detection:
enable: true
- time_threshold: 0.5 # [sec] ignores detections that persist for less than this duration
+ time_threshold: 0.15 # [sec] ignores detections that persist for less than this duration
# Typically used when the "detection_method" is set to ObjectWithoutPath or Points
# Approach if the ego has stopped in front of the obstacle for a certain period
diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
deleted file mode 100644
index 652a984ce5..0000000000
--- a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
+++ /dev/null
@@ -1,14 +0,0 @@
-# Default configuration for emergency handler
----
-/**:
- ros__parameters:
- update_rate: 10
- timeout_hazard_status: 0.5
- timeout_takeover_request: 10.0
- use_takeover_request: false
- use_parking_after_stopped: false
- use_comfortable_stop: false
-
- # setting whether to turn hazard lamp on for each situation
- turning_hazard_on:
- emergency: true
diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml
deleted file mode 100644
index 27cbe3fed2..0000000000
--- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-/**:
- ros__parameters:
- system:
- type: diagnostic_aggregator/AnalyzerGroup
- path: system
- analyzers:
- debug_data_logger:
- type: diagnostic_aggregator/AnalyzerGroup
- path: debug_data_logger
- analyzers:
- storage_error:
- type: diagnostic_aggregator/GenericAnalyzer
- path: storage_error
- contains: ["bagpacker"]
- timeout: 3.0
diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml
deleted file mode 100644
index e96e3b3b05..0000000000
--- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-/**:
- ros__parameters:
- vehicle:
- type: diagnostic_aggregator/AnalyzerGroup
- path: vehicle
- analyzers:
- vehicle_errors:
- type: diagnostic_aggregator/GenericAnalyzer
- path: vehicle_errors
- contains: [": vehicle_errors"]
- timeout: 1.0
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
deleted file mode 100644
index 9710e1a1e4..0000000000
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
+++ /dev/null
@@ -1,55 +0,0 @@
-# Description:
-# name: diag name
-# sf_at: diag level where it becomes Safe Fault
-# lf_at: diag level where it becomes Latent Fault
-# spf_at: diag level where it becomes Single Point Fault
-# auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
-#
-# Note:
-# empty-value for sf_at, lf_at and spf_at is "none"
-# default values are:
-# sf_at: "none"
-# lf_at: "warn"
-# spf_at: "error"
-# auto_recovery: "true"
----
-/**:
- ros__parameters:
- required_modules:
- autonomous_driving:
- /autoware/control/autonomous_driving/node_alive_monitoring: default
- /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
- /autoware/control/control_command_gate/node_alive_monitoring: default
-
- /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: { sf_at: "warn", lf_at: "none", spf_at: "none" }
- /autoware/localization/performance_monitoring/localization_stability: { sf_at: "warn", lf_at: "none", spf_at: "none" }
- /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
- /autoware/map/node_alive_monitoring: default
-
- /autoware/perception/node_alive_monitoring: default
-
- /autoware/planning/node_alive_monitoring: default
- /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
- /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
- # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
- /autoware/vehicle/node_alive_monitoring: default
-
- external_control:
- /autoware/control/control_command_gate/node_alive_monitoring: default
- /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
-
- /autoware/system/node_alive_monitoring: default
- /autoware/system/emergency_stop_operation: default
- /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
- /autoware/vehicle/node_alive_monitoring: 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
deleted file mode 100644
index c1821a05ab..0000000000
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
+++ /dev/null
@@ -1,56 +0,0 @@
-# Description:
-# name: diag name
-# sf_at: diag level where it becomes Safe Fault
-# lf_at: diag level where it becomes Latent Fault
-# spf_at: diag level where it becomes Single Point Fault
-# auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
-#
-# Note:
-# empty-value for sf_at, lf_at and spf_at is "none"
-# default values are:
-# sf_at: "none"
-# lf_at: "warn"
-# spf_at: "error"
-# auto_recovery: "true"
----
-/**:
- ros__parameters:
- required_modules:
- autonomous_driving:
- /autoware/control/autonomous_driving/node_alive_monitoring: default
- /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
- /autoware/control/control_command_gate/node_alive_monitoring: default
-
- /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/localization/performance_monitoring/localization_stability: default
- /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" }
-
- /autoware/map/node_alive_monitoring: default
-
- /autoware/perception/node_alive_monitoring: default
-
- /autoware/planning/node_alive_monitoring: default
- /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
- /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
- /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
- /autoware/system/duplicated_node_checker: default
-
- /autoware/vehicle/node_alive_monitoring: default
-
- external_control:
- /autoware/control/control_command_gate/node_alive_monitoring: default
- /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
-
- /autoware/system/node_alive_monitoring: default
- /autoware/system/emergency_stop_operation: default
- /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
- /autoware/vehicle/node_alive_monitoring: 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
deleted file mode 100644
index 8b76c48ac7..0000000000
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
+++ /dev/null
@@ -1,54 +0,0 @@
-# Description:
-# name: diag name
-# sf_at: diag level where it becomes Safe Fault
-# lf_at: diag level where it becomes Latent Fault
-# spf_at: diag level where it becomes Single Point Fault
-# auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
-#
-# Note:
-# empty-value for sf_at, lf_at and spf_at is "none"
-# default values are:
-# sf_at: "none"
-# lf_at: "warn"
-# spf_at: "error"
-# auto_recovery: "true"
----
-/**:
- ros__parameters:
- required_modules:
- autonomous_driving:
- /autoware/control/autonomous_driving/node_alive_monitoring: default
- /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
- /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
- /autoware/control/control_command_gate/node_alive_monitoring: default
-
- /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
-
- /autoware/planning/node_alive_monitoring: default
- /autoware/planning/performance_monitoring/trajectory_validation: default
-
- # /autoware/sensing/node_alive_monitoring: default
-
- /autoware/system/node_alive_monitoring: default
- /autoware/system/emergency_stop_operation: default
- /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
- # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
- /autoware/system/duplicated_node_checker: default
-
- /autoware/vehicle/node_alive_monitoring: default
-
- external_control:
- /autoware/control/control_command_gate/node_alive_monitoring: default
- /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
-
- /autoware/system/node_alive_monitoring: default
- /autoware/system/emergency_stop_operation: default
- /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
- /autoware/vehicle/node_alive_monitoring: default
diff --git a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
index d72b8d1334..5d5c1bd7bd 100644
--- a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
+++ b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
@@ -1,7 +1,6 @@
/**:
ros__parameters:
devices: ["*"]
- traffic_reader_port: 7636
monitor_program: "greengrass"
crc_error_check_duration: 1
crc_error_count_threshold: 1
diff --git a/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml b/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml
index db54f70d1c..c731865c9e 100644
--- a/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml
+++ b/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml
@@ -3,3 +3,4 @@
server: ntp.nict.jp
offset_warn: 0.1
offset_error: 5.0
+ timeout: 5
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 38f8550f72..d3f56eb249 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -36,7 +36,6 @@
-
@@ -131,6 +130,8 @@
args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
if="$(var rviz)"
respawn="$(var rviz_respawn)"
- />
+ >
+
+
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 5d7b5eb321..105b49a2d9 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -8,6 +8,7 @@
+
@@ -19,6 +20,7 @@
+
@@ -35,6 +37,7 @@
+
@@ -46,7 +49,7 @@
-
+
-
@@ -11,15 +10,10 @@
-
-
-
-
-
@@ -30,7 +24,6 @@
-
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 347e3c977c..e2fb69ca56 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -25,18 +25,13 @@
-
+
-
@@ -73,13 +68,12 @@
-
-
+
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 18c391f0db..c50f13e67f 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -260,6 +260,12 @@ Visualization Manager:
Turn Signals Topic: /vehicle/status/turn_indicators_status
Value: true
Width: 550
+ Background Alpha: 0.5
+ Background Color: 23; 28; 31
+ Dark Traffic Color: 255; 51; 51
+ Handle Angle Scale: 17
+ Light Traffic Color: 255; 153; 153
+ Primary Color: 174; 174; 174
Enabled: true
Name: Vehicle
- Class: rviz_plugins/MrmSummaryOverlayDisplay
@@ -514,26 +520,39 @@ Visualization Manager:
Topic:
Depth: 5
Durability Policy: Volatile
+ Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/pose_estimator/pose_with_covariance
- Value: true
+ Value: false
- Buffer Size: 200
- Class: rviz_plugins::PoseHistory
+ Class: rviz_plugins::PoseWithCovarianceHistory
+ Covariance:
+ Alpha: 0.5
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
Enabled: false
- Line:
- Color: 170; 255; 127
+ Name: PoseWithCovarianceHistory
+ Path:
+ Shape Type:
+ Alpha: 0.999
+ Color: 170; 255; 127
+ Head Length: 0.20000
+ Head diameter: 0.30000
+ Shaft Length: 0.30000
+ Shaft diameter: 0.15000
+ Value: Line
+ Width: 0.10000
Value: true
- Width: 0.10000000149011612
- Alpha: 0.999
- Name: PoseHistory
Topic:
Depth: 5
Durability Policy: Volatile
+ Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
- Value: /localization/pose_estimator/pose
- Value: true
+ Value: /localization/pose_estimator/pose_with_covariance
+ Value: false
- Alpha: 0.999
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -616,20 +635,32 @@ Visualization Manager:
- Class: rviz_common/Group
Displays:
- Buffer Size: 1000
- Class: rviz_plugins::PoseHistory
+ Class: rviz_plugins::PoseWithCovarianceHistory
+ Covariance:
+ Alpha: 0.5
+ Color: 153; 193; 241
+ Scale: 1
+ Value: false
Enabled: true
- Line:
- Color: 0; 255; 255
+ Name: PoseWithCovarianceHistory
+ Path:
+ Shape Type:
+ Alpha: 0.999
+ Color: 0; 255; 255
+ Head Length: 0.20000
+ Head diameter: 0.300000
+ Shaft Length: 0.30000
+ Shaft diameter: 0.15000
+ Value: Line
+ Width: 0.10000
Value: true
- Width: 0.10000000149011612
- Alpha: 0.999
- Name: PoseHistory
Topic:
Depth: 5
Durability Policy: Volatile
+ Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
- Value: /localization/pose_twist_fusion_filter/pose
+ Value: /localization/pose_with_covariance
Value: true
Enabled: true
Name: EKF
@@ -937,6 +968,9 @@ Visualization Manager:
Remaining Distance and Time Topic: /planning/mission_remaining_distance_time
Enabled: true
Value: true
+ Background Alpha: 0.5
+ Background Color: 23; 28; 31
+ Text Color: 194; 194; 194
Enabled: true
Name: MissionPlanning
- Class: rviz_common/Group
@@ -2411,6 +2445,36 @@ Visualization Manager:
Constant Color: false
Scale: 0.30000001192092896
Value: false
+ - Class: rviz_plugins/Trajectory
+ Color Border Vel Max: 3
+ Enabled: false
+ Name: Resampled Reference Trajectory
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory
+ Value: true
+ View Path:
+ Alpha: 1
+ Color: 153; 193; 241
+ Constant Color: true
+ Value: false
+ Constant Width: true
+ Width: 0.2
+ View Velocity:
+ Alpha: 1
+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: false
+ View Point:
+ Alpha: 1
+ Color: 0; 60; 255
+ Offset: 0
+ Radius: 0.10000000149011612
+ Value: true
- Class: rviz_default_plugins/Marker
Enabled: false
Name: Stop Reason
@@ -3658,7 +3722,7 @@ Visualization Manager:
Name: Debug
Enabled: true
Global Options:
- Background Color: 42; 42; 42
+ Background Color: 15; 20; 23
Default Light: true
Fixed Frame: map
Frame Rate: 30
@@ -3791,7 +3855,7 @@ 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: