Merge pull request #695 from tier4/sync-awf-upstream

chore: sync tier4/autoware_launch:awf-latest

autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml

@@ -3,10 +3,13 @@
     # Ego path calculation
     use_predicted_trajectory: true
     use_imu_path: true
+    limit_imu_path_lat_dev: false
+    limit_imu_path_length: true
     use_pointcloud_data: true
     use_predicted_object_data: false
     use_object_velocity_calculation: true
     check_autoware_state: true
+    imu_path_lat_dev_threshold: 1.75
     min_generated_imu_path_length: 0.5
     max_generated_imu_path_length: 10.0
     imu_prediction_time_horizon: 1.5
@@ -37,7 +40,7 @@
     maximum_cluster_size: 10000
 
     # RSS distance collision check
-    longitudinal_offset: 1.0
+    longitudinal_offset_margin: 1.0
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0

autoware_launch/config/control/preset/default_preset.yaml

@@ -0,0 +1,39 @@
+launch:
+  # controller
+  - arg:
+      name: trajectory_follower_mode
+      default: trajectory_follower_node
+      # option: trajectory_follower_node
+      #         smart_mpc_trajectory_follower
+      #         none
+
+  # external_cmd selector/converter
+  - arg:
+      name: launch_external_cmd_selector
+      default: "true"
+  - arg:
+      name: launch_external_cmd_converter
+      default: "true"
+
+  # optional control checkers
+  - arg:
+      name: launch_lane_departure_checker
+      default: "true"
+  - arg:
+      name: launch_control_validator
+      default: "true"
+  - arg:
+      name: launch_autonomous_emergency_braking
+      default: "true"
+  - arg:
+      name: launch_collision_detector
+      default: "true"
+  - arg:
+      name: launch_obstacle_collision_checker
+      default: "false"
+  - arg:
+      name: launch_predicted_path_checker
+      default: "false"
+  - arg:
+      name: launch_control_evaluator
+      default: "true"

autoware_launch/config/control/preset/dlr_control_validator_preset.yaml

@@ -0,0 +1,39 @@
+launch:
+  # controller
+  - arg:
+      name: trajectory_follower_mode
+      default: none
+      # option: trajectory_follower_node
+      #         smart_mpc_trajectory_follower
+      #         none
+
+  # external_cmd selector/converter
+  - arg:
+      name: launch_external_cmd_selector
+      default: "false"
+  - arg:
+      name: launch_external_cmd_converter
+      default: "false"
+
+  # optional control checkers
+  - arg:
+      name: launch_lane_departure_checker
+      default: "false"
+  - arg:
+      name: launch_control_validator
+      default: "true"
+  - arg:
+      name: launch_autonomous_emergency_braking
+      default: "false"
+  - arg:
+      name: launch_collision_detector
+      default: "false"
+  - arg:
+      name: launch_obstacle_collision_checker
+      default: "false"
+  - arg:
+      name: launch_predicted_path_checker
+      default: "false"
+  - arg:
+      name: launch_control_evaluator
+      default: "false"

autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml

@@ -13,6 +13,7 @@
     publish_rate: 10.0
     world_frame_id: map
     enable_delay_compensation: true
+    consider_odometry_uncertainty: false
 
     # debug parameters
     publish_processing_time: true

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -24,7 +24,7 @@
         use_virtual_ground_point: True
         split_height_distance: 0.2
         non_ground_height_threshold: 0.20
-        grid_size_m: 0.1
+        grid_size_m: 0.5
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 4
         detection_range_z_max: 2.5

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml

@@ -139,13 +139,13 @@
           min_velocity: 1.0
           min_acceleration: 1.0
           max_velocity: 1.0
-          time_horizon_for_front_object: 10.0
-          time_horizon_for_rear_object: 10.0
+          time_horizon_for_front_object: 5.0
+          time_horizon_for_rear_object: 5.0
           time_resolution: 0.5
           delay_until_departure: 1.0
         # For target object filtering
         target_filtering:
-          safety_check_time_horizon: 10.0
+          safety_check_time_horizon: 5.0
           safety_check_time_resolution: 1.0
           # detection range
           object_check_forward_distance: 100.0
@@ -179,7 +179,7 @@
           # safety check configuration
           enable_safety_check: true
           method: "integral_predicted_polygon"
-          keep_unsafe_time: 3.0
+          keep_unsafe_time: 0.5
           # collision check parameters
           publish_debug_marker: false
           rss_params:
@@ -192,7 +192,7 @@
             forward_margin: 1.0
             backward_margin: 1.0
             lat_margin: 1.0
-            time_horizon: 10.0
+            time_horizon: 5.0
           # hysteresis factor to expand/shrink polygon with the value
           hysteresis_factor_expand_rate: 1.0
           collision_check_yaw_diff_threshold: 3.1416

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml

@@ -1,42 +1,38 @@
 /**:
   ros__parameters:
     lane_change:
-      backward_lane_length: 200.0 #[m]
-      prepare_duration: 4.0         # [s]
-
+      backward_lane_length: 200.0
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       backward_length_buffer_for_blocking_object: 3.0 # [m]
       backward_length_from_intersection: 5.0 # [m]
 
-      lane_changing_lateral_jerk: 0.5              # [m/s3]
-
-      minimum_lane_changing_velocity: 2.78        # [m/s]
-      prediction_time_resolution: 0.5           # [s]
-      longitudinal_acceleration_sampling_num: 5
-      lateral_acceleration_sampling_num: 3
-
-      # side walk parked vehicle
-      object_check_min_road_shoulder_width: 0.5  # [m]
-      object_shiftable_ratio_threshold: 0.6
-
       # turn signal
       min_length_for_turn_signal_activation: 10.0 # [m]
-      length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position)
-
-      # longitudinal acceleration
-      min_longitudinal_acc: -1.0
-      max_longitudinal_acc: 1.0
 
-      skip_process:
-        longitudinal_distance_diff_threshold:
-          prepare: 1.0
-          lane_changing: 1.0
+      # trajectory generation
+      trajectory:
+        prepare_duration: 4.0
+        lateral_jerk: 0.5
+        min_longitudinal_acc: -1.0
+        max_longitudinal_acc: 1.0
+        th_prepare_length_diff: 1.0
+        th_lane_changing_length_diff: 1.0
+        min_lane_changing_velocity: 2.78
+        lon_acc_sampling_num: 5
+        lat_acc_sampling_num: 3
+
+      # delay lane change
+      delay_lane_change:
+        enable: true
+        check_only_parked_vehicle: false
+        min_road_shoulder_width: 0.5  # [m]
+        th_parked_vehicle_shift_ratio: 0.6
 
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true
         enable_target_lane_bound_check: true
-        collision_check_yaw_diff_threshold: 3.1416
+        stopped_object_velocity_threshold: 1.0 # [m/s]
         execution:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -1.0
@@ -93,14 +89,16 @@
         pedestrian: true
 
       # collision check
-      enable_collision_check_for_prepare_phase:
-        general_lanes: false
-        intersection: true
-        turns: true
-      stopped_object_velocity_threshold: 1.0 # [m/s]
-      check_objects_on_current_lanes: false
-      check_objects_on_other_lanes: false
-      use_all_predicted_path: false
+      collision_check:
+        enable_for_prepare_phase:
+          general_lanes: false
+          intersection: true
+          turns: true
+        prediction_time_resolution: 0.5
+        yaw_diff_threshold: 3.1416
+        check_current_lanes: false
+        check_other_lanes: false
+        use_all_predicted_paths: false
 
       # lane change regulations
       regulation:

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml

@@ -4,8 +4,3 @@
     backward_path_length: 5.0
     behavior_output_path_interval: 1.0
     stop_line_extend_length: 5.0
-    max_accel: -2.8
-    max_jerk: -5.0
-    system_delay: 0.5
-    delay_response_time: 0.5
-    is_publish_debug_path: false # publish all debug path with lane id in each module

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml

@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    max_accel: -2.8
+    max_jerk: -5.0
+    system_delay: 0.5
+    delay_response_time: 0.5
+    is_publish_debug_path: false # publish all debug path with lane id in each module

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml

@@ -13,8 +13,6 @@
 
         # For the Lanelet2 map with no explicit stop lines
         stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk
-        # 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_preferred: 3.0 # [m]
         stop_distance_from_object_limit: 3.0 # [m]
@@ -79,7 +77,7 @@
 
       # param for occlusions
       occlusion:
-        enable: true  # if true, ego will slowdown around crosswalks that are occluded
+        enable: false # if true, ego will slowdown around crosswalks that are occluded
         occluded_object_velocity: 2.0 # [m/s] assumed velocity of objects that may come out of the occluded space
         slow_down_velocity: 1.0  # [m/s]
         time_buffer: 0.5  # [s] consecutive time with/without an occlusion to add/remove the slowdown

autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml

@@ -9,7 +9,7 @@
     th_stopped_velocity_mps: 0.01
     th_course_out_distance_m: 1.0
     th_obstacle_time_sec: 1.0
-    vehicle_shape_margin_m: 0.5
+    vehicle_shape_margin_m: 0.4
     replan_when_obstacle_found: true
     replan_when_course_out: true
 

autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml

@@ -14,4 +14,23 @@
 /**:
   ros__parameters:
     required_diags:
-      dummy_diag_empty: default
+      # map
+      ## /autoware/map/topic_rate_check/pointcloud_map
+      "topic_state_monitor_pointcloud_map: map_topic_status": default
+
+      # localization
+      ## /autoware/localization/scan_matching_status
+      "ndt_scan_matcher: scan_matching_status": default
+
+      ## /autoware/localization/accuracy
+      "localization_error_monitor: ellipse_error_status": default
+
+      ## /autoware/localization/sensor_fusion_status
+      "localization: ekf_localizer": default
+
+      ## /autoware/localization/topic_rate_check/pose_twist_fusion
+      "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default
+
+      # perception
+      ## /autoware/perception/topic_rate_check/pointcloud
+      "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default

autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml

@@ -2,13 +2,17 @@
   ros__parameters:
     update_rate: 10.0
     processing_time_topic_name_list:
+      - /control/control_evaluator/debug/processing_time_ms
       - /control/control_validator/debug/processing_time_ms
       - /control/trajectory_follower/controller_node_exe/lateral/debug/processing_time_ms
       - /control/trajectory_follower/controller_node_exe/longitudinal/debug/processing_time_ms
       - /control/trajectory_follower/lane_departure_checker_node/debug/processing_time_ms
       - /control/vehicle_cmd_gate/debug/processing_time_ms
       - /perception/object_recognition/prediction/map_based_prediction/debug/processing_time_ms
       - /perception/object_recognition/tracking/multi_object_tracker/debug/processing_time_ms
+      - /planning/mission_planning/mission_planner/debug/processing_time_ms
+      - /planning/mission_planning/route_selector/debug/processing_time_ms
+      - /planning/planning_evaluator/debug/processing_time_ms
       - /planning/planning_validator/debug/processing_time_ms
       - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_by_lane_change/processing_time_ms
       - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance/processing_time_ms
@@ -37,6 +41,7 @@
       - /planning/scenario_planning/lane_driving/motion_planning/path_optimizer/debug/processing_time_ms
       - /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/processing_time_ms
       - /planning/scenario_planning/parking/costmap_generator/debug/processing_time_ms
+      - /planning/scenario_planning/parking/freespace_planner/debug/processing_time_ms
       - /planning/scenario_planning/scenario_selector/debug/processing_time_ms
       - /planning/scenario_planning/velocity_smoother/debug/processing_time_ms
       - /simulation/shape_estimation/debug/processing_time_ms