Merge pull request autowarefoundation#843 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
tier4 · Mar 9, 2023 · da9ad0e · da9ad0e
2 parents cc2dbd7 + f664f8a
commit da9ad0e
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Showing 4 changed files with 28 additions and 6 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -55,11 +55,11 @@
 
       # For safety check
       safety_check:
-        safety_check_backward_distance: 50.0            # [m]
-        safety_check_time_horizon: 10.0                 # [s]
-        safety_check_idling_time: 1.5                   # [s]
-        safety_check_accel_for_rss: 2.5                 # [m/ss]
-        safety_check_hysteresis_factor: 2.0             # [-]
+        safety_check_backward_distance: 100.0            # [m]
+        safety_check_time_horizon: 10.0                  # [s]
+        safety_check_idling_time: 1.5                    # [s]
+        safety_check_accel_for_rss: 2.5                  # [m/ss]
+        safety_check_hysteresis_factor: 2.0              # [-]
 
       # For avoidance maneuver
       avoidance:
@@ -68,7 +68,7 @@
           lateral_collision_margin: 1.0                 # [m]
           lateral_collision_safety_buffer: 0.7          # [m]
           lateral_passable_safety_buffer: 0.0           # [m]
-          road_shoulder_safety_margin: 0.0              # [m]
+          road_shoulder_safety_margin: 0.3              # [m]
           avoidance_execution_lateral_threshold: 0.499
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0

diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -34,3 +34,17 @@
 
     rear_vehicle_reaction_time: 2.0
     rear_vehicle_safety_time_margin: 1.0
+
+    # USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE.
+    # https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt
+    pull_out:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 1
+      max_module_size: 1
+
+    side_shift:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 0
+      max_module_size: 1
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -3,6 +3,8 @@
   <arg name="launch_dummy_perception"/>
   <arg name="launch_dummy_vehicle"/>
   <arg name="launch_dummy_localization"/>
+  <arg name="launch_planning_evaluator"/>
+  <arg name="launch_diagnostic_converter"/>
   <arg name="perception/enable_detection_failure"/>
   <arg name="perception/enable_object_recognition"/>
   <arg name="sensing/visible_range"/>
@@ -14,6 +16,8 @@
     <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
     <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
     <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
+    <arg name="launch_planning_evaluator" value="$(var launch_planning_evaluator)"/>
+    <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
     <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
     <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
     <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -62,11 +62,15 @@
     <let name="launch_dummy_vehicle" value="false" if="$(var scenario_simulation)"/>
     <let name="launch_dummy_vehicle" value="true" unless="$(var scenario_simulation)"/>
     <let name="launch_dummy_localization" value="true"/>
+    <let name="launch_planning_evaluator" value="$(var scenario_simulation)"/>
+    <let name="launch_diagnostic_converter" value="$(var scenario_simulation)"/>
 
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_simulator_component.launch.xml">
       <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
       <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
       <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
+      <arg name="launch_planning_evaluator" value="$(var launch_planning_evaluator)"/>
+      <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
       <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
       <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
       <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>