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Merge pull request #234 from tier4/sync-awf-upstream
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chore: sync awf/autoware_launch
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@tier4-autoware-public-bot
tier4-autoware-public-bot[bot] authored Sep 1, 2023
2 parents 744542c + 90b98b4 commit dc1aca3
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Showing 3 changed files with 115 additions and 3 deletions.
4 changes: 2 additions & 2 deletions autoware_launch/config/control/control_validator/control_validator.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,14 +1,14 @@
/**:
ros__parameters:

publish_diag: true # if true, diagnostic msg is published
publish_diag: false # if true, diagnostic msg is published

# If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.
# (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if
# the next predicted_path is valid.)
diag_error_count_threshold: 0

display_on_terminal: true # show error msg on terminal
display_on_terminal: false # show error msg on terminal

thresholds:
max_distance_deviation: 1.0
10 changes: 10 additions & 0 deletions ...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 7
max_module_size: 1

Expand All @@ -16,6 +17,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 7
max_module_size: 1

Expand All @@ -24,6 +26,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 6
max_module_size: 1

Expand All @@ -32,6 +35,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 6
max_module_size: 1

Expand All @@ -40,6 +44,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 0
max_module_size: 1

Expand All @@ -48,6 +53,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 2
max_module_size: 1

Expand All @@ -56,6 +62,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: true
priority: 1
max_module_size: 1

Expand All @@ -64,6 +71,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 5
max_module_size: 1

Expand All @@ -72,6 +80,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 4
max_module_size: 1

Expand All @@ -80,5 +89,6 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 3
max_module_size: 1
104 changes: 103 additions & 1 deletion autoware_launch/rviz/autoware.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -2429,9 +2429,111 @@ Visualization Manager:
Enabled: true
Name: Sensing
- Class: rviz_common/Group
Displays: ~
Enabled: true
Name: Localization
Displays:
- Alpha: 0.9990000128746033
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 85; 255; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 85; 255; 127
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: NDT pointclouds
Position Transformer: XYZ
Selectable: false
Size (Pixels): 10
Size (m): 0.5
Style: Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/pose_estimator/points_aligned
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: ""
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: NDTLoadedPCDMap
Position Transformer: ""
Selectable: true
Size (Pixels): 3
Size (m): 0.1
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/pose_estimator/debug/loaded_pointcloud_map
Use Fixed Frame: true
Use rainbow: true
Value: true
- Buffer Size: 200
Class: rviz_plugins::PoseHistory
Enabled: true
Line:
Alpha: 0.9990000128746033
Color: 170; 255; 127
Value: true
Width: 0.10000000149011612
Name: NDTPoseHistory
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/pose_estimator/pose
Value: true
- Buffer Size: 1000
Class: rviz_plugins::PoseHistory
Enabled: true
Line:
Alpha: 0.9990000128746033
Color: 0; 255; 255
Value: true
Width: 0.10000000149011612
Name: EKFPoseHistory
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/pose_twist_fusion_filter/pose
Value: true
- Class: rviz_common/Group
Displays: ~
Enabled: true
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