Merge pull request #373 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.26.0 with tier4/main

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

@@ -3,6 +3,8 @@
     publish_debug_pointcloud: false
     use_predicted_trajectory: true
     use_imu_path: true
+    detection_range_min_height: 0.0
+    detection_range_max_height_margin: 0.0
     voxel_grid_x: 0.05
     voxel_grid_y: 0.05
     voxel_grid_z: 100000.0

autoware_launch/config/localization/pose_initializer.param.yaml

@@ -1,5 +1,9 @@
 /**:
   ros__parameters:
+    user_defined_initial_pose:
+      enable: $(var user_defined_initial_pose/enable)
+      pose: $(var user_defined_initial_pose/pose)
+
     gnss_pose_timeout: 3.0 # [sec]
     stop_check_duration: 3.0 # [sec]
     ekf_enabled: $(var ekf_enabled)

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

@@ -7,8 +7,6 @@
 
       # avoidance module common setting
       enable_bound_clipping: false
-      enable_yield_maneuver: true
-      enable_yield_maneuver_during_shifting: false
       enable_cancel_maneuver: true
       disable_path_update: false
 
@@ -247,7 +245,8 @@
 
       # For yield maneuver
       yield:
-        yield_velocity: 2.78                            # [m/s]
+        enable: true                                    # [-]
+        enable_during_shifting: false                   # [-]
 
       # For stop maneuver
       stop:

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

@@ -27,6 +27,7 @@
       shift_collision_check_distance_from_end: -10.0
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0
+      maximum_longitudinal_deviation: 1.0 # Note, should be the same or less than planning validator's "longitudinal_distance_deviation"
       lateral_jerk: 0.5
       lateral_acceleration_sampling_num: 3
       minimum_lateral_acc: 0.15

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

@@ -78,7 +78,7 @@
         min_size: 1.0  # [m] minimum size of an occlusion (square side size)
         free_space_max: 43  # [-] maximum value of a free space cell in the occupancy grid
         occupied_min: 58    # [-] minimum value of an occupied cell in the occupancy grid
-        ignore_with_red_traffic_light: true  # [-] if true, occlusions at crosswalks with traffic lights are ignored
+        ignore_with_traffic_light: true  # [-] if true, occlusions at crosswalks with traffic lights are ignored
         ignore_behind_predicted_objects: true  # [-] if true, occlusions behind predicted objects are ignored
         ignore_velocity_thresholds:
           default: 0.5  # [m/s] occlusions are only ignored behind objects with a higher or equal velocity

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

@@ -6,6 +6,7 @@
       stop_distance_buffer: 0.5  # [m] extra distance to add between the stop point and the collision point
       time_horizon: 5.0  # [s] time horizon used for collision checks
       hysteresis: 1.0  # [m] once a collision has been detected, this hysteresis is used on the collision detection
-      decision_duration_buffer : 1.0  # [s] duration between no collision being detected and the stop decision being cancelled
+      add_stop_duration_buffer : 0.5  # [s] duration where a collision must be continuously detected before a stop decision is added
+      remove_stop_duration_buffer : 1.0  # [s] duration between no collision being detected and the stop decision being remove
       minimum_object_distance_from_ego_path: 1.0  # [m] minimum distance between the footprints of ego and an object to consider for collision
       ignore_unavoidable_collisions : true  # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight)

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

@@ -89,7 +89,7 @@
           object_time_margin_to_collision_point: 4.0
 
       occlusion:
-        enable: false
+        enable: true
         occlusion_attention_area_length: 70.0
         free_space_max: 43
         occupied_min: 58

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

@@ -2,15 +2,21 @@
   ros__parameters:
     run_out:
       detection_method: "Object"  # [-] candidate: Object, ObjectWithoutPath, Points
+      target_obstacle_types: ["PEDESTRIAN", "BICYCLE", "MOTORCYCLE"] # [-] Obstacle types considered by this module
+      exclude_obstacles_already_in_path: true # If the obstacle is already on the ego's path footprint, ignore it.
       use_partition_lanelet: true # [-] whether to use partition lanelet map data
       suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet
+      use_ego_cut_line: true      # [-] filter obstacles that pass the backside of ego: if a dynamic obstacle's predicted path intersects this line, it is ignored
       specify_decel_jerk: true    # [-] whether to specify jerk when ego decelerates
       stop_margin: 2.5            # [m] the vehicle decelerates to be able to stop with this margin
       passing_margin: 1.1         # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
       deceleration_jerk: -0.3     # [m/s^3] ego decelerates with this jerk when stopping for obstacles
       detection_distance: 45.0    # [m] ahead distance from ego to detect the obstacles
       detection_span: 1.0         # [m] calculate collision with this span to reduce calculation time
       min_vel_ego_kmph: 3.6       # [km/h] min velocity to calculate time to collision
+      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.
 
       # Parameter to create abstracted dynamic obstacles
       dynamic_obstacle:
@@ -22,7 +28,7 @@
         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: 10.0 # [sec] create predicted path until this time
+        max_prediction_time: 3.0  # [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
 
@@ -37,7 +43,7 @@
       # Parameter to prevent abrupt stops caused by false positives in perception
       ignore_momentary_detection:
         enable: true
-        time_threshold: 0.15  # [sec] ignores detections that persist for less than this duration
+        time_threshold: 0.5   # [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

autoware_launch/launch/components/tier4_localization_component.launch.xml

@@ -5,6 +5,7 @@
   <arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
   <arg name="input_pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the localization util module"/>
   <arg name="localization_pointcloud_container_name" default="/pointcloud_container" description="The target container to which pointcloud preprocessing nodes in localization be attached"/>
+  <arg name="initial_pose" default="[]" description="initial pose (x, y, z, quat_x, quat_y, quat_z, quat_w)"/>
 
   <group>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
@@ -13,6 +14,7 @@
       <arg name="system_run_mode" value="$(var system_run_mode)"/>
       <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
       <arg name="localization_pointcloud_container_name" value="$(var localization_pointcloud_container_name)"/>
+      <arg name="initial_pose" value="$(var initial_pose)"/>
 
       <!-- parameter paths for common -->
       <arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>

autoware_launch/launch/components/tier4_simulator_component.launch.xml

@@ -3,6 +3,7 @@
   <arg name="launch_dummy_perception"/>
   <arg name="launch_dummy_vehicle"/>
   <arg name="launch_dummy_localization"/>
+  <arg name="launch_dummy_doors"/>
   <arg name="launch_diagnostic_converter"/>
   <arg name="perception/enable_detection_failure"/>
   <arg name="perception/enable_object_recognition"/>
@@ -17,6 +18,7 @@
     <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="$(var launch_dummy_localization)"/>
+    <arg name="launch_dummy_doors" value="$(var launch_dummy_doors)"/>
     <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)"/>

autoware_launch/launch/components/tier4_system_component.launch.xml

@@ -26,5 +26,11 @@
     <arg name="system_monitor_ntp_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/ntp_monitor.param.yaml"/>
     <arg name="system_monitor_process_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/process_monitor.param.yaml"/>
     <arg name="system_monitor_voltage_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/voltage_monitor.param.yaml"/>
+
+    <arg name="use_diagnostic_graph" value="false"/>
+    <arg name="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.param.yaml"/>
+    <!-- <arg name="diagnostic_graph_aggregator_param_path" value=""/>  Set the value if use_diagnostic_graph is true. -->
+    <!-- <arg name="diagnostic_graph_aggregator_graph_path" value=""/>  Set the value if use_diagnostic_graph is true. -->
+    <!-- <arg name="diagnostic_graph_aggregator_planning_simulator_graph_path" value=""/>  Set the value if use_diagnostic_graph is true. -->
   </include>
 </launch>

autoware_launch/launch/planning_simulator.launch.xml

@@ -16,6 +16,7 @@
   <let name="rviz_initial_pose_auto_fix_target" value="vector_map"/>
   <let name="gnss_initial_pose_auto_fix_target" value="vector_map"/>
   <!-- System -->
+  <arg name="launch_dummy_doors" default="true" description="launch dummy doors simulation"/>
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
   <!-- Scenario simulation -->
@@ -86,6 +87,7 @@
       <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="$(var launch_dummy_localization)"/>
+      <arg name="launch_dummy_doors" value="$(var launch_dummy_doors)"/>
       <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)"/>