From ce5345b520fe492c1ffd3abb1fe75f05f2b4861d Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 18 Apr 2024 13:02:35 +0900 Subject: [PATCH 01/27] feat(obstacle_cruise): change stop lateral margin (#948) Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index d88e10cc44..dc314511a1 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -87,7 +87,7 @@ obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop stop: - max_lat_margin: 0.2 # lateral margin between obstacle and trajectory band with ego's width + max_lat_margin: 0.3 # lateral margin between obstacle and trajectory band with ego's width crossing_obstacle: collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] From 234d1b9473a531caaea5d4ff6b3c9a743feec4e4 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Fri, 19 Apr 2024 17:04:03 +0900 Subject: [PATCH 02/27] chore(intersection_occlusion): more increase possible_object_bbox size to ignore small occlusion and ghost stop (#959) --- .../behavior_velocity_planner/intersection.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index d39c97ac47..c9ac6aa1a6 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -101,7 +101,7 @@ creep_velocity: 0.8333 peeking_offset: -0.5 occlusion_required_clearance_distance: 55.0 - possible_object_bbox: [1.75, 2.5] + possible_object_bbox: [1.9, 2.5] ignore_parked_vehicle_speed_threshold: 0.8333 occlusion_detection_hold_time: 1.5 temporal_stop_time_before_peeking: 0.1 From 76a7e1c065357370d5a007a9051f5e466aab0481 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 19 Apr 2024 19:41:32 +0900 Subject: [PATCH 03/27] feat(dynamic_avoidance): avoid pedestrians (#958) new feature Signed-off-by: Yuki Takagi --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index 0a563498be..c1f4646ef7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml @@ -12,9 +12,9 @@ bus: true trailer: true unknown: false - bicycle: false + bicycle: true motorcycle: true - pedestrian: false + pedestrian: true max_obstacle_vel: 100.0 # [m/s] min_obstacle_vel: 0.0 # [m/s] @@ -40,6 +40,7 @@ max_overtaking_object_angle: 1.05 min_oncoming_object_vel: 1.0 max_oncoming_object_angle: 0.523 + max_pedestrian_crossing_vel: 0.8 front_object: max_object_angle: 0.785 @@ -55,6 +56,10 @@ min_longitudinal_polygon_margin: 3.0 # [m] lat_offset_from_obstacle: 1.0 # [m] + margin_distance_around_pedestrian: 2.0 # [m] + predicted_path: + end_time_to_consider: 3.0 # [s] + threshold_confidence: 0.0 # [] not probability max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s] lpf_gain_for_lat_avoid_to_offset: 0.9 # [-] From 112e7e6b6f4886a87dd64d573b87efdf189eadc5 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Mon, 22 Apr 2024 16:16:54 +0900 Subject: [PATCH 04/27] feat(api): add launch option (#960) --- autoware_launch/launch/autoware.launch.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index f446f4c34b..3d713f3716 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -21,6 +21,7 @@ + @@ -115,7 +116,7 @@ - + From 84da2c32411697a97b4e8cf29ff67ed0088550af Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 23 Apr 2024 09:35:40 +0900 Subject: [PATCH 05/27] refactor(bpp): remove unused params (#961) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 1 - .../behavior_path_planner/behavior_path_planner.param.yaml | 1 - 2 files changed, 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 5d6044df64..c85fdd5a23 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -290,4 +290,3 @@ # for debug debug: marker: false - console: false 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 6dee628c59..b43179c844 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 @@ -1,6 +1,5 @@ /**: ros__parameters: - verbose: false max_iteration_num: 100 traffic_light_signal_timeout: 1.0 From 9e872a2625359ccb303aa5071fe35d6a1f242f5a Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 24 Apr 2024 10:16:21 +0900 Subject: [PATCH 06/27] fix(roi_pointcloud_fusion): add param (#956) Signed-off-by: badai-nguyen --- .../roi_pointcloud_fusion.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml index 5b86b8e81d..acf5f75163 100644 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml @@ -2,4 +2,5 @@ ros__parameters: fuse_unknown_only: true min_cluster_size: 2 + max_cluster_size: 20 cluster_2d_tolerance: 0.5 From 16a00ae6a0427b01fc0a639ae9fb78e0be6ae9de Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Thu, 25 Apr 2024 15:11:31 +0900 Subject: [PATCH 07/27] fix: updated pre-commit-hooks-ros version from v0.8.0 to v0.9.0 (#971) Updated pre-commit-hooks-ros version from v0.8.0 to v0.9.0 Signed-off-by: Shintaro Sakoda --- .pre-commit-config.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 5ad60de003..4197506ed9 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -34,7 +34,7 @@ repos: - id: yamllint - repo: https://github.com/tier4/pre-commit-hooks-ros - rev: v0.8.0 + rev: v0.9.0 hooks: - id: flake8-ros - id: prettier-xacro From b6cfbac6673f946d1e5b6b89648e0cfbe2fddb1a Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 26 Apr 2024 11:18:12 +0900 Subject: [PATCH 08/27] feat(autonomous_emergency_braking): add params for aeb (#966) * add params for aeb Signed-off-by: Daniel Sanchez * set collision keep time to be more conservative Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking.param.yaml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index 82d5a4f12e..167a36c230 100644 --- a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -3,6 +3,7 @@ publish_debug_pointcloud: false use_predicted_trajectory: true use_imu_path: true + path_footprint_extra_margin: 4.0 detection_range_min_height: 0.0 detection_range_max_height_margin: 0.0 voxel_grid_x: 0.05 @@ -14,9 +15,12 @@ t_response: 1.0 a_ego_min: -3.0 a_obj_min: -1.0 + cluster_tolerance: 0.1 #[m] + minimum_cluster_size: 10 + maximum_cluster_size: 10000 imu_prediction_time_horizon: 1.5 imu_prediction_time_interval: 0.1 mpc_prediction_time_horizon: 1.5 mpc_prediction_time_interval: 0.1 - collision_keeping_sec: 0.0 + collision_keeping_sec: 2.0 aeb_hz: 10.0 From 878b6fbeb77e0003841f938179d2f334ca592fab Mon Sep 17 00:00:00 2001 From: Tao Zhong <55872497+tzhong518@users.noreply.github.com> Date: Fri, 26 Apr 2024 14:14:28 +0900 Subject: [PATCH 09/27] feat(autoware_launch): add centerpoint_sigma param to pointpainting.param.yaml (#955) fix: add has_variance to pointpainting.param.yaml Signed-off-by: tzhong518 --- .../detection/lidar_model/pointpainting.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml index 3abaffb243..53ac6f4caf 100755 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml @@ -16,6 +16,7 @@ downsample_factor: 1 encoder_in_feature_size: 12 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + has_variance: false has_twist: false densification_params: world_frame_id: "map" From d957c83fc09969da537a013a94391388dcb9a5dd Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri, 26 Apr 2024 19:56:39 +0900 Subject: [PATCH 10/27] refactor(centerpoint, pointpainting): rearrange ML model and package params (#915) * chore: separate param files Signed-off-by: badai-nguyen * chore: fix launch Signed-off-by: badai-nguyen * chore: rearrange param Signed-off-by: badai-nguyen * style(pre-commit): autofix * refactor: rearrange param file Signed-off-by: badai-nguyen * chore: move densification_params Signed-off-by: badai-nguyen * style(pre-commit): autofix * fix(centerpoint): align param namespace with pointpainting Signed-off-by: badai-nguyen * fix: param Signed-off-by: badai-nguyen * fix: remove build_only from yaml Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../lidar_model/centerpoint.param.yaml | 31 ++++++--------- .../lidar_model/centerpoint_tiny.param.yaml | 27 ------------- .../detection_class_remapper.param.yaml | 38 ------------------- .../lidar_model/pointpainting.param.yaml | 24 +++--------- 4 files changed, 18 insertions(+), 102 deletions(-) delete mode 100644 autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml delete mode 100644 autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml mode change 100755 => 100644 autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml index 38c57285e5..0777ddb92b 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml @@ -1,27 +1,20 @@ /**: ros__parameters: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 4 - max_voxel_size: 40000 - point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] - voxel_size: [0.32, 0.32, 10.0] - downsample_factor: 1 - encoder_in_feature_size: 9 - # post-process params - circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] - iou_nms_search_distance_2d: 10.0 - iou_nms_threshold: 0.1 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - score_threshold: 0.35 - has_variance: false - has_twist: false - trt_precision: fp16 - densification_num_past_frames: 1 - densification_world_frame_id: map # weight files encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" + trt_precision: fp16 + post_process_params: + # post-process params + circle_nms_dist_threshold: 0.5 + iou_nms_target_class_names: ["CAR"] + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + densification_params: + world_frame_id: map + num_past_frames: 1 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml deleted file mode 100644 index 35e11e61e9..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml +++ /dev/null @@ -1,27 +0,0 @@ -/**: - ros__parameters: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 4 - max_voxel_size: 40000 - point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] - voxel_size: [0.32, 0.32, 10.0] - downsample_factor: 2 - encoder_in_feature_size: 9 - # post-process params - circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] - iou_nms_search_distance_2d: 10.0 - iou_nms_threshold: 0.1 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - score_threshold: 0.35 - has_variance: false - has_twist: false - trt_precision: fp16 - densification_num_past_frames: 1 - densification_world_frame_id: map - - # weight files - encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" - encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" - head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" - head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml deleted file mode 100644 index baea087c96..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml +++ /dev/null @@ -1,38 +0,0 @@ -/**: - ros__parameters: - allow_remapping_by_area_matrix: - # NOTE(kl): We turn all vehicles into trailers if they go over 3x12 [m^2]. - # NOTE(kl): We turn cars into trucks if they have an area between 2.2 x 5.5 and 3.0 * 12.0 [m^2] - # row: original class. column: class to remap to - #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN - [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN - 0, 0, 1, 0, 1, 0, 0, 0, #CAR - 0, 0, 0, 0, 1, 0, 0, 0, #TRUCK - 0, 0, 0, 0, 1, 0, 0, 0, #BUS - 0, 0, 0, 0, 0, 0, 0, 0, #TRAILER - 0, 0, 0, 0, 0, 0, 0, 0, #MOTORBIKE - 0, 0, 0, 0, 0, 0, 0, 0, #BICYCLE - 0, 0, 0, 0, 0, 0, 0, 0] #PEDESTRIAN - - min_area_matrix: - #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN - 0.000, 0.000, 12.100, 0.000, 36.000, 0.000, 0.000, 0.000, #CAR - 0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #TRUCK - 0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #BUS - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN - - - max_area_matrix: - #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN - 0.000, 0.000, 36.000, 0.000, 999.999, 0.000, 0.000, 0.000, #CAR - 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #TRUCK - 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #BUS - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml old mode 100755 new mode 100644 index 53ac6f4caf..de46b6dd74 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml @@ -1,33 +1,21 @@ /**: ros__parameters: - trt_precision: fp16 encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" - - model_params: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle - max_voxel_size: 40000 - point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] - voxel_size: [0.32, 0.32, 8.0] - downsample_factor: 1 - encoder_in_feature_size: 12 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - has_variance: false - has_twist: false - densification_params: - world_frame_id: "map" - num_past_frames: 0 + trt_precision: fp16 post_process_params: # post-process params circle_nms_dist_threshold: 0.3 iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 - score_threshold: 0.35 + score_threshold: 0.45 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + densification_params: + world_frame_id: "map" + num_past_frames: 1 omp_params: # omp params num_threads: 1 From 06b271e62577e2849f2b9605b56de440959b6083 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Fri, 26 Apr 2024 19:58:14 +0900 Subject: [PATCH 11/27] feat(probabilistic_occupancy_grid_map): add downsample filter option to ogm creation (#962) * feat(probabilistic_occupancy_grid_map): add downsample filter option to ogm creation Signed-off-by: yoshiri * chore: do not use pointcloud filter when downsample is true Signed-off-by: yoshiri * Update autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml Co-authored-by: Yukihiro Saito --------- Signed-off-by: yoshiri Co-authored-by: Yukihiro Saito --- ...lti_lidar_pointcloud_based_occupancy_grid_map.param.yaml | 6 +++++- .../pointcloud_based_occupancy_grid_map.param.yaml | 4 ++++ 2 files changed, 9 insertions(+), 1 deletion(-) 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 f9a1c4f930..878bea4cd8 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 +12,10 @@ map_length_x: 150.0 # [m] map_length_y: 150.0 # [m] + # downsample input pointcloud + downsample_input_pointcloud: true + downsample_voxel_size: 0.25 # [m] + # each grid map parameters ogm_creation_config: height_filter: @@ -20,7 +24,7 @@ max_height: 2.0 enable_single_frame_mode: true # use sensor pointcloud to filter obstacle pointcloud - filter_obstacle_pointcloud_by_raw_pointcloud: true + filter_obstacle_pointcloud_by_raw_pointcloud: false grid_map_type: "OccupancyGridMapFixedBlindSpot" OccupancyGridMapFixedBlindSpot: 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 8077bdec50..a87e8b95a0 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 @@ -8,6 +8,10 @@ min_height: -1.0 max_height: 2.0 + # downsample input pointcloud + downsample_input_pointcloud: true + downsample_voxel_size: 0.125 # [m] + enable_single_frame_mode: false # use sensor pointcloud to filter obstacle pointcloud filter_obstacle_pointcloud_by_raw_pointcloud: false From dbfd6f7058a236123595ad9285ecb609f883af01 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri, 26 Apr 2024 23:59:06 +0900 Subject: [PATCH 12/27] fix(lidar_centerpoint): add param file for centerpoint_tiny (#976) fix(lidar_centerpoint): add param file Signed-off-by: badai-nguyen --- .../lidar_model/centerpoint_tiny.param.yaml | 20 +++++++++++++++++++ 1 file changed, 20 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml new file mode 100644 index 0000000000..0777ddb92b --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml @@ -0,0 +1,20 @@ +/**: + ros__parameters: + + # weight files + encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" + encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" + head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" + head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" + trt_precision: fp16 + post_process_params: + # post-process params + circle_nms_dist_threshold: 0.5 + iou_nms_target_class_names: ["CAR"] + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + densification_params: + world_frame_id: map + num_past_frames: 1 From f2c7c6c653f6481312a330b50a220149f6cd87ae Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 30 Apr 2024 10:04:44 +0900 Subject: [PATCH 13/27] fix(ekf_localizer): updated ekf gate_dist params (#965) Updated ekf gate_dist Signed-off-by: Shintaro Sakoda --- autoware_launch/config/localization/ekf_localizer.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 4cc71e0904..19bfd2d498 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -13,13 +13,13 @@ pose_additional_delay: 0.0 pose_measure_uncertainty_time: 0.01 pose_smoothing_steps: 5 - pose_gate_dist: 10000.0 + pose_gate_dist: 49.5 # corresponds to significance level = 10^-10 twist_measurement: # for twist measurement twist_additional_delay: 0.0 twist_smoothing_steps: 2 - twist_gate_dist: 10000.0 + twist_gate_dist: 46.1 # corresponds to significance level = 10^-10 process_noise: # for process model From 6a9b6bcd854230f68d7d870a86b181ebe31bbff0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 30 Apr 2024 12:03:33 +0900 Subject: [PATCH 14/27] fix(avoidance): add target filtering threshold for merging/deviating vehicle (#974) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index c85fdd5a23..dc42af0412 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -132,6 +132,10 @@ th_shiftable_ratio: 0.8 # [-] min_road_shoulder_width: 0.5 # [m] FOR DEVELOPER + # for merging/deviating vehicle + merging_vehicle: + th_overhang_distance: 0.0 # [m] + # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. avoidance_for_ambiguous_vehicle: enable: true # [-] From 9196c58a07576b29809db341d9eb7ed7b6de4d70 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Tue, 30 Apr 2024 12:38:47 +0900 Subject: [PATCH 15/27] feat(system diags): rename diag of ndt scan matcher (#973) rename ndt diag Signed-off-by: Yamato Ando --- autoware_launch/config/simulator/fault_injection.param.yaml | 2 +- .../system_error_monitor/system_error_monitor.awsim.param.yaml | 2 +- .../system/system_error_monitor/system_error_monitor.param.yaml | 2 +- .../system_error_monitor.planning_simulation.param.yaml | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/simulator/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml index ac02442d70..d608a7ab11 100644 --- a/autoware_launch/config/simulator/fault_injection.param.yaml +++ b/autoware_launch/config/simulator/fault_injection.param.yaml @@ -3,7 +3,7 @@ event_diag_list: vehicle_is_out_of_lane: "lane_departure" trajectory_deviation_is_high: "trajectory_deviation" - localization_matching_score_is_low: "ndt_scan_matcher" + localization_matching_score_is_low: "scan_matching_status" localization_accuracy_is_low: "localization_error_ellipse" map_version_is_different: "map_version" trajectory_is_invalid: "trajectory_point_validation" 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 index a3c712d466..8210c7db23 100644 --- 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 @@ -22,7 +22,7 @@ /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/localization/node_alive_monitoring: default - /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /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" } 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 index 2826e9348c..af8ec0da30 100644 --- 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 @@ -22,7 +22,7 @@ /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/localization/node_alive_monitoring: default - /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /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" } 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 index deddf33b34..7a219a4c89 100644 --- 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 @@ -23,7 +23,7 @@ /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/localization/node_alive_monitoring: default - # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } + # /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/map/node_alive_monitoring: default From b38e4136052f97e282471a399319f2615d17d72a Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed, 1 May 2024 18:58:18 +0900 Subject: [PATCH 16/27] chore(component_state_monitor): relax pose_estimator_pose timeout (#979) --- .../config/system/component_state_monitor/topics.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index f056892849..6e8ef1b6ed 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -61,7 +61,7 @@ transient_local: false warn_rate: 2.0 error_rate: 1.0 - timeout: 1.0 + timeout: 1.3 - module: perception mode: [online, logging_simulation] From 9cd0fbbb63d8b21d280939c79567d7d58af89f87 Mon Sep 17 00:00:00 2001 From: Khalil Selyan <36904941+KhalilSelyan@users.noreply.github.com> Date: Thu, 2 May 2024 11:55:44 +0300 Subject: [PATCH 17/27] fix: update traffic topic in autoware.rviz (#981) Signed-off-by: KhalilSelyan --- autoware_launch/rviz/autoware.rviz | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 8b305e3e46..750fb0e365 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -256,7 +256,7 @@ Visualization Manager: Speed Topic: /vehicle/status/velocity_status Steering Topic: /vehicle/status/steering_status Top: 10 - Traffic Topic: /perception/traffic_light_recognition/traffic_signals + Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal Turn Signals Topic: /vehicle/status/turn_indicators_status Value: true Width: 517 From 9f48292884ce2dad4bc5ef090452b8a611476ddd Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 7 May 2024 12:33:11 +0900 Subject: [PATCH 18/27] feat(crosswalk)!: change a hard coding number and set as param (#977) * change param Signed-off-by: Yuki Takagi --- .../behavior_velocity_planner/crosswalk.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 8c98838fdb..f7cf23e015 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 @@ -43,6 +43,7 @@ ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) ego_pass_later_margin_y: [13.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) 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. From 645fa3522ff8d7054ea0ee139cec18e0b9bb8c59 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Tue, 7 May 2024 19:47:37 +0900 Subject: [PATCH 19/27] feat(autonomous_emergency_braking): add obstacle velocity estimation for aeb (#978) * rebase to awf main Signed-off-by: Daniel Sanchez * set debug PC as false Signed-off-by: Daniel Sanchez * dictionary Signed-off-by: Daniel Sanchez * eliminate duplicate parameter Signed-off-by: Daniel Sanchez * eliminate duplicate parameter Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking.param.yaml | 34 +++++++++++++------ 1 file changed, 23 insertions(+), 11 deletions(-) diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index 167a36c230..68a42383fe 100644 --- a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -1,26 +1,38 @@ /**: ros__parameters: - publish_debug_pointcloud: false + # Ego path calculation use_predicted_trajectory: true - use_imu_path: true - path_footprint_extra_margin: 4.0 + use_imu_path: false + min_generated_path_length: 0.5 + imu_prediction_time_horizon: 1.5 + imu_prediction_time_interval: 0.1 + mpc_prediction_time_horizon: 1.5 + mpc_prediction_time_interval: 0.1 + + # Debug + publish_debug_pointcloud: false + + # Point cloud partitioning 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 - min_generated_path_length: 0.5 + + # Point cloud cropping expand_width: 0.1 + path_footprint_extra_margin: 4.0 + + # Point cloud clustering + cluster_tolerance: 0.1 #[m] + minimum_cluster_size: 10 + maximum_cluster_size: 10000 + + # RSS distance collision check longitudinal_offset: 2.0 t_response: 1.0 a_ego_min: -3.0 a_obj_min: -1.0 - cluster_tolerance: 0.1 #[m] - minimum_cluster_size: 10 - maximum_cluster_size: 10000 - imu_prediction_time_horizon: 1.5 - imu_prediction_time_interval: 0.1 - mpc_prediction_time_horizon: 1.5 - mpc_prediction_time_interval: 0.1 collision_keeping_sec: 2.0 + previous_obstacle_keep_time: 1.0 aeb_hz: 10.0 From edcf337e2e1fe83b4f09426ec6f3cf9a7a2ce329 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Fri, 10 May 2024 14:50:55 +0900 Subject: [PATCH 20/27] fix(componet_state_monitor): remove ndt node alive monitoring (#984) remove ndt node alive monitoring Signed-off-by: Yamato Ando --- .../system/component_state_monitor/topics.yaml | 13 ------------- 1 file changed, 13 deletions(-) diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index 6e8ef1b6ed..098aa0e56b 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -50,19 +50,6 @@ error_rate: 1.0 timeout: 1.0 -- module: localization - mode: [online, logging_simulation] - type: autonomous - args: - node_name_suffix: pose_estimator_pose - topic: /localization/pose_estimator/pose_with_covariance - topic_type: geometry_msgs/msg/PoseWithCovarianceStamped - best_effort: false - transient_local: false - warn_rate: 2.0 - error_rate: 1.0 - timeout: 1.3 - - module: perception mode: [online, logging_simulation] type: launch From 904ae055d0f879bd7eaa8947032a9043c4ebd37f Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 10 May 2024 14:57:11 +0900 Subject: [PATCH 21/27] feat(path_planner): params to adjust hard constraints and path reuse (#983) Signed-off-by: Maxime CLEMENT --- .../path_sampler/path_sampler.param.yaml | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml index d22ce0e6b4..0471ee13aa 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml @@ -8,25 +8,30 @@ id: 0 # id of the candidate paths for which to print/show details (e.g., footprint in rviz) preprocessing: - force_zero_initial_deviation: True # if true, initial planning starts from the reference path - force_zero_initial_heading: True # if true, initial planning starts with a heading aligned with the reference path + force_zero_initial_deviation: False # if true, initial planning starts from the reference path + force_zero_initial_heading: False # if true, initial planning starts with a heading aligned with the reference path smooth_reference_trajectory: False # if true, the reference trajectory is smoothed before being used for planning constraints: hard: max_curvature: 0.1 # [m⁻¹] maximum curvature of a sampled path min_curvature: -0.1 # [m⁻¹] minimum curvature of a sampled path + min_distance_from_obstacles: 0.5 # [m] min allowed distance from obstacles + limit_footprint_inside_drivable_area: false # if true, paths where the ego footprint exits the drivable area are rejected soft: lateral_deviation_weight: 1.0 # cost weight for lateral deviation between the end of a sampled path and the reference path length_weight: 1.0 # cost weight for the length of a sampled path curvature_weight: 1.0 # cost weight for the curvature of a sampled path + path_reuse: + maximum_lateral_deviation: 1.0 # [m] reset the previous path if ego deviates from it by more than this value + direct_reuse_distance: 2.0 # [m] a new path is generated only after ego travels this distance along the previously calculated path, or if it has become invalid sampling: enable_frenet: True enable_bezier: True resolution: 0.5 # [m] target distance between sampled path points previous_path_reuse_points_nb: 2 # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc) target_lengths: [10.0, 20.0] # [m] target lengths of the sampled paths - nb_target_lateral_positions: 2 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) - target_lateral_positions: [-0.5, 0.0, 0.5] # manual values that are only used if nb_target_lateral_positions = 0 + nb_target_lateral_positions: 0 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) + target_lateral_positions: [-2.0, -1.5, -1.0, -0.5, 0.0, 0.5, 1.0, 1.5, 2.0] # manual values that are only used if nb_target_lateral_positions = 0 frenet: # target values for the sampled "lateral deviation over longitudinal position" polynomial target_lateral_velocities: [-0.1, 0.0, 0.1] target_lateral_accelerations: [0.0] From 25f15dcbf9339aa6b15b0fc85aa3c904c50d2f2b Mon Sep 17 00:00:00 2001 From: Khalil Selyan <36904941+KhalilSelyan@users.noreply.github.com> Date: Fri, 10 May 2024 15:10:45 +0300 Subject: [PATCH 22/27] fix: update widget size and position (#982) Signed-off-by: KhalilSelyan --- autoware_launch/rviz/autoware.rviz | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 750fb0e365..04d4c502b4 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -248,8 +248,8 @@ Visualization Manager: Enabled: true Gear Topic Test: /vehicle/status/gear_status Hazard Lights Topic: /vehicle/status/hazard_lights_status - Height: 175 - Left: 10 + Height: 100 + Left: 0 Name: SignalDisplay Signal Color: 0; 230; 120 Speed Limit Topic: /planning/scenario_planning/current_max_velocity @@ -259,7 +259,7 @@ Visualization Manager: Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal Turn Signals Topic: /vehicle/status/turn_indicators_status Value: true - Width: 517 + Width: 550 Enabled: true Name: Vehicle - Class: rviz_plugins/MrmSummaryOverlayDisplay From f1454203d53ac4d24a7756ac4dfe4075bebda44d Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim <36835765+ahmeddesokyebrahim@users.noreply.github.com> Date: Mon, 13 May 2024 11:59:45 +0300 Subject: [PATCH 23/27] feat(remaining_dist_eta): add MissionDetailsDisplay plugin rviz configuration (#963) Signed-off-by: AhmedEbrahim --- autoware_launch/rviz/autoware.rviz | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 04d4c502b4..40db36a916 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -928,6 +928,14 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/mission_planning/echo_back_goal_pose Value: true + - Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay + Name: MissionDetailsDisplay + Width: 170 + Height: 100 + Right: 10 + Top: 10 + Remaining Distance and Time Topic: /planning/mission_remaining_distance_time + Enabled: true Enabled: true Name: MissionPlanning - Class: rviz_common/Group From 56c44ca57ea888a9fa41e77f036c09b85575a075 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 13 May 2024 20:05:21 +0900 Subject: [PATCH 24/27] feat(map_based_prediction): incorporate crosswalk user history (#987) Signed-off-by: Mamoru Sobue --- .../prediction/map_based_prediction.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml index f8ad371ab9..ba1b08abd6 100644 --- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml +++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml @@ -27,6 +27,9 @@ timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s] values of map # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8 + use_crosswalk_user_history: + match_lost_and_appeared_users: false + remember_lost_users: false # parameters for lc prediction lane_change_detection: From e4c6991e81959b86cf2d3d5cb00c844740290db3 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 13 May 2024 20:59:18 +0900 Subject: [PATCH 25/27] feat(out_of_lane): add option to ignore overlaps in lane changes (#986) Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/out_of_lane.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml index 689775ab91..b13df72409 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml @@ -3,6 +3,7 @@ out_of_lane: # module to stop or slowdown before overlapping another lane with other objects mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc" skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane + ignore_overlaps_over_lane_changeable_lanelets: true # if true, overlaps on lane changeable lanelets are ignored threshold: time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time From 8fb1a7e4e9c6fa31c5da3ddc9bd650ee33d864c4 Mon Sep 17 00:00:00 2001 From: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Date: Tue, 14 May 2024 11:54:54 +0900 Subject: [PATCH 26/27] ci: add automatic PR labeler (#972) * ci: add automatic PR labeler Signed-off-by: ktro2828 * ci: update the labeler configuration Signed-off-by: ktro2828 * ci: apply `component:ui` Signed-off-by: ktro2828 --------- Signed-off-by: ktro2828 --- .github/labeler.yaml | 33 +++++++++++++++++++++++++++++++ .github/workflows/pr-labeler.yaml | 16 +++++++++++++++ 2 files changed, 49 insertions(+) create mode 100644 .github/labeler.yaml create mode 100644 .github/workflows/pr-labeler.yaml diff --git a/.github/labeler.yaml b/.github/labeler.yaml new file mode 100644 index 0000000000..412523c3a3 --- /dev/null +++ b/.github/labeler.yaml @@ -0,0 +1,33 @@ +"type:ci": + - .github/**/* + - "*.json" + - "*.yaml" + - "*.cfg" + - .clang-format + - .gitignore + - .prettierignore +"type:documentation": + - "**/*.md" + - "**/*.rst" + - "**/*.jpg" + - "**/*.png" + - "**/*.svg" +"component:control": + - "**/*control*" +"component:localization": + - "**/*localization*" +"component:map": + - "**/*map*" +"component:perception": + - "**/*perception*" +"component:planning": + - "**/*planning*" +"component:sensing": + - "**/*sensing*" +"component:simulation": + - "**/*simulator*" +"component:system": + - "**/*system*" +"component:ui": + - "**/*.rviz" + - "**/rviz" diff --git a/.github/workflows/pr-labeler.yaml b/.github/workflows/pr-labeler.yaml new file mode 100644 index 0000000000..d45067bee5 --- /dev/null +++ b/.github/workflows/pr-labeler.yaml @@ -0,0 +1,16 @@ +name: pr-labeler +on: + pull_request_target: + types: + - opened + - edited + - synchronize + +jobs: + label: + runs-on: ubuntu-latest + steps: + - uses: actions/labeler@v4 + with: + repo-token: ${{ secrets.GITHUB_TOKEN }} + configuration-path: .github/labeler.yaml From 0aea8a35b9831e207827504297c6ac1a2e6cd9e1 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 14 May 2024 13:35:39 +0900 Subject: [PATCH 27/27] fix(ndt_scan_matchere): improved tpe (#985) Improved tpe Signed-off-by: Shintaro Sakoda --- .../localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml index 241892e67b..ec80a0ef79 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml @@ -48,7 +48,7 @@ # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search. - n_startup_trials: 20 + n_startup_trials: 100 validation: