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chore: sync awf-latest #278

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merged 3 commits into from
Jan 15, 2024
Merged

chore: sync awf-latest #278

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e7c0f89
refactor(ekf_localizer): add Simple1DFilter params to parameter file …
meliketanrikulu Jan 15, 2024
7e145bc
feat(mpc): add parameter for debug trajectory publisher (#790)
TakaHoribe Jan 15, 2024
5b6dab3
fix(image_projection_based_fusion): add image_porojection_based_fusio…
miursh Jan 15, 2024
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2 changes: 2 additions & 0 deletions autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
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Expand Up @@ -74,3 +74,5 @@
update_steer_threshold: 0.035
average_num: 1000
steering_offset_limit: 0.02

debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate
4 changes: 4 additions & 0 deletions autoware_launch/config/localization/ekf_localizer.param.yaml
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Expand Up @@ -23,6 +23,10 @@
proc_stddev_vx_c: 10.0
proc_stddev_wz_c: 5.0

#Simple1DFilter parameters
z_filter_proc_dev: 1.0
roll_filter_proc_dev: 0.01
pitch_filter_proc_dev: 0.01
# for diagnostics
pose_no_update_count_threshold_warn: 50
pose_no_update_count_threshold_error: 100
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12 changes: 12 additions & 0 deletions .../object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml
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@@ -0,0 +1,12 @@
/**:
ros__parameters:
fusion_distance: 100.0
trust_object_distance: 100.0
trust_object_iou_mode: "iou"
non_trust_object_iou_mode: "iou_x"
use_cluster_semantic_type: false
only_allow_inside_cluster: true
roi_scale_factor: 1.1
iou_threshold: 0.65
unknown_iou_threshold: 0.1
remove_unknown: true
19 changes: 19 additions & 0 deletions ...recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml
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/**:
ros__parameters:
# UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
passthrough_lower_bound_probability_thresholds: [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.50]
trust_distances: [50.0, 100.0, 100.0, 100.0, 100.0, 50.0, 50.0, 50.0]
min_iou_threshold: 0.5
use_roi_probability: false
roi_probability_threshold: 0.5

can_assign_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN <-roi_msg
[1, 0, 0, 0, 0, 0, 0, 0, # UNKNOWN <-detected_objects
0, 1, 1, 1, 1, 0, 0, 0, # CAR
0, 1, 1, 1, 1, 0, 0, 0, # TRUCK
0, 1, 1, 1, 1, 0, 0, 0, # BUS
0, 1, 1, 1, 1, 0, 0, 0, # TRAILER
0, 0, 0, 0, 0, 1, 1, 1, # MOTORBIKE
0, 0, 0, 0, 0, 1, 1, 1, # BICYCLE
0, 0, 0, 0, 0, 1, 1, 1] # PEDESTRIAN
5 changes: 5 additions & 0 deletions ...ject_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml
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/**:
ros__parameters:
fuse_unknown_only: true
min_cluster_size: 2
cluster_2d_tolerance: 0.5
12 changes: 12 additions & 0 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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Expand Up @@ -48,6 +48,18 @@
name="object_recognition_detection_fusion_sync_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml"
/>
<arg
name="object_recognition_detection_roi_cluster_fusion_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml"
/>
<arg
name="object_recognition_detection_roi_pointcloud_fusion_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml"
/>
<arg
name="object_recognition_detection_roi_detected_object_fusion_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml"
/>
<arg
name="object_recognition_detection_obstacle_pointcloud_based_validator_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml"
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