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chore: sync awf-latest #297

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merged 4 commits into from
Jan 31, 2024
Merged

chore: sync awf-latest #297

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7837d1f
feat(start_planner): add collision check distances for shift and geom…
kyoichi-sugahara Jan 31, 2024
f3caade
chore(ground_segmentation): add default params (#831)
badai-nguyen Jan 31, 2024
862cc69
feat(autoware_launch): set default vehicle/sensor models to sample on…
VRichardJP Jan 31, 2024
b7880fe
chore(object_velocity_splitter): rework parameters (#820)
kminoda Jan 31, 2024
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3 changes: 3 additions & 0 deletions ..._recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml
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/**:
ros__parameters:
velocity_threshold: 5.5
3 changes: 3 additions & 0 deletions ...ition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml
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/**:
ros__parameters:
velocity_threshold: 4.5
3 changes: 3 additions & 0 deletions ...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
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Expand Up @@ -30,3 +30,6 @@
detection_range_z_max: 2.5
elevation_grid_mode: true
use_recheck_ground_cluster: true
low_priority_region_x: -20.0
center_pcl_shift: 0.0
radial_divider_angle_deg: 1.0
2 changes: 2 additions & 0 deletions ...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
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Expand Up @@ -14,6 +14,7 @@
# shift pull out
enable_shift_pull_out: true
check_shift_path_lane_departure: true
shift_collision_check_distance_from_end: -10.0
minimum_shift_pull_out_distance: 0.0
deceleration_interval: 15.0
lateral_jerk: 0.5
Expand All @@ -23,6 +24,7 @@
maximum_curvature: 0.07
# geometric pull out
enable_geometric_pull_out: true
geometric_collision_check_distance_from_end: 0.0
divide_pull_out_path: true
geometric_pull_out_velocity: 1.0
arc_path_interval: 1.0
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4 changes: 2 additions & 2 deletions autoware_launch/launch/autoware.launch.xml
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<launch>
<!-- Essential parameters -->
<arg name="map_path" description="point cloud and lanelet2 map directory path"/>
<arg name="vehicle_model" description="vehicle model name"/>
<arg name="sensor_model" description="sensor model name"/>
<arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
<arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
<arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
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8 changes: 8 additions & 0 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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Expand Up @@ -88,6 +88,14 @@
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml"
/>
<arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
<arg
name="object_recognition_detection_object_velocity_splitter_radar_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml"
/>
<arg
name="object_recognition_detection_object_velocity_splitter_radar_fusion_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml"
/>
<arg
name="object_recognition_detection_object_range_splitter_radar_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml"
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4 changes: 2 additions & 2 deletions autoware_launch/launch/e2e_simulator.launch.xml
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<launch>
<!-- Essential parameters -->
<arg name="map_path" description="point cloud and lanelet2 map directory path"/>
<arg name="vehicle_model" description="vehicle model name"/>
<arg name="sensor_model" description="sensor model name"/>
<arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
<arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>

<!-- launch module preset -->
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4 changes: 2 additions & 2 deletions autoware_launch/launch/logging_simulator.launch.xml
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<launch>
<!-- Essential parameters -->
<arg name="map_path" description="point cloud and lanelet2 map directory path"/>
<arg name="vehicle_model" description="vehicle model name"/>
<arg name="sensor_model" description="sensor model name"/>
<arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
<arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
<arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>

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4 changes: 2 additions & 2 deletions autoware_launch/launch/planning_simulator.launch.xml
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<launch>
<!-- Essential parameters -->
<arg name="map_path" description="point cloud and lanelet2 map directory path"/>
<arg name="vehicle_model" description="vehicle model name"/>
<arg name="sensor_model" description="sensor model name"/>
<arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
<arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>

<!-- launch module preset -->
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