From ae6d0bb952374ac38ff6752dcc69a0827b0a6d68 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 19 Mar 2024 23:53:45 +0900 Subject: [PATCH 01/16] enable intersection_occlusion detection Signed-off-by: Mamoru Sobue --- .../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 68d4070cbf..abd12a9470 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 @@ -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 From fb4401bb6f046e92daa5c1b16783ddcab9b0def2 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 21 Mar 2024 12:16:40 +0900 Subject: [PATCH 02/16] refactor(avoidance): update parameter namespace (#928) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 5 ++--- 1 file changed, 2 insertions(+), 3 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 619539be0d..0f430e3048 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 @@ -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: From d4c42bd4fbe4cbffee7d57c4fc6e5a1240acfe99 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 21 Mar 2024 20:31:29 +0900 Subject: [PATCH 03/16] feat(run_out): adjust parameter (#931) chore(run_out): adjust parameter (#777) Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> --- .../behavior_velocity_planner/run_out.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index 196f7c6296..3af5164a52 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -22,7 +22,7 @@ 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 +37,7 @@ # 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 From a6f415d580431c5072384a9416b6992ebb7bbfd4 Mon Sep 17 00:00:00 2001 From: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Date: Tue, 26 Mar 2024 23:36:20 +0900 Subject: [PATCH 04/16] feat(AEB): add detection range params (#934) * feat(AEB): add new params for detection_range Signed-off-by: Shin-kyoto * fix(AEB): fix mistake Signed-off-by: Shin-kyoto --------- Signed-off-by: Shin-kyoto --- .../autonomous_emergency_braking.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 1a870aff7a..82d5a4f12e 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 +3,8 @@ 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 From 9b7a16a82eab836286b93b1e70526c0bab8b7479 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 27 Mar 2024 11:40:40 +0900 Subject: [PATCH 05/16] feat: add dummy doors for planning simulator (#921) Signed-off-by: Takagi, Isamu --- .../launch/components/tier4_simulator_component.launch.xml | 2 ++ autoware_launch/launch/planning_simulator.launch.xml | 2 ++ 2 files changed, 4 insertions(+) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index a8503818cd..c2f2b7ca92 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -3,6 +3,7 @@ + @@ -17,6 +18,7 @@ + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index bc53dfa834..b389abf61c 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -16,6 +16,7 @@ + @@ -86,6 +87,7 @@ + From 5375164d21f3a5b127e7f825e519bf57fb1581eb Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Wed, 27 Mar 2024 13:46:00 +0900 Subject: [PATCH 06/16] feat(run_out_module): new params for run out, add ego cut lane (#935) * new params for run out Signed-off-by: Daniel Sanchez * rename param Signed-off-by: Daniel Sanchez * update description Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../behavior_velocity_planner/run_out.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index 3af5164a52..9af4442778 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -4,6 +4,7 @@ detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points 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 @@ -11,6 +12,7 @@ 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 # Parameter to create abstracted dynamic obstacles dynamic_obstacle: From 954145a38aeba3b7076f9006eedd34b1c76951f3 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Wed, 27 Mar 2024 15:54:51 +0900 Subject: [PATCH 07/16] feat(run_out): add obstacle types to run out (#936) add obstacle types to run out Signed-off-by: Daniel Sanchez --- .../behavior_velocity_planner/run_out.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index 9af4442778..898f303a75 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -2,6 +2,7 @@ ros__parameters: run_out: detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points + target_obstacle_types: ["PEDESTRIAN", "BICYCLE", "MOTORCYCLE"] # [-] Obstacle types considered by this module 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 From 0694d389edd2d562b0616c7f871d745e8045e2ef Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 28 Mar 2024 09:58:07 +0900 Subject: [PATCH 08/16] feat: add option to launch mrm handler (#929) Signed-off-by: Takagi, Isamu --- .../launch/components/tier4_system_component.launch.xml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index a90fdb89a5..00c4a498de 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -26,5 +26,10 @@ + + + + + From 7a65bc906a8e9406b4a6e1f6194918f0397de509 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Fri, 29 Mar 2024 09:28:50 +0900 Subject: [PATCH 09/16] chore: add option to select graph path depending on running mode (#938) chore: add option of using graph path for simulation Signed-off-by: Tomohito Ando --- .../launch/components/tier4_system_component.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 00c4a498de..9fac31c3af 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -31,5 +31,6 @@ + From 9a22efb40b690cf7465f71e63368354f431ebb57 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 29 Mar 2024 16:46:28 +0900 Subject: [PATCH 10/16] feat(dynamic_obstacle_stop): split the duration buffer parameter in 2 (add/remove) (#933) Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/dynamic_obstacle_stop.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml index c18de5bd53..ac95cd75c8 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml +++ b/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) From 218da846878db43b93925a476de3cd8190129770 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 29 Mar 2024 21:05:28 +0900 Subject: [PATCH 11/16] feat(crosswalk): rename parameter to ignore traffic light (#919) Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/crosswalk.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/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index ac18c935dd..8c98838fdb 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 @@ -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 From 16f5f2daf55dc9279cbc6af0a6cc5cd2030863ed Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Sun, 31 Mar 2024 01:03:39 +0900 Subject: [PATCH 12/16] chore: update CODEOWNERS (#904) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/CODEOWNERS | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index dd28f74253..b9d67e0b94 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -1,10 +1,10 @@ ### Automatically generated from package.xml ### -autoware_launch/** yukihiro.saito@tier4.jp +autoware_launch/** mfc@leodrive.ai ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp ### Copied from .github/CODEOWNERS-manual ### # /** # .github/** -autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp +autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodrive.ai autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp From 791b90fb3d78160c13d384e7d9eb2e8d00a9c829 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 1 Apr 2024 15:04:37 +0900 Subject: [PATCH 13/16] feat(run_out): add params to exclude obstacles already on the ego's path (#939) * add params Signed-off-by: Daniel Sanchez * add extra param Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../behavior_velocity_planner/run_out.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index 898f303a75..26801f21ba 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -3,6 +3,7 @@ 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 @@ -14,6 +15,8 @@ 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: From 6ecc045fe9cdc8bcde30ae6084a505469107e5d1 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Mon, 1 Apr 2024 15:50:33 +0900 Subject: [PATCH 14/16] feat(pose_initilizer): set intial pose directly (#937) * feat(pose_initilizer): set intial pose directly Signed-off-by: Yamato Ando * rename params Signed-off-by: Yamato Ando --------- Signed-off-by: Yamato Ando --- .../config/localization/pose_initializer.param.yaml | 4 ++++ .../launch/components/tier4_localization_component.launch.xml | 2 ++ 2 files changed, 6 insertions(+) diff --git a/autoware_launch/config/localization/pose_initializer.param.yaml b/autoware_launch/config/localization/pose_initializer.param.yaml index 88acbfb526..90ec78257e 100644 --- a/autoware_launch/config/localization/pose_initializer.param.yaml +++ b/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) diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index b8387c1d25..7dfe0a3dea 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -5,6 +5,7 @@ + @@ -13,6 +14,7 @@ + From d712ca893d2554b2fc46a863ef44fb8b8ae73ce3 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 1 Apr 2024 22:39:46 +0900 Subject: [PATCH 15/16] feat(start_planner): add path validation check (#942) add param Signed-off-by: Daniel Sanchez --- .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 41e4f90bbc..f2ba29e926 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/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 From 3f2a5a0bb96d5012afdc21020c591c01d833e5c0 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 4 Apr 2024 20:01:22 +0900 Subject: [PATCH 16/16] fix: cherry-pick necessary changes from tier4/main (#368) Signed-off-by: Takayuki Murooka --- .../components/tier4_autoware_api_component.launch.xml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index 1c7b520108..bc582fbb9a 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -1,7 +1,8 @@ - - + + +