From 4826fafc44a05eab7de0c4c13d797f0b59008c1e Mon Sep 17 00:00:00 2001
From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Fri, 29 Nov 2024 13:07:22 +0900
Subject: [PATCH 1/3] refactor(system_diagnostic_monitor, dummy_diag_publisher,
 diagnostic_graph_aggregator): combine diag list setting directories (#1253)

Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
---
 .../system/diagnostic_graph_aggregator/autoware-awsim.yaml   | 5 -----
 .../system/diagnostic_graph_aggregator/autoware-main.yaml    | 2 --
 .../config/system/diagnostics/autoware-awsim.yaml            | 5 +++++
 .../autoware-main.yaml                                       | 0
 .../{system_diagnostic_monitor => diagnostics}/control.yaml  | 0
 .../dummy_diag_publisher.param.yaml                          | 0
 .../{system_diagnostic_monitor => diagnostics}/hardware.yaml | 0
 .../localization.yaml                                        | 0
 .../{system_diagnostic_monitor => diagnostics}/map.yaml      | 0
 .../perception.yaml                                          | 0
 .../{system_diagnostic_monitor => diagnostics}/planning.yaml | 0
 .../{system_diagnostic_monitor => diagnostics}/system.yaml   | 0
 .../{system_diagnostic_monitor => diagnostics}/vehicle.yaml  | 0
 autoware_launch/launch/autoware.launch.xml                   | 2 +-
 .../launch/components/tier4_system_component.launch.xml      | 4 ++--
 autoware_launch/launch/e2e_simulator.launch.xml              | 2 +-
 autoware_launch/launch/logging_simulator.launch.xml          | 2 +-
 autoware_launch/launch/planning_simulator.launch.xml         | 2 +-
 18 files changed, 11 insertions(+), 13 deletions(-)
 delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
 delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
 create mode 100644 autoware_launch/config/system/diagnostics/autoware-awsim.yaml
 rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/autoware-main.yaml (100%)
 rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/control.yaml (100%)
 rename autoware_launch/config/system/{dummy_diag_publisher => diagnostics}/dummy_diag_publisher.param.yaml (100%)
 rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/hardware.yaml (100%)
 rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/localization.yaml (100%)
 rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/map.yaml (100%)
 rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/perception.yaml (100%)
 rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/planning.yaml (100%)
 rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/system.yaml (100%)
 rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/vehicle.yaml (100%)

diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
deleted file mode 100644
index 937cfdeb65..0000000000
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
+++ /dev/null
@@ -1,5 +0,0 @@
-files:
-  - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml }
-
-edits:
-  - { type: remove, path: /autoware/system/duplicated_node_checker }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
deleted file mode 100644
index c96dd5ed46..0000000000
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-files:
-  - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml }
diff --git a/autoware_launch/config/system/diagnostics/autoware-awsim.yaml b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml
new file mode 100644
index 0000000000..4abae34a31
--- /dev/null
+++ b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml
@@ -0,0 +1,5 @@
+files:
+  - { path: $(dirname)/autoware-main.yaml }
+
+edits:
+  - { type: remove, path: /autoware/system/duplicated_node_checker }
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/diagnostics/autoware-main.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
rename to autoware_launch/config/system/diagnostics/autoware-main.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/diagnostics/control.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/control.yaml
rename to autoware_launch/config/system/diagnostics/control.yaml
diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml
similarity index 100%
rename from autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
rename to autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml b/autoware_launch/config/system/diagnostics/hardware.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml
rename to autoware_launch/config/system/diagnostics/hardware.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml b/autoware_launch/config/system/diagnostics/localization.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/localization.yaml
rename to autoware_launch/config/system/diagnostics/localization.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/map.yaml b/autoware_launch/config/system/diagnostics/map.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/map.yaml
rename to autoware_launch/config/system/diagnostics/map.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml b/autoware_launch/config/system/diagnostics/perception.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/perception.yaml
rename to autoware_launch/config/system/diagnostics/perception.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml b/autoware_launch/config/system/diagnostics/planning.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/planning.yaml
rename to autoware_launch/config/system/diagnostics/planning.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/diagnostics/system.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/system.yaml
rename to autoware_launch/config/system/diagnostics/system.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml b/autoware_launch/config/system/diagnostics/vehicle.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml
rename to autoware_launch/config/system/diagnostics/vehicle.yaml
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 29378cc0c8..4bf18af889 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -37,7 +37,7 @@
   <arg name="system_run_mode" default="online" description="run mode in system"/>
   <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml" description="diagnostic graph config"/>
+  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index 5bb8403dc2..31cc739683 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
-  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
+  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
 
   <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
     <arg name="run_mode" value="$(var system_run_mode)"/>
@@ -14,7 +14,7 @@
     <arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
     <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
     <arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
-    <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml"/>
+    <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/dummy_diag_publisher.param.yaml"/>
     <arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
     <arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>
     <arg name="system_monitor_hdd_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/hdd_monitor.param.yaml"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 3237754c48..c4fd15b41c 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -71,7 +71,7 @@
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-awsim.yaml"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
       <!-- Perception-->
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index f1a9ad5fab..123bd01ed3 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -65,7 +65,7 @@
       <arg name="system_run_mode" value="logging_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index be175553b7..3c56e11412 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -70,7 +70,7 @@
       <arg name="system_run_mode" value="planning_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>

From 3cd81cc2b0b56a29eea917daa72a440df520fd1a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sebastian=20Z=C4=99derowski?= <sebek.x@gmail.com>
Date: Mon, 2 Dec 2024 01:36:54 +0100
Subject: [PATCH 2/3] =?UTF-8?q?feat(object=5Flanelet=5Ffilter):=20add=20co?=
 =?UTF-8?q?nfigurable=20margin=20for=20object=20lanel=E2=80=A6=20(#1210)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

feat(object_lanelet_filter): add configurable margin for object lanelet filter

Signed-off-by: Sebastian Zęderowski <szederowski@autonomous-systems.pl>
Co-authored-by: Sebastian Zęderowski <szederowski@autonomous-systems.pl>
---
 .../detected_object_validation/object_lanelet_filter.param.yaml | 2 ++
 .../detection/object_filter/object_lanelet_filter.param.yaml    | 2 ++
 .../detection/object_filter/radar_lanelet_filter.param.yaml     | 2 ++
 3 files changed, 6 insertions(+)

diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml
index 99050d9738..d15b2c81cf 100644
--- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml
@@ -19,3 +19,5 @@
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
+      debug: false
+      lanelet_extra_margin: 0.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
index fb6f1131e1..da9b694564 100644
--- a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
@@ -19,3 +19,5 @@
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
+      debug: false
+      lanelet_extra_margin: 0.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
index 330a4605a1..a784fcb8c0 100644
--- a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
@@ -19,3 +19,5 @@
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
+      debug: false
+      lanelet_extra_margin: 0.0

From 6bbe983259580ef4cb3daf9792962a5bc58bb695 Mon Sep 17 00:00:00 2001
From: "Kem (TiankuiXian)" <1041084556@qq.com>
Date: Mon, 2 Dec 2024 21:34:47 +0900
Subject: [PATCH 3/3] fix(rviz): fix a bug about visualizing ego model (#1257)

fix a visulization bug.

Signed-off-by: temkei.kem <1041084556@qq.com>
---
 autoware_launch/rviz/planning_bev.rviz | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/rviz/planning_bev.rviz b/autoware_launch/rviz/planning_bev.rviz
index 4b7ce39e51..533b601ccf 100644
--- a/autoware_launch/rviz/planning_bev.rviz
+++ b/autoware_launch/rviz/planning_bev.rviz
@@ -118,7 +118,7 @@ Visualization Manager:
                 Depth: 5
                 Durability Policy: Volatile
                 History Policy: Keep Last
-                Reliability Policy: Best Effort
+                Reliability Policy: Reliable
                 Value: /robot_description
               Enabled: true
               Links: