Merge pull request autowarefoundation#599 from tier4/sync-awf-latest

chore: sync awf-latest
TomohitoAndo · Dec 13, 2022 · 88f034d · 88f034d
2 parents e87e14c + e680e3e
commit 88f034d
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Showing 5 changed files with 25 additions and 1 deletion.
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1010,6 +1010,20 @@ Visualization Manager:
                         Constant Color: false
                         Scale: 0.30000001192092896
                         Value: false
+                    - Class: rviz_default_plugins/MarkerArray
+                      Enabled: true
+                      Name: Bound
+                      Namespaces:
+                        left_bound: true
+                        right_bound: true
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        Filter size: 10
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound
+                      Value: true
                     - Class: rviz_common/Group
                       Displays:
                         - Class: rviz_default_plugins/MarkerArray

diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -48,6 +48,9 @@
       min_avoidance_speed_for_acc_prevention: 3.0  # [m/s]
       max_avoidance_acceleration: 0.5  # [m/ss]
 
+      # bound clipping for objects
+      enable_bound_clipping: false
+
       # for debug
       publish_debug_marker: false
       print_debug_info: false

diff --git a/planning_launch/package.xml b/planning_launch/package.xml
@@ -18,6 +18,7 @@
   <exec_depend>motion_velocity_smoother</exec_depend>
   <exec_depend>obstacle_avoidance_planner</exec_depend>
   <exec_depend>obstacle_stop_planner</exec_depend>
+  <exec_depend>obstacle_velocity_limiter</exec_depend>
   <exec_depend>scenario_selector</exec_depend>
   <exec_depend>surround_obstacle_checker</exec_depend>
 

diff --git a/system_launch/config/system_monitor/voltage_monitor.param.yaml b/system_launch/config/system_monitor/voltage_monitor.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    cmos_battery_warn: 2.90
+    cmos_battery_error: 2.70
+    cmos_battery_label: ""
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
@@ -11,14 +11,15 @@
     <!-- System Monitor -->
     <group if="$(eval &quot;'$(var run_mode)'=='online'&quot;)">
       <push-ros-namespace namespace="system_monitor"/>
-      <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch.py">
+      <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch.xml">
         <arg name="cpu_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/cpu_monitor.param.yaml"/>
         <arg name="hdd_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/hdd_monitor.param.yaml"/>
         <arg name="mem_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/mem_monitor.param.yaml"/>
         <arg name="net_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/net_monitor.param.yaml"/>
         <arg name="ntp_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/ntp_monitor.param.yaml"/>
         <arg name="process_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/process_monitor.param.yaml"/>
         <arg name="gpu_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/gpu_monitor.param.yaml"/>
+        <arg name="voltage_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/voltage_monitor.param.yaml"/>
       </include>
     </group>