feat(obstacle_cruise_planner): support pointcloud-based obstacles (#980)

* feat: use obstacle_cruise_planner and change safe_distance_margin Signed-off-by: Takayuki Murooka <[email protected]> * feat: set max_vel to 40km/h Signed-off-by: Takayuki Murooka <[email protected]> * feat: enable surround_obstacle_checker Signed-off-by: Takayuki Murooka <[email protected]> * feat: enable surround_obstacle_checker Signed-off-by: Takayuki Murooka <[email protected]> * feat: enable dynamic_avoidance and disable outside_drivable_area_stop Signed-off-by: Takayuki Murooka <[email protected]> * feat: disable AEB and set the maximum velocity to 40km/h Signed-off-by: Takayuki Murooka <[email protected]> * enable intersection_occlusion detection Signed-off-by: Mamoru Sobue <[email protected]> * add parameters for obstacle_cruise_planner * add parameters for pointcloud filtering * chore(planning_launch): update motion module name (#1014) Signed-off-by: satoshi-ota <[email protected]> * move use_pointcloud to common parameter * disable using pointcloud by default * disable AEB diag check Signed-off-by: Daniel Sanchez <[email protected]> * remove use_pointcloud parameter * feat(diagnostic_graph_utils): launch logging node for diagnostic_graph Signed-off-by: Takamasa Horibe <[email protected]> * reset to autowarefoundation:main --------- Signed-off-by: Takayuki Murooka <[email protected]> Signed-off-by: Mamoru Sobue <[email protected]> Signed-off-by: satoshi-ota <[email protected]> Signed-off-by: Daniel Sanchez <[email protected]> Signed-off-by: Takamasa Horibe <[email protected]> Co-authored-by: Takayuki Murooka <[email protected]> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: Mamoru Sobue <[email protected]> Co-authored-by: Mamoru Sobue <[email protected]> Co-authored-by: badai nguyen <[email protected]> Co-authored-by: Satoshi OTA <[email protected]> Co-authored-by: Daniel Sanchez <[email protected]> Co-authored-by: danielsanchezaran <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]>
autowarefoundation · Jul 3, 2024 · d05e5b2 · d05e5b2
1 parent 9a8e15d
commit d05e5b2
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -37,6 +37,7 @@
         motorcycle: true
         bicycle: true
         pedestrian: true
+        pointcloud: false
 
       cruise_obstacle_type:
         inside:
@@ -68,8 +69,17 @@
         motorcycle: true
         bicycle: true
         pedestrian: true
+        pointcloud: false
 
     behavior_determination:
+      pointcloud_search_radius: 5.0
+      pointcloud_voxel_grid_x: 0.05
+      pointcloud_voxel_grid_y: 0.05
+      pointcloud_voxel_grid_z: 100000.0
+      pointcloud_cluster_tolerance: 1.0
+      pointcloud_min_cluster_size: 1
+      pointcloud_max_cluster_size: 100000
+
       decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking
 
       prediction_resampling_time_interval: 0.1