Merge branch 'tier4/universe' into sync-awf-latest

tier4 · Nov 23, 2022 · 552a9f4 · 552a9f4
2 parents 4b0cebb + f653f1b
commit 552a9f4
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Showing 2 changed files with 32 additions and 25 deletions.
diff --git a/...fig/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/...fig/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -8,7 +8,7 @@
     margin_to_insert_external_velocity_limit: 0.3   #  margin distance to insert external velocity limit [m]
 
     # curve parameters
-    max_lateral_accel: 0.8             # max lateral acceleration limit [m/ss]
+    max_lateral_accel: 1.0             # max lateral acceleration limit [m/ss]
     min_curve_velocity: 2.74           # min velocity at lateral acceleration limit [m/ss]
     decel_distance_before_curve: 3.5   # slow speed distance before a curve for lateral acceleration limit
     decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit

diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
@@ -23,11 +23,13 @@
     </group>
 
     <!-- State Monitor -->
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
-    <include file="$(find-pkg-share ad_service_state_monitor)/launch/ad_service_state_monitor.launch.xml">
-      <arg name="config_file" value="$(var config_file)" />
-    </include>
+    <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
+      <include file="$(find-pkg-share ad_service_state_monitor)/launch/ad_service_state_monitor.launch.xml">
+        <arg name="config_file" value="$(var config_file)" />
+      </include>
+    </group>
 
     <!-- Component State Monitor -->
     <group>
@@ -38,29 +40,34 @@
     </group>
 
     <!-- Error Monitor -->
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
-    <include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
-      <arg name="config_file" value="$(var config_file)" />
-      <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
-      <arg name="extra_agg_config_file_system" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/system.param.yaml" />
-      <arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/vehicle.param.yaml" />
-      <arg name="use_emergency_hold" value="false" />
-    </include>
+    <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
+      <include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
+        <arg name="config_file" value="$(var config_file)" />
+        <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
+        <arg name="extra_agg_config_file_system" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/system.param.yaml" />
+        <arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/vehicle.param.yaml" />
+        <arg name="use_emergency_hold" value="false" />
+      </include>
+    </group>
 
     <!-- Emergency Handler -->
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/emergency_handler/emergency_handler.param.yaml"/>
-    <include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
-      <arg name="config_file" value="$(var config_file)" />
-    </include>
+    <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/emergency_handler/emergency_handler.param.yaml"/>
+      <include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
+        <arg name="config_file" value="$(var config_file)" />
+      </include>
+    </group>
 
     <!-- MRM Operator -->
-    <include file="$(find-pkg-share mrm_comfortable_stop_operator)/launch/mrm_comfortable_stop_operator.launch.py">
-      <arg name="config_file" value="$(find-pkg-share mrm_comfortable_stop_operator)/config/mrm_comfortable_stop_operator.param.yaml"/>
-    </include>
-    <include file="$(find-pkg-share mrm_emergency_stop_operator)/launch/mrm_emergency_stop_operator.launch.py">
-      <arg name="config_file" value="$(find-pkg-share mrm_emergency_stop_operator)/config/mrm_emergency_stop_operator.param.yaml"/>
-    </include>
-
+    <group>
+      <include file="$(find-pkg-share mrm_comfortable_stop_operator)/launch/mrm_comfortable_stop_operator.launch.py">
+        <arg name="config_file" value="$(find-pkg-share mrm_comfortable_stop_operator)/config/mrm_comfortable_stop_operator.param.yaml"/>
+      </include>
+      <include file="$(find-pkg-share mrm_emergency_stop_operator)/launch/mrm_emergency_stop_operator.launch.py">
+        <arg name="config_file" value="$(find-pkg-share mrm_emergency_stop_operator)/config/mrm_emergency_stop_operator.param.yaml"/>
+      </include>
+    </group>
 
     <!-- Dummy Diag Publisher -->
     <group if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)">