From 996e9a7972e84416f3b03dd03d13c69929c491c6 Mon Sep 17 00:00:00 2001 From: "tier4-autoware-public-bot[bot]" <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Date: Mon, 23 May 2022 16:06:31 +0900 Subject: [PATCH 01/23] chore: sync awf-latest (#322) style: fix flake8 C417 (#321) Signed-off-by: Kenji Miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- .../ground_segmentation/ground_segmentation.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py index 885315f87..b8781ebac 100644 --- a/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py +++ b/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py @@ -265,7 +265,7 @@ def create_single_frame_obstacle_segmentation_components(self, input_topic, outp components.append( self.get_additional_lidars_concatenated_component( input_topics=[common_pipeline_output] - + list(map(lambda x: f"{x}/pointcloud", additional_lidars)), + + [f"{x}/pointcloud" for x in additional_lidars], output_topic=relay_topic if use_ransac else output_topic, ) ) From 6ecd000d1b435648cc34404c4174b150de3c6a7d Mon Sep 17 00:00:00 2001 From: "tier4-autoware-public-bot[bot]" <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Date: Wed, 25 May 2022 22:00:11 +0900 Subject: [PATCH 02/23] chore: sync awf-latest (#325) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * chore: sync files (#311) Signed-off-by: GitHub Co-authored-by: kenji-miyake * feat: disable namespace `lane_start_bound` (#314) * feat: disable lane_bound * fix: lane_start_bound * feat: add center_line_arrows to disable * ci: add sync-awf.yaml (#318) * ci: add sync-awf.yaml Signed-off-by: Kenji Miyake * rename Signed-off-by: Kenji Miyake * refactor(vehicle_cmd_gate): add namespace (#316) Signed-off-by: Takamasa Horibe * style: fix flake8 C417 (#321) Signed-off-by: Kenji Miyake * chore(behavior_velocity): update latest params (#320) * chore(behavior_velocity): update latest params Signed-off-by: tanaka3 * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * ci(pre-commit): autoupdate (#324) updates: - [github.com/tier4/pre-commit-hooks-ros: v0.7.0 → v0.7.1](https://github.com/tier4/pre-commit-hooks-ros/compare/v0.7.0...v0.7.1) - [github.com/scop/pre-commit-shfmt: v3.4.3-1 → v3.5.0-1](https://github.com/scop/pre-commit-shfmt/compare/v3.4.3-1...v3.5.0-1) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_api_launch): add rtc controller (#305) * add rtc controller Signed-off-by: tkhmy * change line Signed-off-by: tkhmy * change back to alphabetical order Signed-off-by: tkhmy Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake Co-authored-by: Hiroki OTA Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> --- .github/workflows/github-release.yaml | 1 + .github/workflows/sync-awf-latest.yaml | 31 +++++++++++++++++++ .pre-commit-config.yaml | 4 +-- .../include/external_api_adaptor.launch.py | 1 + autoware_launch/rviz/autoware.rviz | 2 ++ control_launch/launch/control.launch.py | 2 +- .../occlusion_spot.param.yaml | 11 ++++--- .../stop_line.param.yaml | 2 ++ 8 files changed, 46 insertions(+), 8 deletions(-) create mode 100644 .github/workflows/sync-awf-latest.yaml diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index 93533b54e..19e1e9c12 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -9,6 +9,7 @@ on: workflow_dispatch: inputs: beta-branch-or-tag-name: + description: The name of the beta branch or tag to release type: string required: true diff --git a/.github/workflows/sync-awf-latest.yaml b/.github/workflows/sync-awf-latest.yaml new file mode 100644 index 000000000..6f905ef9e --- /dev/null +++ b/.github/workflows/sync-awf-latest.yaml @@ -0,0 +1,31 @@ +name: sync-awf-latest + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + sync-awf-latest: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: tier4/universe + sync-pr-branch: sync-awf-latest + sync-target-repository: https://github.com/tier4/autoware_launch.git + sync-target-branch: awf-latest + pr-title: "chore: sync awf-latest" + pr-labels: | + bot + sync-awf-latest + auto-merge-method: merge diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 8c65d067e..ede7eb7ef 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -34,7 +34,7 @@ repos: - id: yamllint - repo: https://github.com/tier4/pre-commit-hooks-ros - rev: v0.7.0 + rev: v0.7.1 hooks: - id: flake8-ros - id: prettier-package-xml @@ -46,7 +46,7 @@ repos: - id: shellcheck - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.4.3-1 + rev: v3.5.0-1 hooks: - id: shfmt args: [-w, -s, -i=4] diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py index 4f1295588..fb840f4ed 100644 --- a/autoware_api_launch/launch/include/external_api_adaptor.launch.py +++ b/autoware_api_launch/launch/include/external_api_adaptor.launch.py @@ -40,6 +40,7 @@ def generate_launch_description(): _create_api_node("operator", "Operator"), _create_api_node("metadata_packages", "MetadataPackages"), _create_api_node("route", "Route"), + _create_api_node("rtc_controller", "RTCController"), _create_api_node("service", "Service"), _create_api_node("start", "Start"), _create_api_node("vehicle_status", "VehicleStatus"), diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 28bed4d2e..690e038e7 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -373,7 +373,9 @@ Visualization Manager: Name: Lanelet2VectorMap Namespaces: center_lane_line: false + center_line_arrows: false crosswalk_lanelets: true + lane_start_bound: false lanelet direction: true lanelet_id: false left_lane_bound: true diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 1d5cf2654..a4671689d 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -159,7 +159,7 @@ def launch_setup(context, *args, **kwargs): # vehicle cmd gate vehicle_cmd_gate_component = ComposableNode( package="vehicle_cmd_gate", - plugin="VehicleCmdGate", + plugin="vehicle_cmd_gate::VehicleCmdGate", name="vehicle_cmd_gate", remappings=[ ("input/emergency_state", "/system/emergency/emergency_state"), diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml index a2f16ee82..be846f70c 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml @@ -4,6 +4,7 @@ detection_method: "occupancy_grid" # [-] candidate is "occupancy_grid" or "predicted_object" pass_judge: "smooth_velocity" # [-] candidate is "smooth_velocity" or "current_velocity" filter_occupancy_grid: true # [-] whether to filter occupancy grid by morphologyEx or not + use_moving_object_ray_cast: true # [-] whether to reflect moving object ray shadow grid map use_object_info: true # [-] whether to reflect object info to occupancy grid map or not use_partition_lanelet: true # [-] whether to use partition lanelet map data pedestrian_vel: 1.5 # [m/s] assume pedestrian is dashing from occlusion at this velocity @@ -18,8 +19,8 @@ lateral_distance: 1.5 # [m] maximum lateral distance to consider hidden collision motion: safety_ratio: 0.8 # [-] jerk/acceleration ratio for safety - max_slow_down_jerk: -0.5 # [m/s^3] minimum jerk deceleration for safe brake. - max_slow_down_accel: -1.8 # [m/s^2] minimum accel deceleration for safe brake. + max_slow_down_jerk: -0.3 # [m/s^3] minimum jerk deceleration for safe brake. + max_slow_down_accel: -1.5 # [m/s^2] minimum accel deceleration for safe brake. non_effective_jerk: -0.3 # [m/s^3] weak jerk for velocity planning. non_effective_acceleration: -1.0 # [m/s^2] weak deceleration for velocity planning. min_allowed_velocity: 1.0 # [m/s] minimum velocity allowed @@ -28,7 +29,7 @@ min_occlusion_spot_size: 1.0 # [m] occupancy grid must contain an UNKNOWN area of at least size NxN to be considered a hidden obstacle. slice_length: 10.0 # [m] size of slices in both length and distance relative to the ego path. min_longitudinal_offset: 1.0 # [m] detection area safety buffer from front bumper. - max_lateral_distance: 6.0 # [m] buffer around the ego path used to build the detection area. + max_lateral_distance: 5.0 # [m] buffer around the ego path used to build the detection area. grid: - free_space_max: 40 # [-] maximum value of a free space cell in the occupancy grid - occupied_min: 60 # [-] minimum value of an occupied cell in the occupancy grid + free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid + occupied_min: 57 # [-] minimum value of an occupied cell in the occupancy grid diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml index a2b5ac5d5..6d723c510 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml @@ -4,3 +4,5 @@ stop_margin: 0.0 stop_check_dist: 2.0 stop_duration_sec: 1.0 + debug: + show_stopline_collision_check: false # [-] whether to show stopline collision From 59fc402b4fa8027cc80bfc77443c887e18a57741 Mon Sep 17 00:00:00 2001 From: "tier4-autoware-public-bot[bot]" <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Date: Wed, 1 Jun 2022 23:51:16 +0900 Subject: [PATCH 03/23] chore: sync awf-latest (#334) * chore: sync files (#327) Signed-off-by: GitHub Co-authored-by: kenji-miyake * refactor: virtual wall rviz config (#326) Signed-off-by: Takamasa Horibe * feat(rviz_plugin): adaptive scaling for display size (#329) Signed-off-by: Takamasa Horibe * fix: support context dict key for humble (#328) * fix: support context dict key for humble Signed-off-by: wep21 * add todo comment Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix: modify type of global parameter (#333) Signed-off-by: wep21 * chore: sync files (#335) Signed-off-by: GitHub Co-authored-by: kenji-miyake * feat: use multithread for traffic light container as default (#336) Signed-off-by: tomoya.kimura * fix(localization_launch): fix input topic name (#338) * feat(behavior_velocity): add run out module (#339) * feat(behavior_velocity): add parameter yaml for behavior_velocity_planner Signed-off-by: Tomohito Ando * feat(behavior_velocity): add run out module Signed-off-by: Tomohito Ando * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake Co-authored-by: Takamasa Horibe Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Tomoya Kimura Co-authored-by: Yamato Ando Co-authored-by: Tomohito ANDO Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../build-and-test-differential.yaml | 23 +- .github/workflows/build-and-test.yaml | 23 +- autoware_launch/launch/autoware.launch.xml | 5 +- .../launch/logging_simulator.launch.xml | 5 +- autoware_launch/rviz/autoware.rviz | 981 +++++++++--------- .../launch/localization.launch.xml | 2 +- .../ground_segmentation.launch.py | 5 +- .../traffic_light.launch.xml | 2 +- .../behavior_velocity_planner.param.yaml | 18 + .../run_out.param.yaml | 45 + planning_launch/launch/planning.launch.xml | 7 + .../scenario_planning/lane_driving.launch.xml | 6 + .../behavior_planning.launch.py | 94 +- .../behavior_planning/compare_map.launch.py | 89 ++ .../scenario_planning.launch.xml | 6 + 15 files changed, 785 insertions(+), 526 deletions(-) create mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml create mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml create mode 100644 planning_launch/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index b77573e09..db998fae0 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -6,7 +6,20 @@ on: jobs: build-and-test-differential: runs-on: ubuntu-latest - container: ghcr.io/autowarefoundation/autoware-universe:latest + container: ${{ matrix.container }} + strategy: + fail-fast: false + matrix: + rosdistro: + - galactic + - humble + include: + - rosdistro: galactic + container: ros:galactic + build-depends-repos: build_depends.repos + - rosdistro: humble + container: ros:humble + build-depends-repos: build_depends.repos steps: - name: Cancel previous runs uses: styfle/cancel-workflow-action@0.9.1 @@ -27,18 +40,18 @@ jobs: if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} uses: autowarefoundation/autoware-github-actions/colcon-build@v1 with: - rosdistro: galactic + rosdistro: ${{ matrix.rosdistro }} target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} - build-depends-repos: build_depends.repos + build-depends-repos: ${{ matrix.build-depends-repos }} - name: Test id: test if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} uses: autowarefoundation/autoware-github-actions/colcon-test@v1 with: - rosdistro: galactic + rosdistro: ${{ matrix.rosdistro }} target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} - build-depends-repos: build_depends.repos + build-depends-repos: ${{ matrix.build-depends-repos }} - name: Upload coverage to CodeCov if: ${{ steps.test.outputs.coverage-report-files != '' }} diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index f0760d99a..161e3ba22 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -10,7 +10,20 @@ jobs: build-and-test: if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }} runs-on: ubuntu-latest - container: ghcr.io/autowarefoundation/autoware-universe:latest + container: ${{ matrix.container }} + strategy: + fail-fast: false + matrix: + rosdistro: + - galactic + - humble + include: + - rosdistro: galactic + container: ros:galactic + build-depends-repos: build_depends.repos + - rosdistro: humble + container: ros:humble + build-depends-repos: build_depends.repos steps: - name: Check out repository uses: actions/checkout@v3 @@ -26,18 +39,18 @@ jobs: if: ${{ steps.get-self-packages.outputs.self-packages != '' }} uses: autowarefoundation/autoware-github-actions/colcon-build@v1 with: - rosdistro: galactic + rosdistro: ${{ matrix.rosdistro }} target-packages: ${{ steps.get-self-packages.outputs.self-packages }} - build-depends-repos: build_depends.repos + build-depends-repos: ${{ matrix.build-depends-repos }} - name: Test if: ${{ steps.get-self-packages.outputs.self-packages != '' }} id: test uses: autowarefoundation/autoware-github-actions/colcon-test@v1 with: - rosdistro: galactic + rosdistro: ${{ matrix.rosdistro }} target-packages: ${{ steps.get-self-packages.outputs.self-packages }} - build-depends-repos: build_depends.repos + build-depends-repos: ${{ matrix.build-depends-repos }} - name: Upload coverage to CodeCov if: ${{ steps.test.outputs.coverage-report-files != '' }} diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 02d6c3363..2b7bf1861 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -78,7 +78,10 @@ - + + + + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 7fc575152..1cc48dbc8 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -94,7 +94,10 @@ - + + + + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 690e038e7..e36a04c7f 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -42,8 +42,7 @@ Visualization Manager: Show Arrows: true Show Axes: true Show Names: true - Tree: - {} + Tree: {} Update Interval: 0 Value: false - Alpha: 0.5 @@ -68,12 +67,9 @@ Visualization Manager: Displays: - Class: rviz_plugins/SteeringAngle Enabled: true - Left: 128 - Length: 256 Name: SteeringAngle Scale: 17 Text Color: 25; 255; 240 - Top: 128 Topic: Depth: 5 Durability Policy: Volatile @@ -84,12 +80,9 @@ Visualization Manager: Value height offset: 0 - Class: rviz_plugins/ConsoleMeter Enabled: true - Left: 512 - Length: 256 Name: ConsoleMeter Scale: 3 Text Color: 25; 255; 240 - Top: 128 Topic: Depth: 5 Durability Policy: Volatile @@ -303,11 +296,8 @@ Visualization Manager: Wave Velocity: 40 - Class: rviz_plugins/MaxVelocity Enabled: true - Left: 595 - Length: 96 Name: MaxVelocity Text Color: 255; 255; 255 - Top: 280 Topic: Depth: 5 Durability Policy: Volatile @@ -317,10 +307,7 @@ Visualization Manager: Value: true - Class: rviz_plugins/TurnSignal Enabled: true - Height: 256 - Left: 196 Name: TurnSignal - Top: 350 Topic: Depth: 5 Durability Policy: Volatile @@ -328,7 +315,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/turn_indicators_status Value: true - Width: 512 Enabled: true Name: Vehicle Enabled: true @@ -650,8 +636,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MonteCarloInitialPose - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -724,207 +709,174 @@ Visualization Manager: Name: Segmentation - Class: rviz_common/Group Displays: - - Class: rviz_common/Group - Displays: - - BUS: - Alpha: 0.999 - Color: 30; 144; 255 - CAR: - Alpha: 0.999 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.999 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects - Display 3d polygon: true - Display Label: true - Display PoseWithCovariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display UUID: true - Display Velocity: true - Enabled: true - MOTORCYCLE: - Alpha: 0.999 - Color: 119; 11; 32 - Name: DetectedObjects - Namespaces: - {} - PEDESTRIAN: - Alpha: 0.999 - Color: 255; 192; 203 - TRAILER: - Alpha: 0.999 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.999 - Color: 30; 144; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/object_recognition/detection/objects - UNKNOWN: - Alpha: 0.999 - Color: 255; 255; 255 - Value: true - Enabled: false - Name: Detection - - Class: rviz_common/Group - Displays: - - BUS: - Alpha: 0.999 - Color: 30; 144; 255 - CAR: - Alpha: 0.999 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.999 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/TrackedObjects - Display 3d polygon: true - Display Label: true - Display PoseWithCovariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display UUID: true - Display Velocity: true - Enabled: true - MOTORCYCLE: - Alpha: 0.999 - Color: 119; 11; 32 - Name: TrackedObjects - Namespaces: - {} - PEDESTRIAN: - Alpha: 0.999 - Color: 255; 192; 203 - TRAILER: - Alpha: 0.999 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.999 - Color: 30; 144; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/object_recognition/tracking/objects - UNKNOWN: - Alpha: 0.999 - Color: 255; 255; 255 - Value: true - Enabled: false - Name: Tracking - - Class: rviz_common/Group - Displays: - - BUS: - Alpha: 0.999 - Color: 30; 144; 255 - CAR: - Alpha: 0.999 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.999 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/PredictedObjects - Display 3d polygon: true - Display Label: true - Display PoseWithCovariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display UUID: true - Display Velocity: true - Enabled: true - MOTORCYCLE: - Alpha: 0.999 - Color: 119; 11; 32 - Name: PredictedObjects - Namespaces: - {} - PEDESTRIAN: - Alpha: 0.999 - Color: 255; 192; 203 - TRAILER: - Alpha: 0.999 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.999 - Color: 30; 144; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/object_recognition/objects - UNKNOWN: - Alpha: 0.999 - Color: 255; 255; 255 - Value: true + - BUS: + Alpha: 0.999 + Color: 30; 144; 255 + CAR: + Alpha: 0.999 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.999 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display 3d polygon: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true Enabled: true - Name: Prediction - Enabled: true - Name: ObjectRecognition + MOTORCYCLE: + Alpha: 0.999 + Color: 119; 11; 32 + Name: DetectedObjects + Namespaces: {} + PEDESTRIAN: + Alpha: 0.999 + Color: 255; 192; 203 + TRAILER: + Alpha: 0.999 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.999 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.999 + Color: 255; 255; 255 + Value: true + Enabled: false + Name: Detection - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/Image + - BUS: + Alpha: 0.999 + Color: 30; 144; 255 + CAR: + Alpha: 0.999 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.999 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/TrackedObjects + Display 3d polygon: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true Enabled: true - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: RecognitionResultOnImage - Normalize Range: true + MOTORCYCLE: + Alpha: 0.999 + Color: 119; 11; 32 + Name: TrackedObjects + Namespaces: {} + PEDESTRIAN: + Alpha: 0.999 + Color: 255; 192; 203 + TRAILER: + Alpha: 0.999 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.999 + Color: 30; 144; 255 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /perception/traffic_light_recognition/debug/rois + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.999 + Color: 255; 255; 255 Value: true - - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Tracking + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.999 + Color: 30; 144; 255 + CAR: + Alpha: 0.999 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.999 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/PredictedObjects + Display 3d polygon: true + Display Label: true + Display PoseWithCovariance: false + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: false + Display UUID: true + Display Velocity: true Enabled: true - Name: MapBasedDetectionResult - Namespaces: - {} + MOTORCYCLE: + Alpha: 0.999 + Color: 119; 11; 32 + Name: PredictedObjects + Namespaces: {} + PEDESTRIAN: + Alpha: 0.999 + Color: 255; 192; 203 + TRAILER: + Alpha: 0.999 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.999 + Color: 30; 144; 255 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.999 + Color: 255; 255; 255 Value: true Enabled: true - Name: TrafficLight + Name: Prediction - Class: rviz_common/Group Displays: - - Alpha: 0.5 - Class: rviz_default_plugins/Map - Color Scheme: map - Draw Behind: false + - Class: rviz_default_plugins/Image Enabled: true - Name: Map + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RecognitionResultOnImage + Normalize Range: true Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /perception/occupancy_grid_map/map - Update Topic: + Value: /perception/traffic_light_recognition/debug/rois + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MapBasedDetectionResult + Namespaces: {} + Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /perception/occupancy_grid_map/map_updates - Use Timestamp: false + Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers Value: true - Enabled: false - Name: OccupancyGrid + Enabled: true + Name: TrafficLight Enabled: true Name: Perception - Class: rviz_common/Group @@ -1019,201 +971,6 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Arrow - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: Crosswalk - Namespaces: - collision line: false - collision point: false - factor_text: true - slow factor_text: true - slow point: false - slow polygon line: false - slow virtual_wall: true - stop point: false - stop polygon line: false - stop_virtual_wall: true - walkway stop judge range: false - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: Intersection - Namespaces: - candidate_collision_ego_lane_polygon: false - candidate_collision_object_polygons: false - conflicting_targets: false - detection_area: false - ego_lane: false - factor_text: true - judge_point_pose_line: false - path_raw: false - spline: false - stop_point_pose_line: false - stop_virtual_wall: true - stuck_vehicle_detect_area: false - stuck_targets: false - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: MergeFromPrivate - Namespaces: - factor_text: true - stop_point_pose_line: false - stop_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/merge_from_private - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: Blind Spot - Namespaces: - conflict_area_for_blind_spot: false - conflicting_targets: false - detection_area: false - detection_area_for_blind_spot: false - factor_text: true - judge_point_pose_line: false - path_raw: false - stop_virtual_wall: true - spline: false - stop_point_pose_line: false - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: TrafficLight - Namespaces: - dead line factor_text: false - dead line virtual_wall: false - factor_text: true - stop_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualTrafficLight - Namespaces: - end_lines: false - instrument_center: false - instrument_id: false - start_line: false - stop_factor_text: true - stop_line: false - stop_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/virtual_traffic_light - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: StopLine - Namespaces: - factor_text: true - stop_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: DetectionArea - Namespaces: - detection_area_correspondence: false - detection_area_id: false - detection_area_polygon: false - factor_text: true - obstacles: false - stop_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: OcclusionSpot - Namespaces: - arrow: false - occlusion spot slow down: true - collision: false - info_obstacle: false - obstacle: false - detection_area: false - slow factor_text: true - path_raw: false - path_interpolated: false - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: NoStoppingArea - Namespaces: - no_stopping_area_correspondence: false - no_stopping_area_id: false - no_stopping_area_polygon: false - stuck_vehicle_detect_area: false - stop_line_detect_area: false - stuck_points: false - stop_factor_text: true - stop_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area - Value: true - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: true @@ -1237,18 +994,279 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: false - - Class: rviz_default_plugins/MarkerArray + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (BlindSpot) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Crosswalk) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DetectionArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Intersection) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MergeFromPrivateArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/merge_from_private + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoStoppingArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OcclusionSpot) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/occlusion_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StopLine) + Namespaces: + stop_factor_text: true + stop_virtual_wall: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/stop_line + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (TrafficLight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (VirtualTrafficLight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/virtual_traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (RunOut) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/run_out + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Arrow + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Blind Spot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: VirtualTrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/virtual_traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StopLine + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: OcclusionSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: RunOut + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out + Value: false Enabled: false - Name: DrivableAreaBoundary - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_boundary - Value: true + Name: DebugMarker Enabled: true Name: BehaviorPlanning - Class: rviz_common/Group @@ -1276,81 +1294,86 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: ObstacleStop - Namespaces: - collision_polygons: false - detection_polygons: false - slow_down_polygons: false - slow_down_detection_polygons: false - stop_obstacle_point: false - stop_obstacle_text: false - slow_down_obstacle_point: false - slow_down_obstacle_text: false - slow_down_start_virtual_wall: false - slow_down_start_factor_text: false - slow_down_end_virtual_wall: false - slow_down_end_factor_text: false - slow_down_end: false - stop_virtual_wall: true - stop_factor_text: true - slow_down_virtual_wall: true - slow_down_factor_text: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker - Value: true - - Class: rviz_default_plugins/MarkerArray + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleStop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SurroundObstacle) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/wall_marker + Value: true Enabled: true - Name: SurroundObstacleCheck - Namespaces: - factor_text: true - virtual_wall: true - obstacle_point: true - no_start_obstacle_text: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: ObstacleAvoidance - Namespaces: - base_bounds_0: false - base_bounds_1: false - base_bounds_2: false - current_vehicle_circles: false - lateral_errors: false - mpt_footprints: false - vehicle_circle_lines: false - vehicle_circles: false - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: ObstacleAvoidanceWall - Namespaces: - virtual_wall: true - virtual_wall_text: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/wall_marker - Value: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SurroundObstacleCheck + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker + Value: true + Enabled: false + Name: DebugMarker Enabled: true Name: MotionPlanning Enabled: true @@ -1419,22 +1442,6 @@ Visualization Manager: Value: true Enabled: true Name: Parking - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: TrajectoryErrorMarker - Namespaces: - trajectory_relative_angle: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/planning_diagnostics/planning_error_monitor/debug/marker - Value: true - Enabled: true - Name: PlanningDiagnostics Enabled: true Name: ScenarioPlanning Enabled: true @@ -1467,8 +1474,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/MPC - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -1479,14 +1485,13 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/PurePursuit - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /control/trajectory_follower/pure_pursuit_node_exe/debug/markers + Value: /control/trajectory_follower/pure_pursuit/debug/markers Value: false Enabled: true Name: Control diff --git a/localization_launch/launch/localization.launch.xml b/localization_launch/launch/localization.launch.xml index 20b29e5af..91fbe6ac9 100644 --- a/localization_launch/launch/localization.launch.xml +++ b/localization_launch/launch/localization.launch.xml @@ -1,6 +1,6 @@ - + diff --git a/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py index b8781ebac..520892e3d 100644 --- a/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py +++ b/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py @@ -48,8 +48,11 @@ def __init__(self, context): self.use_time_series_filter = self.ground_segmentation_param["use_time_series_filter"] def get_vehicle_info(self): - # TODO: need to rename key from "ros_params" to "global_params" after Humble + # TODO(TIER IV): Use Parameter Substitution after we drop Galactic support + # https://github.com/ros2/launch_ros/blob/master/launch_ros/launch_ros/substitutions/parameter.py gp = self.context.launch_configurations.get("ros_params", {}) + if not gp: + gp = dict(self.context.launch_configurations.get("global_params", {})) p = {} p["vehicle_length"] = gp["front_overhang"] + gp["wheel_base"] + gp["rear_overhang"] p["vehicle_width"] = gp["wheel_tread"] + gp["left_overhang"] + gp["right_overhang"] diff --git a/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml index 462a89542..64252eaf7 100644 --- a/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml +++ b/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml @@ -38,7 +38,7 @@ - + diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml new file mode 100644 index 000000000..1332e422c --- /dev/null +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -0,0 +1,18 @@ +/**: + ros__parameters: + launch_stop_line: true + launch_crosswalk: true + launch_traffic_light: true + launch_intersection: true + launch_blind_spot: true + launch_detection_area: true + launch_virtual_traffic_light: true + launch_occlusion_spot: true + launch_no_stopping_area: true + launch_run_out: false + forward_path_length: 1000.0 + backward_path_length: 5.0 + max_accel: -2.8 + max_jerk: -5.0 + system_delay: 0.5 + delay_response_time: 1.3 diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml new file mode 100644 index 000000000..8818ed019 --- /dev/null +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -0,0 +1,45 @@ +/**: + ros__parameters: + run_out: + detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points + use_partition_lanelet: true # [-] whether to use partition lanelet map data + specify_decel_jerk: false # [-] 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 + deceleration_jerk: -0.3 # [m/s^3] ego decelerates with this jerk when stopping for obstacles + obstacle_velocity_kph: 5.0 # [km/h] assumption for obstacle velocity + 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 + + # rectangle detection area for Points method + # this will be replaced with more appropriate detection area + detection_area_size: + dist_ahead: 50.0 # [m] ahead distance from ego position + dist_behind: 5.0 # [m] behind distance from ego position + dist_right: 7.0 # [m] right distance from ego position + dist_left: 7.0 # [m] left distance from ego position + + # parameter to create abstracted dynamic obstacles + dynamic_obstacle: + min_vel_kmph: 0.0 # [km/h] minimum velocity for dynamic obstacles + max_vel_kmph: 5.0 # [km/h] maximum velocity for dynamic obstacles + 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 + time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path + + # approach if ego has stopped in the front of the obstacle for a certain amount of time + approaching: + enable: false + margin: 0.0 # [m] distance on how close ego approaches the obstacle + limit_vel_kmph: 3.0 # [km/h] limit velocity for approaching after stopping + stop_thresh: 0.01 # [m/s] threshold to decide if ego is stopping + stop_time_thresh: 3.0 # [sec] threshold for stopping time to transit to approaching state + dist_thresh: 0.5 # [m] end the approaching state if distance to the obstacle is longer than stop_margin + dist_thresh + + # parameter to avoid sudden stopping + slow_down_limit: + enable: true + max_jerk: -0.7 # [m/s^3] minimum jerk deceleration for safe brake. + max_acc : -2.0 # [m/s^2] minimum accel deceleration for safe brake. diff --git a/planning_launch/launch/planning.launch.xml b/planning_launch/launch/planning.launch.xml index 640b3a234..f6a7abec7 100644 --- a/planning_launch/launch/planning.launch.xml +++ b/planning_launch/launch/planning.launch.xml @@ -1,5 +1,10 @@ + + + + + @@ -13,6 +18,8 @@ + + diff --git a/planning_launch/launch/scenario_planning/lane_driving.launch.xml b/planning_launch/launch/scenario_planning/lane_driving.launch.xml index e5d4d4c6b..ad3e35149 100644 --- a/planning_launch/launch/scenario_planning/lane_driving.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving.launch.xml @@ -2,6 +2,10 @@ + + + + @@ -10,6 +14,8 @@ + + diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 8e2fe2629..931396032 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -18,10 +18,13 @@ import launch from launch.actions import DeclareLaunchArgument from launch.actions import ExecuteProcess +from launch.actions import IncludeLaunchDescription from launch.actions import SetLaunchConfiguration from launch.conditions import IfCondition from launch.conditions import UnlessCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration +from launch.substitutions import PythonExpression from launch_ros.actions import ComposableNodeContainer from launch_ros.descriptions import ComposableNode from launch_ros.substitutions import FindPackageShare @@ -190,7 +193,7 @@ def generate_launch_description(): with open(common_param_path, "r") as f: common_param = yaml.safe_load(f)["/**"]["ros__parameters"] - base_param_path = os.path.join( + motion_velocity_smoother_param_path = os.path.join( get_package_share_directory("planning_launch"), "config", "scenario_planning", @@ -198,10 +201,10 @@ def generate_launch_description(): "motion_velocity_smoother", "motion_velocity_smoother.param.yaml", ) - with open(base_param_path, "r") as f: - base_param = yaml.safe_load(f)["/**"]["ros__parameters"] + with open(motion_velocity_smoother_param_path, "r") as f: + motion_velocity_smoother_param = yaml.safe_load(f)["/**"]["ros__parameters"] - smoother_param_path = os.path.join( + smoother_type_param_path = os.path.join( get_package_share_directory("planning_launch"), "config", "scenario_planning", @@ -209,8 +212,8 @@ def generate_launch_description(): "motion_velocity_smoother", "Analytical.param.yaml", ) - with open(smoother_param_path, "r") as f: - smoother_param = yaml.safe_load(f)["/**"]["ros__parameters"] + with open(smoother_type_param_path, "r") as f: + smoother_type_param = yaml.safe_load(f)["/**"]["ros__parameters"] # behavior velocity planner blind_spot_param_path = os.path.join( @@ -321,6 +324,30 @@ def generate_launch_description(): with open(no_stopping_area_param_path, "r") as f: no_stopping_area_param = yaml.safe_load(f)["/**"]["ros__parameters"] + run_out_param_path = os.path.join( + get_package_share_directory("planning_launch"), + "config", + "scenario_planning", + "lane_driving", + "behavior_planning", + "behavior_velocity_planner", + "run_out.param.yaml", + ) + with open(run_out_param_path, "r") as f: + run_out_param = yaml.safe_load(f)["/**"]["ros__parameters"] + + behavior_velocity_planner_param_path = os.path.join( + get_package_share_directory("planning_launch"), + "config", + "scenario_planning", + "lane_driving", + "behavior_planning", + "behavior_velocity_planner", + "behavior_velocity_planner.param.yaml", + ) + with open(behavior_velocity_planner_param_path, "r") as f: + behavior_velocity_planner_param = yaml.safe_load(f)["/**"]["ros__parameters"] + behavior_velocity_planner_component = ComposableNode( package="behavior_velocity_planner", plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode", @@ -335,6 +362,10 @@ def generate_launch_description(): "~/input/no_ground_pointcloud", "/perception/obstacle_segmentation/pointcloud", ), + ( + "~/input/compare_map_filtered_pointcloud", + "compare_map_filtered/pointcloud", + ), ( "~/input/traffic_signals", "/perception/traffic_light_recognition/traffic_signals", @@ -361,24 +392,10 @@ def generate_launch_description(): ("~/output/traffic_signal", "debug/traffic_signal"), ], parameters=[ - { - "launch_stop_line": True, - "launch_crosswalk": True, - "launch_traffic_light": True, - "launch_intersection": True, - "launch_blind_spot": True, - "launch_detection_area": True, - "launch_virtual_traffic_light": True, - "launch_occlusion_spot": True, - "launch_no_stopping_area": True, - "forward_path_length": 1000.0, - "backward_path_length": 5.0, - "max_accel": -2.8, - "delay_response_time": 1.3, - }, + behavior_velocity_planner_param, common_param, - base_param, - smoother_param, + motion_velocity_smoother_param, + smoother_type_param, blind_spot_param, crosswalk_param, detection_area_param, @@ -388,6 +405,7 @@ def generate_launch_description(): virtual_traffic_light_param, occlusion_spot_param, no_stopping_area_param, + run_out_param, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) @@ -415,6 +433,35 @@ def generate_launch_description(): condition=IfCondition(LaunchConfiguration("use_multithread")), ) + # load compare map for run out module + load_compare_map = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + FindPackageShare("planning_launch"), + "/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py", + ] + ), + launch_arguments={ + "use_pointcloud_container": LaunchConfiguration("use_pointcloud_container"), + "container_name": LaunchConfiguration("container_name"), + "use_multithread": "true", + }.items(), + # launch compare map only when run_out module is enabled and detection method is Points + condition=IfCondition( + PythonExpression( + [ + LaunchConfiguration( + "launch_run_out", default=behavior_velocity_planner_param["launch_run_out"] + ), + " and ", + "'", + run_out_param["run_out"]["detection_method"], + "' == 'Points'", + ] + ) + ), + ) + return launch.LaunchDescription( [ DeclareLaunchArgument( @@ -426,6 +473,7 @@ def generate_launch_description(): set_container_executable, set_container_mt_executable, container, + load_compare_map, ExecuteProcess( cmd=[ "ros2", diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py new file mode 100644 index 000000000..fe3e347fd --- /dev/null +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py @@ -0,0 +1,89 @@ +# Copyright 2022 TIER IV, Inc. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes +from launch_ros.descriptions import ComposableNode + + +def generate_launch_description(): + def add_launch_arg(name: str, default_value=None): + return DeclareLaunchArgument(name, default_value=default_value) + + set_container_executable = SetLaunchConfiguration( + "container_executable", + "component_container", + condition=UnlessCondition(LaunchConfiguration("use_multithread")), + ) + + set_container_mt_executable = SetLaunchConfiguration( + "container_executable", + "component_container_mt", + condition=IfCondition(LaunchConfiguration("use_multithread")), + ) + + composable_nodes = [ + ComposableNode( + package="compare_map_segmentation", + plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent", + name="voxel_distance_based_compare_map_filter_node", + remappings=[ + ("input", "/perception/obstacle_segmentation/pointcloud"), + ("map", "/map/pointcloud_map"), + ("output", "compare_map_filtered/pointcloud"), + ], + parameters=[ + { + "distance_threshold": 0.7, + } + ], + extra_arguments=[ + {"use_intra_process_comms": False} # this node has QoS of transient local + ], + ), + ] + + compare_map_container = ComposableNodeContainer( + name=LaunchConfiguration("container_name"), + namespace="", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + composable_node_descriptions=composable_nodes, + condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")), + output="screen", + ) + + load_composable_nodes = LoadComposableNodes( + composable_node_descriptions=composable_nodes, + target_container=LaunchConfiguration("container_name"), + condition=IfCondition(LaunchConfiguration("use_pointcloud_container")), + ) + + return LaunchDescription( + [ + add_launch_arg("use_multithread", "true"), + add_launch_arg("use_pointcloud_container", "true"), + add_launch_arg("container_name", "compare_map_container"), + set_container_executable, + set_container_mt_executable, + compare_map_container, + load_composable_nodes, + ] + ) diff --git a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml index 5304034d2..538607f04 100644 --- a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml @@ -2,6 +2,10 @@ + + + + @@ -39,6 +43,8 @@ + + From 06f3739b1852678158062a4d4663967e7dde25f9 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Sun, 5 Jun 2022 00:28:32 +0900 Subject: [PATCH 04/23] fix(mission_planner): disable lane_start_bound in Rviz (#341) Signed-off-by: h-ohta --- autoware_launch/rviz/autoware.rviz | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index e36a04c7f..33c099958 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -888,6 +888,7 @@ Visualization Manager: Name: RouteArea Namespaces: goal_lanelets: true + lane_start_bound: false left_lane_bound: false right_lane_bound: false route_lanelets: true From 8b1c8715d9c93e8818e6275c5385918aa07dfa17 Mon Sep 17 00:00:00 2001 From: k-obitsu <56008637+k-obitsu@users.noreply.github.com> Date: Fri, 10 Jun 2022 08:27:04 +0900 Subject: [PATCH 05/23] fix(stop_line): add ros_parameter (#347) * fix(stop_line): add ros_parameter Signed-off-by: k-obitsu --- .../behavior_velocity_planner/stop_line.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml index 6d723c510..936bfc76c 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml @@ -4,5 +4,6 @@ stop_margin: 0.0 stop_check_dist: 2.0 stop_duration_sec: 1.0 + use_initialization_stop_line_state: true debug: show_stopline_collision_check: false # [-] whether to show stopline collision From a5578cb0bb00e4d67c22ff62df9c29b3c6582513 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 12 Jul 2022 12:26:26 +0900 Subject: [PATCH 06/23] feat(system_launch): add group tag around include (#361) Signed-off-by: h-ohta --- system_launch/launch/system.launch.xml | 38 +++++++++++++++----------- 1 file changed, 22 insertions(+), 16 deletions(-) diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml index 88aaca852..6fff87519 100644 --- a/system_launch/launch/system.launch.xml +++ b/system_launch/launch/system.launch.xml @@ -23,26 +23,32 @@ - - - - - + + + + + + + - - - - - - - - + + + + + + + + + + - - - + + + + + From 0eb6ab35276eca82b79bb062bad197870708d3bd Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 23 Aug 2022 12:59:53 +0900 Subject: [PATCH 07/23] chore(system_error_monitor): stop syncing parameter for planning_simulator (#446) chore(system_error_monitor): stop to sync parameter for planning_simulator --- .github/sync-param-files.yaml | 4 +- ...ror_monitor.planning_simulation.param.yaml | 50 ------------------- 2 files changed, 2 insertions(+), 52 deletions(-) delete mode 100644 system_launch/config/system_error_monitor.planning_simulation.param.yaml diff --git a/.github/sync-param-files.yaml b/.github/sync-param-files.yaml index ffa78c169..876c31cf0 100644 --- a/.github/sync-param-files.yaml +++ b/.github/sync-param-files.yaml @@ -10,8 +10,8 @@ ## system_error_monitor - source: system/system_error_monitor/config/system_error_monitor.param.yaml dest: system_launch/config/system_error_monitor.param.yaml - - source: system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml - dest: system_launch/config/system_error_monitor.planning_simulation.param.yaml + # - source: system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml + # dest: system_launch/config/system_error_monitor.planning_simulation.param.yaml ## system_monitor - source: system/system_monitor/config/cpu_monitor.param.yaml diff --git a/system_launch/config/system_error_monitor.planning_simulation.param.yaml b/system_launch/config/system_error_monitor.planning_simulation.param.yaml deleted file mode 100644 index ce081b75b..000000000 --- a/system_launch/config/system_error_monitor.planning_simulation.param.yaml +++ /dev/null @@ -1,50 +0,0 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. -# -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- -/**: - ros__parameters: - required_modules: - autonomous_driving: - /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default - /autoware/control/control_command_gate/node_alive_monitoring: default - - /autoware/localization/node_alive_monitoring: default - # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/localization/performance_monitoring/localization_accuracy: default - - /autoware/map/node_alive_monitoring: default - - /autoware/perception/node_alive_monitoring: default - - /autoware/planning/node_alive_monitoring: default - /autoware/planning/performance_monitoring/trajectory_validation: default - - /autoware/sensing/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default - - external_control: - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - - /autoware/vehicle/node_alive_monitoring: default From cf775a64fd6a587ae2d5e0508acb6214f8d663ec Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Mon, 12 Sep 2022 15:52:17 +0900 Subject: [PATCH 08/23] ci: add backport.yaml to sync-files.yaml (#477) --- .github/sync-files.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index dd291a823..2c91ce531 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -1,6 +1,7 @@ - repository: autowarefoundation/autoware files: - source: .github/dependabot.yaml + - source: .github/workflows/backport.yaml - source: .github/workflows/github-release.yaml - source: .github/workflows/pre-commit.yaml - source: .github/workflows/pre-commit-optional.yaml From 9917a1b8c59e2fd8df14352536881753fa950529 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Fri, 16 Sep 2022 13:18:59 +0900 Subject: [PATCH 09/23] docs(README): add description to archive this repository --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index b22428a81..70b575700 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,5 @@ # autoware_launcher +This repository is an archived repository. Please check here for the details. ## Getting started From d2faafd1199d0f0be43242c37f98732cb6fecc75 Mon Sep 17 00:00:00 2001 From: mitsudome-r Date: Fri, 16 Sep 2022 13:22:33 +0900 Subject: [PATCH 10/23] Revert "docs(README): add description to archive this repository" This reverts commit a529247357559e951b349d24ac29ddf74218228d. --- README.md | 1 - 1 file changed, 1 deletion(-) diff --git a/README.md b/README.md index 70b575700..b22428a81 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,4 @@ # autoware_launcher -This repository is an archived repository. Please check here for the details. ## Getting started From 913abba0d234b90a88956f2a638a2a1e2dca8de4 Mon Sep 17 00:00:00 2001 From: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> Date: Fri, 16 Sep 2022 15:14:09 +0900 Subject: [PATCH 11/23] feat: sync launch for init pose (#486) * add rviz helper for ad api Signed-off-by: khtan * sync for init pose Signed-off-by: khtan * add missing sync Signed-off-by: khtan * add rviz adaptor Signed-off-by: Takagi, Isamu * fix launch_dummy_localization Signed-off-by: Takagi, Isamu * add dependency Signed-off-by: Takagi, Isamu * add dependency Signed-off-by: Takagi, Isamu * ci(pre-commit): autofix Signed-off-by: khtan Signed-off-by: Takagi, Isamu Co-authored-by: Takagi, Isamu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- autoware_api_launch/launch/autoware_api.launch.xml | 6 ++++++ .../launch/include/internal_api_adaptor.launch.py | 6 ------ .../launch/include/internal_api_relay.launch.xml | 6 ------ autoware_api_launch/package.xml | 1 + autoware_launch/launch/autoware.launch.xml | 6 ++---- autoware_launch/launch/logging_simulator.launch.xml | 6 ++---- autoware_launch/launch/planning_simulator.launch.xml | 9 +++++---- autoware_launch/package.xml | 1 + localization_launch/launch/util/util.launch.xml | 7 ++++++- localization_launch/package.xml | 1 + simulator_launch/launch/simulator.launch.xml | 10 ++++++++++ ...ervice_state_monitor.planning_simulation.param.yaml | 4 ++-- 12 files changed, 36 insertions(+), 27 deletions(-) diff --git a/autoware_api_launch/launch/autoware_api.launch.xml b/autoware_api_launch/launch/autoware_api.launch.xml index c3562857f..45c1f62d1 100644 --- a/autoware_api_launch/launch/autoware_api.launch.xml +++ b/autoware_api_launch/launch/autoware_api.launch.xml @@ -1,6 +1,12 @@ + + + + + + diff --git a/autoware_api_launch/launch/include/internal_api_adaptor.launch.py b/autoware_api_launch/launch/include/internal_api_adaptor.launch.py index 4b8513f54..422c35abe 100644 --- a/autoware_api_launch/launch/include/internal_api_adaptor.launch.py +++ b/autoware_api_launch/launch/include/internal_api_adaptor.launch.py @@ -13,7 +13,6 @@ # limitations under the License. import launch -from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer from launch_ros.descriptions import ComposableNode @@ -29,12 +28,7 @@ def _create_api_node(node_name, class_name, **kwargs): def generate_launch_description(): - param_initial_pose = { - "init_simulator_pose": LaunchConfiguration("init_simulator_pose"), - "init_localization_pose": LaunchConfiguration("init_localization_pose"), - } components = [ - _create_api_node("initial_pose", "InitialPose", parameters=[param_initial_pose]), _create_api_node("iv_msgs", "IVMsgs"), _create_api_node("operator", "Operator"), _create_api_node("route", "Route"), diff --git a/autoware_api_launch/launch/include/internal_api_relay.launch.xml b/autoware_api_launch/launch/include/internal_api_relay.launch.xml index 810e6a566..e850fb3dc 100644 --- a/autoware_api_launch/launch/include/internal_api_relay.launch.xml +++ b/autoware_api_launch/launch/include/internal_api_relay.launch.xml @@ -16,11 +16,5 @@ - - - - - - diff --git a/autoware_api_launch/package.xml b/autoware_api_launch/package.xml index 577788065..71a37f44f 100644 --- a/autoware_api_launch/package.xml +++ b/autoware_api_launch/package.xml @@ -12,6 +12,7 @@ autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter + default_ad_api path_distance_calculator topic_tools diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index d4975c646..5f2af3643 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -95,10 +95,7 @@ - - - - + @@ -112,6 +109,7 @@ args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" /> + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index c143f2c51..3a360d460 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -111,10 +111,7 @@ - - - - + @@ -128,6 +125,7 @@ args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" /> + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index e9cb8c5f1..b7fb373d5 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -68,10 +68,7 @@ - - - - + @@ -85,6 +82,7 @@ args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" /> + @@ -96,10 +94,13 @@ + + + diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index fa7f7aad1..037f453fa 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -9,6 +9,7 @@ ament_cmake_auto + ad_api_adaptors autoware_api_launch control_launch global_parameter_loader diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml index 4b80a343d..783eee8ad 100644 --- a/localization_launch/launch/util/util.launch.xml +++ b/localization_launch/launch/util/util.launch.xml @@ -7,7 +7,12 @@ - + + + + + + diff --git a/localization_launch/package.xml b/localization_launch/package.xml index a6dbe359c..c61aaeed7 100644 --- a/localization_launch/package.xml +++ b/localization_launch/package.xml @@ -11,6 +11,7 @@ ament_cmake_auto + automatic_pose_initializer ekf_localizer gyro_odometer ndt_scan_matcher diff --git a/simulator_launch/launch/simulator.launch.xml b/simulator_launch/launch/simulator.launch.xml index 5ebe48cd9..08d27a73b 100644 --- a/simulator_launch/launch/simulator.launch.xml +++ b/simulator_launch/launch/simulator.launch.xml @@ -1,6 +1,7 @@ + @@ -74,6 +75,15 @@ + + + + + + + + + diff --git a/system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml b/system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml index b20ffec09..51fbe99dd 100644 --- a/system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml +++ b/system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml @@ -24,7 +24,7 @@ names: [ "/map/vector_map", "/perception/object_recognition/objects", - "/initialpose2d", + "/initialpose3d", "/planning/mission_planning/route", "/planning/scenario_planning/trajectory", "/control/trajectory_follower/control_cmd", @@ -48,7 +48,7 @@ warn_rate: 5.0 type: "autoware_auto_perception_msgs/msg/PredictedObjects" - /initialpose2d: + /initialpose3d: module: "localization" timeout: 0.0 warn_rate: 0.0 From 7c8bba4672ededd5975ee20389fe6c6d39cb0036 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Sat, 17 Sep 2022 15:23:58 +0900 Subject: [PATCH 12/23] refactor: rename acc topic (#398) * refactor: rename acc topic Signed-off-by: Takamasa Horibe * remove lpf_gain param Signed-off-by: Takamasa Horibe Signed-off-by: Takamasa Horibe --- control_launch/launch/control.launch.py | 1 + .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 -- .../lane_driving/motion_planning/motion_planning.launch.py | 2 ++ 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 2681df4db..361ff8c69 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -69,6 +69,7 @@ def launch_setup(context, *args, **kwargs): ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"), ("~/input/current_odometry", "/localization/kinematic_state"), ("~/input/current_steering", "/vehicle/status/steering_status"), + ("~/input/current_accel", "/localization/acceleration"), ("~/output/predicted_trajectory", "lateral/predicted_trajectory"), ("~/output/lateral_diagnostic", "lateral/diagnostic"), ("~/output/slope_angle", "longitudinal/slope_angle"), diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 91779111d..ebb190f8e 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -11,8 +11,6 @@ min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] safe_distance_margin : 6.0 # This is also used as a stop margin [m] - lpf_gain_for_accel: 0.2 # gain of low pass filter for ego acceleration [-] - nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index min_behavior_stop_margin: 3.0 # [m] diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index fc1859eb7..db68a478c 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -140,6 +140,7 @@ def generate_launch_description(): remappings=[ ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"), ("~/input/odometry", "/localization/kinematic_state"), + ("~/input/acceleration", "/localization/acceleration"), ("~/input/objects", "/perception/object_recognition/objects"), ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"), ("~/output/velocity_limit", "/planning/scenario_planning/max_velocity_candidates"), @@ -191,6 +192,7 @@ def generate_launch_description(): "/planning/scenario_planning/clear_velocity_limit", ), ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"), + ("~/input/acceleration", "/localization/acceleration"), ( "~/input/pointcloud", "/perception/obstacle_segmentation/pointcloud", From 5915d175fe8e9ed24326382925c6e3d4a81d81ae Mon Sep 17 00:00:00 2001 From: Azumi Suzuki <38061530+s-azumi@users.noreply.github.com> Date: Thu, 6 Oct 2022 09:46:04 +0900 Subject: [PATCH 13/23] fix: modified to reflect the argument "initial_selector_mode" in control launch (#496) --- control_launch/launch/control.launch.py | 2 +- control_launch/launch/control.launch.xml | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 361ff8c69..13e5a7dd5 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -206,7 +206,7 @@ def launch_setup(context, *args, **kwargs): launch_arguments=[ ("use_intra_process", LaunchConfiguration("use_intra_process")), ("target_container", "/control/control_container"), - ("initial_selector_mode", "remote"), + ("initial_selector_mode", LaunchConfiguration("initial_selector_mode")), ], ) diff --git a/control_launch/launch/control.launch.xml b/control_launch/launch/control.launch.xml index 54ceac826..a833d24a9 100644 --- a/control_launch/launch/control.launch.xml +++ b/control_launch/launch/control.launch.xml @@ -7,6 +7,7 @@ + @@ -16,6 +17,7 @@ + From 828e49150c58a90ad272c2269b91273921237382 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 11 Oct 2022 12:24:07 +0900 Subject: [PATCH 14/23] feat(behavior_path_planner): pull_over lateral goal search (#507) Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../behavior_path_planner/pull_over/pull_over.param.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index 281d91f57..8e277959b 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml @@ -16,9 +16,12 @@ forward_goal_search_length: 20.0 backward_goal_search_length: 20.0 goal_search_interval: 2.0 - goal_to_obstacle_margin: 3.0 + longitudinal_margin: 3.0 + max_lateral_offset: 1.0 + lateral_offset_interval: 0.25 # occupancy grid map use_occupancy_grid: true + use_occupancy_grid_for_longitudinal_margin: false occupancy_grid_collision_check_margin: 0.0 theta_size: 360 obstacle_threshold: 60 From b9815a46484230d49b94633fdb43be8617c8a8b1 Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Thu, 13 Oct 2022 15:46:37 +0900 Subject: [PATCH 15/23] feat(control_launch): add longitudinal controller option (#514) * feat(control_launch): add longitudinal controller option Signed-off-by: tanaka3 * ci(pre-commit): autofix Signed-off-by: tanaka3 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- control_launch/launch/control.launch.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 13e5a7dd5..42258383c 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -262,6 +262,13 @@ def add_launch_arg(name: str, default_value=None, description=None): "lateral controller mode: `mpc_follower` or `pure_pursuit`", ) + # longitudinal controller mode + add_launch_arg( + "longitudinal_controller_mode", + "pid", + "longitudinal controller mode: `pid`", + ) + # parameter file path add_launch_arg( "nearest_search_param_path", From 74d18086ce260fa5bc1848dac0f486c66540d269 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri, 14 Oct 2022 09:27:44 +0900 Subject: [PATCH 16/23] feat(localization_launch): sync with awf/universe (add twist2accel, add group tag) (#515) --- .../pose_twist_fusion_filter.launch.xml | 58 +++++++++++-------- 1 file changed, 35 insertions(+), 23 deletions(-) diff --git a/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml index 9988df4ce..3c109769e 100644 --- a/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml +++ b/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml @@ -1,28 +1,40 @@ - - - - - + + + + + + + + + + + + + + + + + + + - - - - - - - - - + + + + + + + + - - - - - - - - - + + + + + + + + From 7bce29c5b23ce462d6e5afaab12f45a0c39206af Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri, 14 Oct 2022 22:56:23 +0900 Subject: [PATCH 17/23] fix(ground_segmentation): add param for grid scan_ground_filter (#509) * fix: add param for grid scan_ground_filter Signed-off-by: badai-nguyen * chore: unify parameters as universe launch Signed-off-by: badai-nguyen * fix search package name Signed-off-by: Shunsuke Miura Signed-off-by: badai-nguyen Signed-off-by: Shunsuke Miura Co-authored-by: Shunsuke Miura Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> --- .../ground_segmentation.param.yaml | 12 ++++++++++-- .../ground_segmentation.launch.py | 16 +++++++++------- 2 files changed, 19 insertions(+), 9 deletions(-) diff --git a/perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index 33addb108..bde1b024d 100644 --- a/perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -11,13 +11,21 @@ max_x: 100.0 min_y: -50.0 max_y: 50.0 + max_z: 10.7 # recommended 2.5 for non elevation_grid_mode + min_z: -8.7 # recommended 0.0 for non elevation_grid_mode negative: False common_ground_filter: plugin: "ground_segmentation::ScanGroundFilterComponent" parameters: global_slope_max_angle_deg: 10.0 - local_slope_max_angle_deg: 30.0 + local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode split_points_distance_tolerance: 0.2 + use_virtual_ground_point: True split_height_distance: 0.2 - use_virtual_ground_point: False + non_ground_height_threshold: 0.20 + grid_size_m: 0.1 + grid_mode_switch_radius: 20.0 + gnd_grid_buffer_size: 4 + detection_range_z_max: 2.5 + elevation_grid_mode: true diff --git a/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py index 520892e3d..f5961785c 100644 --- a/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py +++ b/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py @@ -85,8 +85,6 @@ def create_additional_pipeline(self, lidar_name): { "input_frame": LaunchConfiguration("base_frame"), "output_frame": LaunchConfiguration("base_frame"), - "min_z": self.vehicle_info["min_height_offset"], - "max_z": self.vehicle_info["max_height_offset"], }, self.ground_segmentation_param[f"{lidar_name}_crop_box_filter"]["parameters"], ], @@ -219,8 +217,6 @@ def create_common_pipeline(self, input_topic, output_topic): { "input_frame": LaunchConfiguration("base_frame"), "output_frame": LaunchConfiguration("base_frame"), - "min_z": self.vehicle_info["min_height_offset"], - "max_z": self.vehicle_info["max_height_offset"], }, self.ground_segmentation_param["common_crop_box_filter"]["parameters"], ], @@ -239,7 +235,12 @@ def create_common_pipeline(self, input_topic, output_topic): ("input", "range_cropped/pointcloud"), ("output", output_topic), ], - parameters=[self.ground_segmentation_param["common_ground_filter"]["parameters"]], + parameters=[ + self.ground_segmentation_param["common_ground_filter"]["parameters"], + self.vehicle_info, + {"input_frame": "base_link"}, + {"output_frame": "base_link"}, + ], extra_arguments=[ {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} ], @@ -268,7 +269,7 @@ def create_single_frame_obstacle_segmentation_components(self, input_topic, outp components.append( self.get_additional_lidars_concatenated_component( input_topics=[common_pipeline_output] - + [f"{x}/pointcloud" for x in additional_lidars], + + list(map(lambda x: f"{x}/pointcloud"), additional_lidars), output_topic=relay_topic if use_ransac else output_topic, ) ) @@ -476,6 +477,7 @@ def launch_setup(context, *args, **kwargs): output_topic=relay_topic if pipeline.use_time_series_filter else pipeline.output_topic, + context=context, ) ) if pipeline.use_time_series_filter: @@ -516,7 +518,7 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg("use_intra_process", "True") add_launch_arg("use_pointcloud_container", "False") add_launch_arg("container_name", "perception_pipeline_container") - add_launch_arg("input/pointcloud", "sensing/lidar/concatenated/pointcloud") + add_launch_arg("input/pointcloud", "/sensing/lidar/concatenated/pointcloud") set_container_executable = SetLaunchConfiguration( "container_executable", From 3b963427f3fb20c09e99ab5ffc52c75d7276872f Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Mon, 17 Oct 2022 16:50:34 +0900 Subject: [PATCH 18/23] fix: longitudinal_controller_mode arg (#516) * fix: longitudinal_controller_mode arg Signed-off-by: Shumpei Wakabayashi * feat: add longitudinal controller arg Signed-off-by: Shumpei Wakabayashi Signed-off-by: Shumpei Wakabayashi --- autoware_launch/launch/planning_simulator.launch.xml | 2 ++ control_launch/launch/control.launch.py | 1 + 2 files changed, 3 insertions(+) diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 6b099fa82..d6fb81567 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -63,6 +63,8 @@ + + diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 42258383c..facfa188f 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -80,6 +80,7 @@ def launch_setup(context, *args, **kwargs): { "ctrl_period": 0.03, "lateral_controller_mode": LaunchConfiguration("lateral_controller_mode"), + "longitudinal_controller_mode": LaunchConfiguration("longitudinal_controller_mode"), }, nearest_search_param, lon_controller_param, From 245dcd4be3843fb6cbd387d8f60558382043fa8c Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue, 18 Oct 2022 09:17:55 +0900 Subject: [PATCH 19/23] feat(planning_launch): add turn signal parameter (#517) Signed-off-by: yutaka Signed-off-by: yutaka --- .../behavior_path_planner.param.yaml | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 55b531e99..b9c50b15e 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -15,7 +15,13 @@ drivable_area_margin: 6.0 refine_goal_search_radius_range: 7.5 - intersection_search_distance: 30.0 + + # parameters for turn signal decider + turn_signal_intersection_search_distance: 30.0 + turn_signal_intersection_angle_threshold_deg: 15.0 + turn_signal_minimum_search_distance: 10.0 + turn_signal_search_time: 3.0 + turn_signal_shift_length_threshold: 0.3 path_interval: 2.0 From 54b9642db21f03ea19f8ddea5e69a7f9a6f5136f Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 18 Oct 2022 22:22:43 +0900 Subject: [PATCH 20/23] feat(freespace_planner): use vehicle_info (#521) Signed-off-by: Takamasa Horibe Signed-off-by: Takamasa Horibe --- .../parking/freespace_planner/freespace_planner.param.yaml | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml index d6152c4f5..d2226091b 100644 --- a/planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml +++ b/planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: # -- Node Configurations -- - planning_algorithm: "astar" + planning_algorithm: "astar" # options: astar, rrtstar waypoints_velocity: 5.0 update_rate: 10.0 th_arrived_distance_m: 1.0 @@ -15,10 +15,6 @@ # -- Configurations common to the all planners -- # base configs time_limit: 30000.0 - # robot configs # TODO replace by vehicle_info - robot_length: 4.5 - robot_width: 1.75 - robot_base2back: 1.0 minimum_turning_radius: 9.0 maximum_turning_radius: 9.0 turning_radius_size: 1 From d953e7c3899fa1d68b2fd57c3c64e364f30d7afd Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 25 Oct 2022 15:36:18 +0900 Subject: [PATCH 21/23] feat(motion_velocity_smoother): change max_lateral_accel from 0.8 to 1.0 (#512) Signed-off-by: Maxime CLEMENT --- .../motion_velocity_smoother.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 016d313e9..4a47cc89e 100644 --- a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/planning_launch/config/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 From c04cc17401eced009290588e294c5dbc71f7c247 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Mon, 7 Nov 2022 17:00:17 +0900 Subject: [PATCH 22/23] feat: delete integration_launch (#537) --- integration_launch/CMakeLists.txt | 16 -- integration_launch/README.md | 14 -- .../integration_launch.drawio.svg | 228 ------------------ .../launch/ci_planning_simulator.launch.xml | 31 --- integration_launch/launch/release.launch.xml | 19 -- integration_launch/package.xml | 30 --- 6 files changed, 338 deletions(-) delete mode 100644 integration_launch/CMakeLists.txt delete mode 100644 integration_launch/README.md delete mode 100644 integration_launch/integration_launch.drawio.svg delete mode 100644 integration_launch/launch/ci_planning_simulator.launch.xml delete mode 100644 integration_launch/launch/release.launch.xml delete mode 100644 integration_launch/package.xml diff --git a/integration_launch/CMakeLists.txt b/integration_launch/CMakeLists.txt deleted file mode 100644 index c3ddc04a7..000000000 --- a/integration_launch/CMakeLists.txt +++ /dev/null @@ -1,16 +0,0 @@ - -cmake_minimum_required(VERSION 3.5) -project(integration_launch) - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -ament_auto_package( - INSTALL_TO_SHARE - launch -) diff --git a/integration_launch/README.md b/integration_launch/README.md deleted file mode 100644 index 4a58b1b46..000000000 --- a/integration_launch/README.md +++ /dev/null @@ -1,14 +0,0 @@ -# integration_launch - -## Structure - -![integration_launch](./integration_launch.drawio.svg) - -## Package Dependencies - -- autoware_launch -- scenario_runner - -## Notes - -This package is only used for continuous integration. diff --git a/integration_launch/integration_launch.drawio.svg b/integration_launch/integration_launch.drawio.svg deleted file mode 100644 index f40a0b345..000000000 --- a/integration_launch/integration_launch.drawio.svg +++ /dev/null @@ -1,228 +0,0 @@ - - - - - - - -
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- - - autoware.launch.xml... - - - - - - - - - - - Viewer does not support full SVG 1.1 - - - - \ No newline at end of file diff --git a/integration_launch/launch/ci_planning_simulator.launch.xml b/integration_launch/launch/ci_planning_simulator.launch.xml deleted file mode 100644 index 04ea5f3b7..000000000 --- a/integration_launch/launch/ci_planning_simulator.launch.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/integration_launch/launch/release.launch.xml b/integration_launch/launch/release.launch.xml deleted file mode 100644 index 3a27a1fa2..000000000 --- a/integration_launch/launch/release.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/integration_launch/package.xml b/integration_launch/package.xml deleted file mode 100644 index 54d42a849..000000000 --- a/integration_launch/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - integration_launch - 0.1.0 - The integration_launch package - - Hiroyuki Obinata - Apache 2 - ament_cmake_auto - - control_launch - localization_launch - perception_launch - planning_launch - python3-bson - python3-tornado - rviz2 - system_launch - tier4_map_launch - tier4_sensing_launch - vehicle_launch - web_controller - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - From ca53ef8cb4165ff63704b6a926b74816f91694ab Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Fri, 11 Nov 2022 14:40:11 +0900 Subject: [PATCH 23/23] feat!: use tier4_vehicle_launch instead of vehicle_launch (#538) * feat: use tier4_vehicle_launch * feat: delete * fix package.xml --- autoware_launch/launch/autoware.launch.xml | 5 +- .../launch/logging_simulator.launch.xml | 3 +- .../launch/planning_simulator.launch.xml | 5 +- autoware_launch/package.xml | 2 +- vehicle_launch/CMakeLists.txt | 18 ----- vehicle_launch/README.md | 65 ------------------- vehicle_launch/launch/vehicle.launch.xml | 28 -------- .../launch/vehicle_description.launch.xml | 15 ----- vehicle_launch/package.xml | 25 ------- vehicle_launch/urdf/vehicle.xacro | 16 ----- vehicle_launch/vehicle_launch.drawio.svg | 4 -- 11 files changed, 11 insertions(+), 175 deletions(-) delete mode 100644 vehicle_launch/CMakeLists.txt delete mode 100644 vehicle_launch/README.md delete mode 100644 vehicle_launch/launch/vehicle.launch.xml delete mode 100644 vehicle_launch/launch/vehicle_description.launch.xml delete mode 100644 vehicle_launch/package.xml delete mode 100644 vehicle_launch/urdf/vehicle.xacro delete mode 100644 vehicle_launch/vehicle_launch.drawio.svg diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 5b14dd984..daee5d1f3 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -4,6 +4,8 @@ + + @@ -29,10 +31,11 @@ - + + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 1e06453a4..65c153c3d 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -44,11 +44,12 @@ - + + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index d6fb81567..f5291f3e5 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -4,6 +4,8 @@ + + @@ -30,10 +32,11 @@ - + + diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index 037f453fa..66defd073 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -23,7 +23,7 @@ system_launch tier4_map_launch tier4_sensing_launch - vehicle_launch + tier4_vehicle_launch web_controller ament_lint_auto diff --git a/vehicle_launch/CMakeLists.txt b/vehicle_launch/CMakeLists.txt deleted file mode 100644 index f7f9c2373..000000000 --- a/vehicle_launch/CMakeLists.txt +++ /dev/null @@ -1,18 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(vehicle_launch) - -add_compile_options(-std=c++14) - -find_package(ament_cmake_auto REQUIRED) - -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -ament_auto_package(INSTALL_TO_SHARE - launch - urdf -) diff --git a/vehicle_launch/README.md b/vehicle_launch/README.md deleted file mode 100644 index 837c12d02..000000000 --- a/vehicle_launch/README.md +++ /dev/null @@ -1,65 +0,0 @@ -# vehicle_launch - -## Structure - -![vehicle_launch](./vehicle_launch.drawio.svg) - -## Package Dependencies - -Please see `` in `package.xml`. - -## Usage - -You can include as follows in `*.launch.xml` to use `vehicle.launch.xml`. - -```xml - - - - - - - -``` - -## Notes - -This package finds some external packages and settings with variables and package names. - -ex.) - - - -```xml - -``` - - - -```xml - -``` - -## vehicle.xacro - -### Arguments - -| Name | Type | Description | Default | -| ------------- | ------ | ------------------ | ------- | -| sensor_model | String | sensor model name | "" | -| vehicle_model | String | vehicle model name | "" | - -### Usage - -You can write as follows in `*.launch.xml`. - -```xml - - - - - - - - -``` diff --git a/vehicle_launch/launch/vehicle.launch.xml b/vehicle_launch/launch/vehicle.launch.xml deleted file mode 100644 index 24a3a19d8..000000000 --- a/vehicle_launch/launch/vehicle.launch.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/vehicle_launch/launch/vehicle_description.launch.xml b/vehicle_launch/launch/vehicle_description.launch.xml deleted file mode 100644 index 5a2bd3538..000000000 --- a/vehicle_launch/launch/vehicle_description.launch.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/vehicle_launch/package.xml b/vehicle_launch/package.xml deleted file mode 100644 index c598670ac..000000000 --- a/vehicle_launch/package.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - vehicle_launch - 0.1.0 - The vehicle_launch package - - Yukihiro Saito - Apache License 2.0 - - ament_cmake_auto - - camera_description - imu_description - livox_description - robot_state_publisher - velodyne_description - xacro - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - diff --git a/vehicle_launch/urdf/vehicle.xacro b/vehicle_launch/urdf/vehicle.xacro deleted file mode 100644 index 30db9c6a7..000000000 --- a/vehicle_launch/urdf/vehicle.xacro +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/vehicle_launch/vehicle_launch.drawio.svg b/vehicle_launch/vehicle_launch.drawio.svg deleted file mode 100644 index 13acf1882..000000000 --- a/vehicle_launch/vehicle_launch.drawio.svg +++ /dev/null @@ -1,4 +0,0 @@ - - - -
vehicle.launch.xml

package: vehicle_launch
vehicle.launch.xml...
vehicle_description.launch.xml

package: vehicle_launch
vehicle_description.launch.xml...
vehicle_interface.launch.xml

package: $(var vehicle_model)_description
vehicle_interface.launch.xml...
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$(var simulation)
$(var simulation)
vehicle.xacro

package: vehicle_launch
  
vehicle.xacro...
vehicle.xacro

package: $(var vehicle_model)_description
vehicle.xacro...
sensors.xacro

package: $(var sensor_model)_description
sensors.xacro...
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package: package name
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robot state_publisher

package: robot_state_publisher
robot state_publisher...
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