diff --git a/autoware_launch/autoware_launch.drawio.svg b/autoware_launch/autoware_launch.drawio.svg index b0f7660b0..aa1735d15 100644 --- a/autoware_launch/autoware_launch.drawio.svg +++ b/autoware_launch/autoware_launch.drawio.svg @@ -1,4 +1,4 @@ -
autoware.launch.xml

package: autoware_launch
autoware.launch.xml...
launch name

package: package name
launch name...
ex:
ex:
node name

package: package name
node name...
vehicle_info_launch.py

package: vehicle_launch
vehicle_info_launch.py...
vehicle.launch.xml

package: vehicle_launch
vehicle.launch.xml...
system.launch.xml

package: system_launch
system.launch.xml...
map.launch.py

package: map_launch
map.launch.py...
localization.launch.xml

package: localization_launch
localization.launch.xml...
perception.launch.xml

package: perception_launch
perception.launch.xml...
planning.launch.xml

package: planning_launch
planning.launch.xml...
control.launch.py

package: control_launch
control.launch.py...
awapi_awiv_adapter.launch.xml

package: control_launch
awapi_awiv_adapter.launch.xml...
web_controller.launch.xml

package: control_launch
web_controller.launch.xml...
clock_publisher.launch.xml

package: control_launch
clock_publisher.launch.xml...
rviz2

package: rviz2
rviz2...
planning_simulator.xml

package: autoware_launch
planning_simulator.xml...
vehicle_info_launch.py

package: vehicle_launch
vehicle_info_launch.py...
vehicle.launch.xml

package: vehicle_launch
vehicle.launch.xml...
system.launch.xml

package: system_launch
system.launch.xml...
map.launch.py

package: map_launch
map.launch.py...
planning.launch.xml

package: planning_launch
planning.launch.xml...
control.launch.py

package: control_launch
control.launch.py...
awapi_awiv_adapter.launch.xml

package: control_launch
awapi_awiv_adapter.launch.xml...
web_controller.launch.xml

package: control_launch
web_controller.launch.xml...
clock_publisher.launch.xml

package: control_launch
clock_publisher.launch.xml...
rviz2

package: rviz2
rviz2...
logging_simulator.launch.xml

package: autoware_launch
logging_simulator.launch.xml...
vehicle_info_launch.py

package: vehicle_launch
vehicle_info_launch.py...
vehicle_description.launch.xml

package: vehicle_launch
vehicle_description.launch.xml...
system.launch.xml

package: system_launch
system.launch.xml...
map.launch.py

package: map_launch
map.launch.py...
perception.launch.xml

package: perception_launch
perception.launch.xml...
planning.launch.xml

package: planning_launch
planning.launch.xml...
control.launch.py

package: control_launch
control.launch.py...
web_controller.launch.xml

package: control_launch
web_controller.launch.xml...
rviz2

package: rviz2
rviz2...
$(var vehicle)
$(var vehicle)
True
True
$(var system)
$(var system)
True
True
$(var map)
$(var map)
True
True
sensing.launch.xml

package: sensing_launch
sensing.launch.xml...
sensing.launch.xml

package: sensing_launch
sensing.launch.xml...
$(var sensing)
$(var sensing)
True
True
localization.launch.xml

package: localization_launch
localization.launch.xml...
$(var localization)
$(var localization)
True
True
$(var perception)
$(var perception)
True
True
$(var planning)
$(var planning)
True
True
$(var control)
$(var control)
True
True
simulator.launch.xml

package: simulator_launch
simulator.launch.xml...
simulator.launch.xml

package: simulator_launch
simulator.launch.xml...Viewer does not support full SVG 1.1 +
autoware.launch.xml

package: autoware_launch
autoware.launch.xml...
launch name

package: package name
launch name...
ex:
ex:
node name

package: package name
node name...
vehicle_info_launch.py

package: tier4_vehicle_launch
vehicle_info_launch.py...
vehicle.launch.xml

package: tier4_vehicle_launch
vehicle.launch.xml...
system.launch.xml

package: tier4_system_launch
system.launch.xml...
map.launch.py

package: tier4_map_launch
map.launch.py...
localization.launch.xml

package: tier4_localization_launch
localization.launch.xml...
perception.launch.xml

package: tier4_perception_launch
perception.launch.xml...
planning.launch.xml

package: tier4_planning_launch
planning.launch.xml...
control.launch.py

package: tier4_control_launch
control.launch.py...
awapi_awiv_adapter.launch.xml

package: tier4_control_launch
awapi_awiv_adapter.launch.xml...
web_controller.launch.xml

package: tier4_control_launch
web_controller.launch.xml...
clock_publisher.launch.xml

package: tier4_control_launch
clock_publisher.launch.xml...
rviz2

package: rviz2
rviz2...
planning_simulator.xml

package: autoware_launch
planning_simulator.xml...
vehicle_info_launch.py

package: tier4_vehicle_launch
vehicle_info_launch.py...
vehicle.launch.xml

package: tier4_vehicle_launch
vehicle.launch.xml...
system.launch.xml

package: tier4_system_launch
system.launch.xml...
map.launch.py

package: tier4_map_launch
map.launch.py...
planning.launch.xml

package: tier4_planning_launch
planning.launch.xml...
control.launch.py

package: tier4_control_launch
control.launch.py...
awapi_awiv_adapter.launch.xml

package: tier4_control_launch
awapi_awiv_adapter.launch.xml...
web_controller.launch.xml

package: tier4_control_launch
web_controller.launch.xml...
clock_publisher.launch.xml

package: tier4_control_launch
clock_publisher.launch.xml...
rviz2

package: rviz2
rviz2...
logging_simulator.launch.xml

package: autoware_launch
logging_simulator.launch.xml...
vehicle_info_launch.py

package: tier4_vehicle_launch
vehicle_info_launch.py...
vehicle_description.launch.xml

package: tier4_vehicle_launch
vehicle_description.launch.xml...
system.launch.xml

package: tier4_system_launch
system.launch.xml...
map.launch.py

package: tier4_map_launch
map.launch.py...
perception.launch.xml

package: tier4_perception_launch
perception.launch.xml...
planning.launch.xml

package: tier4_planning_launch
planning.launch.xml...
control.launch.py

package: tier4_control_launch
control.launch.py...
web_controller.launch.xml

package: tier4_control_launch
web_controller.launch.xml...
rviz2

package: rviz2
rviz2...
$(var vehicle)
$(var vehicle)
True
True
$(var system)
$(var system)
True
True
$(var map)
$(var map)
True
True
sensing.launch.xml

package: tier4_sensing_launch
sensing.launch.xml...
sensing.launch.xml

package: tier4_sensing_launch
sensing.launch.xml...
$(var sensing)
$(var sensing)
True
True
localization.launch.xml

package: tier4_localization_launch
localization.launch.xml...
$(var localization)
$(var localization)
True
True
$(var perception)
$(var perception)
True
True
$(var planning)
$(var planning)
True
True
$(var control)
$(var control)
True
True
simulator.launch.xml

package: tier4_simulator_launch
simulator.launch.xml...
simulator.launch.xml

package: tier4_simulator_launch
simulator.launch.xml...Viewer does not support full SVG 1.1 \ No newline at end of file diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 105aeea3f..a8bd3f479 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -4,85 +4,112 @@ - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - + + + + + + - - - + + + - + - + + - + - + - + - + - + - + - + - + - + - + + - + @@ -91,10 +118,11 @@ - + - + + @@ -111,7 +139,7 @@ exec="rviz2" name="rviz2" output="screen" - args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" + args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" /> diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml new file mode 100644 index 000000000..317decda5 --- /dev/null +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -0,0 +1,65 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index d40700521..50d7425bf 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -1,6 +1,5 @@ - @@ -8,127 +7,58 @@ - - - - - - - - - - - - - + + + + + + + + + + - + - + + + + + + - - - - - - - - - - - - - - - - - - + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + - - - - - - - - - + + + + + + + + + + + - - - - - - - - - - - - diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index f3a6f7806..ea118ff8e 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -4,97 +4,54 @@ - - - + - - + + + + - - + - + - - - - - - - - + + - + + + + + + + + + + - + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -109,7 +66,6 @@ - diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index be44510de..d32fe7d3d 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -18,15 +18,10 @@ Panels: Splitter Ratio: 0.5 - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel Name: InitialPoseButtonPanel - - Class: rviz_common/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 + - Class: AutowareDateTimePanel + Name: AutowareDateTimePanel + - Class: rviz_plugins::AutowareStatePanel + Name: AutowareStatePanel Visualization Manager: Class: "" Displays: @@ -589,13 +584,13 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 10 - Size (m): 0.02 + Size (m): 0.5 Style: Squares Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last - Reliability Policy: Reliable + Reliability Policy: Best Effort Value: /localization/util/downsample/pointcloud Use Fixed Frame: true Use rainbow: true @@ -622,7 +617,7 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 10 - Size (m): 0.02 + Size (m): 0.5 Style: Squares Topic: Depth: 5 @@ -709,160 +704,163 @@ Visualization Manager: Name: Segmentation - 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 - Line Width: 0.03 - 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 - Line Width: 0.03 - 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: false - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: false - Display UUID: true - Display Velocity: true - Line Width: 0.03 - 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 - - Class: rviz_default_plugins/MarkerArray + - 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 + Line Width: 0.03 + 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: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.999 + Color: 255; 255; 255 + Value: true Enabled: false - Name: Maneuver - Namespaces: - maneuver: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/object_recognition/prediction/maneuver - Value: true + 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 + Line Width: 0.03 + 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: Best Effort + 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: false + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Line Width: 0.03 + 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: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.999 + Color: 255; 255; 255 + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Maneuver + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/prediction/maneuver + Value: true + Enabled: true + Name: Prediction Enabled: true - Name: Prediction + Name: ObjectRecognition - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/Image @@ -876,7 +874,7 @@ Visualization Manager: Depth: 5 Durability Policy: Volatile History Policy: Keep Last - Reliability Policy: Reliable + Reliability Policy: Best Effort Value: /perception/traffic_light_recognition/debug/rois Value: true - Class: rviz_default_plugins/MarkerArray @@ -887,11 +885,36 @@ Visualization Manager: Depth: 5 Durability Policy: Volatile History Policy: Keep Last - Reliability Policy: Reliable + Reliability Policy: Best Effort Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers Value: true Enabled: true Name: TrafficLight + - Class: rviz_common/Group + Displays: + - Alpha: 0.5 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map_updates + Use Timestamp: false + Value: true + Enabled: false + Name: OccupancyGrid Enabled: true Name: Perception - Class: rviz_common/Group @@ -1079,20 +1102,29 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: false - - Class: rviz_default_plugins/MarkerArray + - Class: rviz_plugins/Path + Color Border Vel Max: 3 Enabled: true - Name: Bound - Namespaces: - left_bound: true - right_bound: true + Name: PathChangeCandidate_PullOver Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound + Value: /planning/path_candidate/pull_over Value: true + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Value: true + Width: 2 + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray @@ -1583,18 +1615,61 @@ Visualization Manager: Value: true Enabled: true Name: ObstacleCruise - - Class: rviz_default_plugins/MarkerArray + - Class: rviz_common/Group + Displays: + - 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 + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Footprint + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 239; 41; 41 + Enabled: false + Name: FootprintOffset + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_offset + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 10; 21; 255 + Enabled: false + Name: FootprintRecoverOffset + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_recover_offset + Value: false 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 + Name: SurroundObstacleChecker - Class: rviz_default_plugins/MarkerArray Enabled: true Name: ObstacleAvoidance @@ -1699,6 +1774,21 @@ Visualization Manager: Value: true Enabled: true Name: ScenarioPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: PlanningErrorMarker + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /planning/planning_diagnostics/planning_error_monitor/debug/marker + Value: true + Enabled: false + Name: Diagnostic Enabled: true Name: Planning - Class: rviz_common/Group @@ -1746,7 +1836,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /control/trajectory_follower/pure_pursuit/debug/markers + Value: /control/trajectory_follower/controller_node_exe/debug/markers Value: false Enabled: true Name: Control @@ -1869,6 +1959,8 @@ Visualization Manager: X: 0 Y: 0 Window Geometry: + AutowareStatePanel: + collapsed: false Displays: collapsed: false Height: 1565 @@ -1876,7 +1968,9 @@ Window Geometry: Hide Right Dock: false Image: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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+ RecognitionResultOnImage: + collapsed: false Selection: collapsed: false Tool Properties: 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 8d56e1224..9a26840e3 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 @@ -7,11 +7,11 @@ common_crop_box_filter: parameters: - min_x: -50.0 - max_x: 100.0 - min_y: -50.0 - max_y: 50.0 - max_z: 2.5 # recommended 2.5 for non elevation_grid_mode + min_x: -100.0 + max_x: 150.0 + min_y: -70.0 + max_y: 70.0 + max_z: 2.5 min_z: -2.5 # recommended 0.0 for non elevation_grid_mode negative: False diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index eaf1dc548..7dc95ddec 100644 --- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -20,7 +20,7 @@ - + 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 a2b9255ef..7f90e07b4 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 diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml index 7a9a63f80..b092eb7fc 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml @@ -5,12 +5,11 @@ th_stopped_velocity: 0.01 th_stopped_time: 1.0 collision_check_margin: 1.0 - pull_out_finish_judge_buffer: 1.0 + collision_check_distance_from_end: 1.0 # shift pull out enable_shift_pull_out: true shift_pull_out_velocity: 2.0 pull_out_sampling_num: 4 - before_pull_out_straight_distance: 0.0 minimum_shift_pull_out_distance: 20.0 maximum_lateral_jerk: 2.0 minimum_lateral_jerk: 0.5 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 8e277959b..75b5facaa 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 @@ -35,7 +35,6 @@ minimum_lateral_jerk: 0.5 deceleration_interval: 15.0 after_pull_over_straight_distance: 5.0 - before_pull_over_straight_distance: 5.0 # parallel parking path enable_arc_forward_parking: true enable_arc_backward_parking: true