diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
index 3f7279a74..34a7d476e 100644
--- a/.github/sync-files.yaml
+++ b/.github/sync-files.yaml
@@ -1,16 +1,16 @@
- repository: autowarefoundation/autoware
files:
- source: .github/dependabot.yaml
- - source: .github/workflows/automatic-rebase.yaml
+ - source: .github/workflows/pre-commit.yaml
- source: .github/workflows/pre-commit-optional.yaml
- source: .github/workflows/semantic-pull-request.yaml
- - source: .github/workflows/spell-check.yaml
+ - source: .github/workflows/spell-check-differential.yaml
- source: .clang-format
- source: .markdown-link-check.json
- source: .markdownlint.yaml
- source: .pre-commit-config-optional.yaml
- source: .prettierignore
- - source: .prettierrc
+ - source: .prettierrc.yaml
- source: .yamllint.yaml
- source: CPPLINT.cfg
- source: setup.cfg
@@ -18,5 +18,5 @@
- repository: autowarefoundation/autoware_common
files:
- source: .github/workflows/build-and-test.yaml
- - source: .github/workflows/build-and-test-pr.yaml
- - source: .github/workflows/pre-commit.yaml
+ - source: .github/workflows/build-and-test-differential.yaml
+ - source: .github/workflows/sync-files.yaml
diff --git a/.github/sync-param-files.yaml b/.github/sync-param-files.yaml
new file mode 100644
index 000000000..ffa78c169
--- /dev/null
+++ b/.github/sync-param-files.yaml
@@ -0,0 +1,30 @@
+- repository: tier4/autoware.universe
+ files:
+ # system
+ ## ad_service_state_monitor
+ - source: system/ad_service_state_monitor/config/ad_service_state_monitor.param.yaml
+ dest: system_launch/config/ad_service_state_monitor.param.yaml
+ - source: system/ad_service_state_monitor/config/ad_service_state_monitor.planning_simulation.param.yaml
+ dest: system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml
+
+ ## 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
+
+ ## system_monitor
+ - source: system/system_monitor/config/cpu_monitor.param.yaml
+ dest: system_launch/config/system_monitor/cpu_monitor.param.yaml
+ - source: system/system_monitor/config/gpu_monitor.param.yaml
+ dest: system_launch/config/system_monitor/gpu_monitor.param.yaml
+ - source: system/system_monitor/config/hdd_monitor.param.yaml
+ dest: system_launch/config/system_monitor/hdd_monitor.param.yaml
+ - source: system/system_monitor/config/mem_monitor.param.yaml
+ dest: system_launch/config/system_monitor/mem_monitor.param.yaml
+ - source: system/system_monitor/config/net_monitor.param.yaml
+ dest: system_launch/config/system_monitor/net_monitor.param.yaml
+ - source: system/system_monitor/config/ntp_monitor.param.yaml
+ dest: system_launch/config/system_monitor/ntp_monitor.param.yaml
+ - source: system/system_monitor/config/process_monitor.param.yaml
+ dest: system_launch/config/system_monitor/process_monitor.param.yaml
diff --git a/.github/workflows/automatic-rebase.yaml b/.github/workflows/automatic-rebase.yaml
deleted file mode 100644
index 8f6dc2b30..000000000
--- a/.github/workflows/automatic-rebase.yaml
+++ /dev/null
@@ -1,29 +0,0 @@
-name: automatic-rebase
-
-on:
- issue_comment:
- types:
- - created
-
-jobs:
- automatic-rebase:
- if: ${{ github.event.issue.pull_request != '' && contains(github.event.comment.body, '/rebase') }}
- 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: Check out repository
- uses: actions/checkout@v2
- with:
- token: ${{ steps.generate-token.outputs.token }}
- fetch-depth: 0
-
- - name: Automatic rebase
- uses: cirrus-actions/rebase@1.5
- env:
- GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}
diff --git a/.github/workflows/build-and-test-pr.yaml b/.github/workflows/build-and-test-differential.yaml
similarity index 61%
rename from .github/workflows/build-and-test-pr.yaml
rename to .github/workflows/build-and-test-differential.yaml
index c9f5ed6ac..7e3d18688 100644
--- a/.github/workflows/build-and-test-pr.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -1,68 +1,75 @@
-name: build-and-test-pr
+name: build-and-test-differential
on:
pull_request:
jobs:
- build-and-test:
+ build-and-test-differential:
runs-on: ubuntu-latest
- container: ros:galactic
+ container: ghcr.io/autowarefoundation/autoware-universe:latest
steps:
- name: Cancel previous runs
uses: styfle/cancel-workflow-action@0.9.1
- name: Check out repository
- uses: actions/checkout@v2
+ uses: actions/checkout@v3
with:
fetch-depth: 0
- name: Remove exec_depend
- uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
-
- - name: Register AutonomouStuff repository
- uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
- with:
- rosdistro: galactic
+ uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
- name: Get modified packages
id: get-modified-packages
- uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
+ uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
- - name: Build and test
+ - name: Build
if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
- uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
+ uses: autowarefoundation/autoware-github-actions/colcon-build@v1
with:
rosdistro: galactic
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
build-depends-repos: build_depends.repos
- clang-tidy:
+ - name: Test
+ id: test
+ if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+ uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+ with:
+ rosdistro: galactic
+ target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+ build-depends-repos: build_depends.repos
+
+ - name: Upload coverage to CodeCov
+ if: ${{ steps.test.outputs.coverage-report-files != '' }}
+ uses: codecov/codecov-action@v2
+ with:
+ files: ${{ steps.test.outputs.coverage-report-files }}
+ fail_ci_if_error: false
+ verbose: true
+
+ clang-tidy-differential:
runs-on: ubuntu-latest
container: ros:galactic
- needs: build-and-test
+ needs: build-and-test-differential
steps:
- name: Check out repository
- uses: actions/checkout@v2
+ uses: actions/checkout@v3
with:
fetch-depth: 0
- name: Remove exec_depend
- uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
-
- - name: Register AutonomouStuff repository
- uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
- with:
- rosdistro: galactic
+ uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
- name: Get modified packages
id: get-modified-packages
- uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
+ uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
- name: Run clang-tidy
if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
- uses: autowarefoundation/autoware-github-actions/clang-tidy@tier4/proposal
+ uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
with:
rosdistro: galactic
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
- clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/tier4/proposal/.clang-tidy
+ clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
build-depends-repos: build_depends.repos
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index a51dc52a5..125d209ac 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -2,36 +2,47 @@ name: build-and-test
on:
push:
- branches:
- - main
- - tier4/proposal
schedule:
- - cron: 0 19 * * * # run at 4 AM JST
+ - cron: 0 0 * * *
workflow_dispatch:
jobs:
build-and-test:
+ if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
runs-on: ubuntu-latest
- container: ros:galactic
+ container: ghcr.io/autowarefoundation/autoware-universe:latest
steps:
- name: Check out repository
- uses: actions/checkout@v2
+ uses: actions/checkout@v3
- name: Remove exec_depend
- uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
-
- - name: Register AutonomouStuff repository
- uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
- with:
- rosdistro: galactic
+ uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
- name: Get self packages
id: get-self-packages
- uses: autowarefoundation/autoware-github-actions/get-self-packages@tier4/proposal
+ uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
+
+ - name: Build
+ if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+ uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+ with:
+ rosdistro: galactic
+ target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+ build-depends-repos: build_depends.repos
- - name: Build and test
- uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
+ - name: Test
+ if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+ id: test
+ uses: autowarefoundation/autoware-github-actions/colcon-test@v1
with:
rosdistro: galactic
target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
build-depends-repos: build_depends.repos
+
+ - name: Upload coverage to CodeCov
+ if: ${{ steps.test.outputs.coverage-report-files != '' }}
+ uses: codecov/codecov-action@v2
+ with:
+ files: ${{ steps.test.outputs.coverage-report-files }}
+ fail_ci_if_error: false
+ verbose: true
diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml
index 50b6778a2..93e05dc2c 100644
--- a/.github/workflows/pre-commit-optional.yaml
+++ b/.github/workflows/pre-commit-optional.yaml
@@ -8,9 +8,9 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Check out repository
- uses: actions/checkout@v2
+ uses: actions/checkout@v3
- name: Run pre-commit
- uses: autowarefoundation/autoware-github-actions/pre-commit@tier4/proposal
+ uses: autowarefoundation/autoware-github-actions/pre-commit@v1
with:
pre-commit-config: .pre-commit-config-optional.yaml
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
index 9eb501a19..e1b72f706 100644
--- a/.github/workflows/pre-commit.yaml
+++ b/.github/workflows/pre-commit.yaml
@@ -8,9 +8,9 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Check out repository
- uses: actions/checkout@v2
+ uses: actions/checkout@v3
- name: Run pre-commit
- uses: autowarefoundation/autoware-github-actions/pre-commit@tier4/proposal
+ uses: autowarefoundation/autoware-github-actions/pre-commit@v1
with:
pre-commit-config: .pre-commit-config.yaml
diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml
index 0edf19463..71224c224 100644
--- a/.github/workflows/semantic-pull-request.yaml
+++ b/.github/workflows/semantic-pull-request.yaml
@@ -9,4 +9,4 @@ on:
jobs:
semantic-pull-request:
- uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@tier4/proposal
+ uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@v1
diff --git a/.github/workflows/spell-check.yaml b/.github/workflows/spell-check-differential.yaml
similarity index 76%
rename from .github/workflows/spell-check.yaml
rename to .github/workflows/spell-check-differential.yaml
index 43a75891a..2ff85a1e7 100644
--- a/.github/workflows/spell-check.yaml
+++ b/.github/workflows/spell-check-differential.yaml
@@ -1,16 +1,16 @@
-name: spell-check
+name: spell-check-differential
on:
pull_request:
jobs:
- spell-check:
+ spell-check-differential:
runs-on: ubuntu-latest
steps:
- name: Check out repository
- uses: actions/checkout@v2
+ uses: actions/checkout@v3
- name: Run spell-check
- uses: autowarefoundation/autoware-github-actions/spell-check@tier4/proposal
+ uses: autowarefoundation/autoware-github-actions/spell-check@v1
with:
cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/cspell/.cspell.json
diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml
index 0c5b4b04f..32f4613f6 100644
--- a/.github/workflows/sync-files.yaml
+++ b/.github/workflows/sync-files.yaml
@@ -2,7 +2,7 @@ name: sync-files
on:
schedule:
- - cron: 0 19 * * * # run at 4 AM JST
+ - cron: 0 0 * * *
workflow_dispatch:
jobs:
@@ -17,6 +17,6 @@ jobs:
private_key: ${{ secrets.PRIVATE_KEY }}
- name: Run sync-files
- uses: autowarefoundation/autoware-github-actions/sync-files@tier4/proposal
+ uses: autowarefoundation/autoware-github-actions/sync-files@v1
with:
token: ${{ steps.generate-token.outputs.token }}
diff --git a/.github/workflows/sync-param-files.yaml b/.github/workflows/sync-param-files.yaml
new file mode 100644
index 000000000..c119083f9
--- /dev/null
+++ b/.github/workflows/sync-param-files.yaml
@@ -0,0 +1,26 @@
+name: sync-param-files
+
+on:
+ schedule:
+ - cron: 0 0 * * *
+ workflow_dispatch:
+
+jobs:
+ sync-param-files:
+ 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-files
+ uses: autowarefoundation/autoware-github-actions/sync-files@v1
+ with:
+ token: ${{ steps.generate-token.outputs.token }}
+ config: .github/sync-param-files.yaml
+ pr-branch: sync-param-files
+ pr-title: "chore: sync param files"
+ pr-commit-message: "chore: sync param files"
diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml
index 09d7f0629..68a0315fe 100644
--- a/.github/workflows/sync-upstream.yaml
+++ b/.github/workflows/sync-upstream.yaml
@@ -2,7 +2,7 @@ name: sync-upstream
on:
schedule:
- - cron: 0 19 * * * # run at 4 AM JST
+ - cron: 0 0 * * *
workflow_dispatch:
jobs:
@@ -17,7 +17,7 @@ jobs:
private_key: ${{ secrets.PRIVATE_KEY }}
- name: Run sync-branches
- uses: autowarefoundation/autoware-github-actions/sync-branches@tier4/proposal
+ uses: autowarefoundation/autoware-github-actions/sync-branches@v1
with:
token: ${{ steps.generate-token.outputs.token }}
base-branch: tier4/universe
diff --git a/.prettierrc.yaml b/.prettierrc.yaml
index ef9b1b85a..48b0552e3 100644
--- a/.prettierrc.yaml
+++ b/.prettierrc.yaml
@@ -1,2 +1,2 @@
-printWidth: 120
+printWidth: 100
tabWidth: 2
diff --git a/.yamllint.yaml b/.yamllint.yaml
index 1d4ee33ec..6228c70f0 100644
--- a/.yamllint.yaml
+++ b/.yamllint.yaml
@@ -5,6 +5,9 @@ ignore: |
*.param.yaml
rules:
+ braces:
+ level: error
+ max-spaces-inside: 1 # To format with Prettier
comments:
level: error
min-spaces-from-content: 1 # To be compatible with C++ and Python
diff --git a/CPPLINT.cfg b/CPPLINT.cfg
index 4dbbe0596..1e2521f0b 100644
--- a/CPPLINT.cfg
+++ b/CPPLINT.cfg
@@ -9,5 +9,5 @@ filter=-whitespace/braces # we wrap open curly braces for namespaces, cl
filter=-whitespace/indent # we don't indent keywords like public, protected and private with one space
filter=-whitespace/parens # we allow closing parenthesis to be on the next line
filter=-whitespace/semicolon # we allow the developer to decide about whitespace after a semicolon
-filter=-build/header_guard # TODO(Kenji Miyake): Support ROS-style rule in cpplint or add auto-fix script in pre-commit
+filter=-build/header_guard # we automatically fix the names of header guards using pre-commit
filter=-build/include_order # we use the custom include order
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 4acfb89a6..a7d2d8b40 100644
--- a/autoware_api_launch/launch/include/external_api_adaptor.launch.py
+++ b/autoware_api_launch/launch/include/external_api_adaptor.launch.py
@@ -29,6 +29,7 @@ def _create_api_node(node_name, class_name, **kwargs):
def generate_launch_description():
components = [
+ _create_api_node("cpu_usage", "CpuUsage"),
_create_api_node("diagnostics", "Diagnostics"),
_create_api_node("door", "Door"),
_create_api_node("emergency", "Emergency"),
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 71a7c54eb..e8d661bfc 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -4,10 +4,10 @@
-
-
+
+
@@ -44,7 +44,6 @@
-
@@ -58,7 +57,6 @@
-
@@ -71,6 +69,7 @@
+
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 90c2813f9..9704254fb 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -68,7 +68,6 @@
-
@@ -86,7 +85,6 @@
-
@@ -103,6 +101,7 @@
+
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index b0934c4ed..f39585db7 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -12,7 +12,8 @@
-
+
+
@@ -55,6 +56,7 @@
+
@@ -74,6 +76,7 @@
+
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index cc8882502..ddae7d9b0 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -355,7 +355,7 @@ Visualization Manager:
Min Intensity: 0
Name: PointCloudMap
Position Transformer: XYZ
- Selectable: true
+ Selectable: false
Size (Pixels): 1
Size (m): 0.02
Style: Points
@@ -424,7 +424,7 @@ Visualization Manager:
Min Intensity: 0
Name: ConcatenatePointCloud
Position Transformer: XYZ
- Selectable: true
+ Selectable: false
Size (Pixels): 1
Size (m): 0.02
Style: Points
@@ -599,7 +599,7 @@ Visualization Manager:
Min Intensity: 0
Name: Initial
Position Transformer: XYZ
- Selectable: true
+ Selectable: false
Size (Pixels): 10
Size (m): 0.02
Style: Squares
@@ -632,7 +632,7 @@ Visualization Manager:
Min Intensity: 0
Name: Aligned
Position Transformer: XYZ
- Selectable: true
+ Selectable: false
Size (Pixels): 10
Size (m): 0.02
Style: Squares
@@ -705,7 +705,7 @@ Visualization Manager:
Min Intensity: -5
Name: NoGroundPointCloud
Position Transformer: XYZ
- Selectable: true
+ Selectable: false
Size (Pixels): 3
Size (m): 0.02
Style: Points
@@ -722,178 +722,207 @@ 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
+ - 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
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
+ Name: Prediction
+ Enabled: true
+ Name: ObjectRecognition
- 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
+ - Class: rviz_default_plugins/Image
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
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: RecognitionResultOnImage
+ Normalize Range: true
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: /perception/traffic_light_recognition/debug/rois
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
+ - Class: rviz_default_plugins/MarkerArray
Enabled: true
- MOTORCYCLE:
- Alpha: 0.999
- Color: 119; 11; 32
- Name: PredictedObjects
+ Name: MapBasedDetectionResult
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: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers
Value: true
Enabled: true
- Name: Prediction
+ Name: TrafficLight
- Class: rviz_common/Group
Displays:
- - Class: rviz_default_plugins/Image
+ - Alpha: 0.5
+ Class: rviz_default_plugins/Map
+ Color Scheme: map
+ Draw Behind: false
Enabled: true
- Max Value: 1
- Median window: 5
- Min Value: 0
- Name: RecognitionResultOnImage
- Normalize Range: true
+ Name: Map
Topic:
Depth: 5
Durability Policy: Volatile
+ Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
- Value: /perception/traffic_light_recognition/debug/rois
- Value: true
- - Class: rviz_default_plugins/MarkerArray
- Enabled: true
- Name: MapBasedDetectionResult
- Namespaces:
- {}
- Topic:
+ Value: /perception/occupancy_grid_map/map
+ Update 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/occupancy_grid_map/map_updates
+ Use Timestamp: false
Value: true
- Enabled: true
- Name: TrafficLight
+ Enabled: false
+ Name: OccupancyGrid
Enabled: true
Name: Perception
- Class: rviz_common/Group
@@ -1046,6 +1075,20 @@ Visualization Manager:
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
@@ -1141,6 +1184,8 @@ Visualization Manager:
obstacle: false
sidewalk: false
slow factor_text: true
+ path_raw: false
+ path_interp: false
Topic:
Depth: 5
Durability Policy: Volatile
diff --git a/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml
index acccf2ccb..57df19af7 100644
--- a/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml
+++ b/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml
@@ -71,15 +71,3 @@
lpf_pitch_gain: 0.95
max_pitch_rad: 0.1
min_pitch_rad: -0.1
-
- # vehicle parameters
- vehicle:
- cg_to_front_m: 1.228
- cg_to_rear_m: 1.5618
- mass_kg: 2400.0
- mass_fl: 600.0
- mass_fr: 600.0
- mass_rl: 600.0
- mass_rr: 600.0
- cf: 155494.663
- cr: 155494.663
diff --git a/control_launch/config/trajectory_follower/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/mpc_follower.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/lateral_controller.param.yaml
rename to control_launch/config/trajectory_follower/mpc_follower.param.yaml
diff --git a/control_launch/config/pure_pursuit/pure_pursuit.param.yaml b/control_launch/config/trajectory_follower/pure_pursuit.param.yaml
similarity index 100%
rename from control_launch/config/pure_pursuit/pure_pursuit.param.yaml
rename to control_launch/config/trajectory_follower/pure_pursuit.param.yaml
diff --git a/control_launch/config/velocity_controller/velocity_controller.param.yaml b/control_launch/config/velocity_controller/velocity_controller.param.yaml
deleted file mode 100644
index f711f80c8..000000000
--- a/control_launch/config/velocity_controller/velocity_controller.param.yaml
+++ /dev/null
@@ -1,70 +0,0 @@
-/**:
- ros__parameters:
- # delay compensation
- delay_compensation_time: 0.50
-
- # slope compensation
- enable_slope_compensation: true
-
- # state transition
- drive_state_stop_dist: 0.3
- stopping_state_stop_dist: 0.5
- stopped_state_entry_vel: 0.01
- stopped_state_entry_acc: 0.1
- emergency_state_overshoot_stop_dist: 1.5
- emergency_state_traj_trans_dev: 3.0
- emergency_state_traj_rot_dev: 0.7854
-
- # drive state
- kp: 1.0
- ki: 0.1
- kd: 0.0
- max_out: 1.0
- min_out: -1.0
- max_p_effort: 1.0
- min_p_effort: -1.0
- max_i_effort: 0.3
- min_i_effort: -0.3
- max_d_effort: 0.0
- min_d_effort: 0.0
- lpf_vel_error_gain: 0.9
- current_vel_threshold_pid_integration: 0.5
- enable_brake_keeping_before_stop: false
- brake_keeping_acc: -0.2
-
- # smooth stop state
- smooth_stop_max_strong_acc: -0.5
- smooth_stop_min_strong_acc: -0.8
- smooth_stop_weak_acc: -0.3
- smooth_stop_weak_stop_acc: -0.8
- smooth_stop_strong_stop_acc: -3.4
- smooth_stop_min_fast_vel: 0.5
- smooth_stop_min_running_vel: 0.01
- smooth_stop_min_running_acc: 0.01
- smooth_stop_weak_stop_time: 0.8
- smooth_stop_weak_stop_dist: -0.3
- smooth_stop_strong_stop_dist: -0.5
-
- # stopped state
- stopped_vel: 0.0
- stopped_acc: -3.4
- stopped_jerk: -5.0
-
- # emergency state
- emergency_vel: 0.0
- emergency_acc: -5.0
- emergency_jerk: -3.0
-
- # acceleration limit
- max_acc: 3.0
- min_acc: -5.0
-
- # jerk limit
- max_jerk: 2.0
- min_jerk: -5.0
-
- # pitch
- use_trajectory_for_pitch_calculation: false
- lpf_pitch_gain: 0.95
- max_pitch_rad: 0.1
- min_pitch_rad: -0.1
diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
index bbfeec363..1dc67cbec 100644
--- a/control_launch/launch/control.launch.py
+++ b/control_launch/launch/control.launch.py
@@ -32,21 +32,9 @@
def launch_setup(context, *args, **kwargs):
- lateral_controller_mode = LaunchConfiguration("lateral_controller_mode").perform(context)
- if lateral_controller_mode == "mpc_follower":
- lat_controller_param_path = (
- FindPackageShare("control_launch").perform(context)
- + "/config/trajectory_follower/lateral_controller.param.yaml"
- )
- with open(lat_controller_param_path, "r") as f:
- lat_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"]
- elif lateral_controller_mode == "pure_pursuit":
- lat_controller_param_path = (
- FindPackageShare("control_launch").perform(context)
- + "/config/pure_pursuit/pure_pursuit.param.yaml"
- )
- with open(lat_controller_param_path, "r") as f:
- lat_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+ lat_controller_param_path = LaunchConfiguration("lat_controller_param_path").perform(context)
+ with open(lat_controller_param_path, "r") as f:
+ lat_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"]
lon_controller_param_path = LaunchConfiguration("lon_controller_param_path").perform(context)
with open(lon_controller_param_path, "r") as f:
lon_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"]
@@ -115,12 +103,6 @@ def launch_setup(context, *args, **kwargs):
],
parameters=[
lon_controller_param,
- {
- "control_rate": LaunchConfiguration("control_rate"),
- "show_debug_info": LaunchConfiguration("show_debug_info"),
- "enable_smooth_stop": LaunchConfiguration("enable_smooth_stop"),
- "enable_pub_debug": LaunchConfiguration("enable_pub_debug"),
- },
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
@@ -316,6 +298,14 @@ def add_launch_arg(name: str, default_value=None, description=None):
)
# parameter file path
+ add_launch_arg(
+ "lat_controller_param_path",
+ [
+ FindPackageShare("control_launch"),
+ "/config/trajectory_follower/mpc_follower.param.yaml",
+ ],
+ "path to the parameter file of lateral controller. default is `mpc_follower`",
+ )
add_launch_arg(
"lon_controller_param_path",
[
@@ -345,14 +335,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
[FindPackageShare("lane_departure_checker"), "/config/lane_departure_checker.param.yaml"],
)
- # velocity controller
- add_launch_arg("control_rate", "30.0", "control rate")
- add_launch_arg("show_debug_info", "false", "show debug information")
- add_launch_arg(
- "enable_smooth_stop", "false", "enable smooth stop (in velocity controller state)"
- )
- add_launch_arg("enable_pub_debug", "true", "enable to publish debug information")
-
# vehicle cmd gate
add_launch_arg("use_emergency_handling", "true", "use emergency handling")
add_launch_arg("use_external_emergency_stop", "true", "use external emergency stop")
diff --git a/localization_launch/config/ndt_scan_matcher.param.yaml b/localization_launch/config/ndt_scan_matcher.param.yaml
index 5249fd6e5..4e6f64abb 100644
--- a/localization_launch/config/ndt_scan_matcher.param.yaml
+++ b/localization_launch/config/ndt_scan_matcher.param.yaml
@@ -26,6 +26,15 @@
# Threshold for deciding whether to trust the estimation result
converged_param_transform_probability: 1.0
+ # The number of particles to estimate initial pose
+ initial_estimate_particles_num: 100
+
+ # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec]
+ initial_pose_timeout_sec: 1.0
+
+ # Tolerance of distance difference between two initial poses used for linear interpolation. [m]
+ initial_pose_distance_tolerance_m: 10.0
+
# neighborhood search method in OMP
# 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1
omp_neighborhood_search_method: 0
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 dade43a98..98bc1019d 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
@@ -86,6 +86,7 @@
+
@@ -93,13 +94,21 @@
+
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
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 0d790b8d1..d44af6fac 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
@@ -48,17 +48,17 @@ def __init__(self, context):
self.use_time_series_filter = self.ground_segmentation_param["use_time_series_filter"]
def get_vehicle_info(self):
- path = LaunchConfiguration("vehicle_param_file").perform(self.context)
- with open(path, "r") as f:
- p = yaml.safe_load(f)["/**"]["ros__parameters"]
- p["vehicle_length"] = p["front_overhang"] + p["wheel_base"] + p["rear_overhang"]
- p["vehicle_width"] = p["wheel_tread"] + p["left_overhang"] + p["right_overhang"]
- p["min_longitudinal_offset"] = -p["rear_overhang"]
- p["max_longitudinal_offset"] = p["front_overhang"] + p["wheel_base"]
- p["min_lateral_offset"] = -(p["wheel_tread"] / 2.0 + p["right_overhang"])
- p["max_lateral_offset"] = p["wheel_tread"] / 2.0 + p["left_overhang"]
+ # TODO: need to rename key from "ros_params" to "global_params" after Humble
+ gp = self.context.launch_configurations.get("ros_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"]
+ p["min_longitudinal_offset"] = -gp["rear_overhang"]
+ p["max_longitudinal_offset"] = gp["front_overhang"] + gp["wheel_base"]
+ p["min_lateral_offset"] = -(gp["wheel_tread"] / 2.0 + gp["right_overhang"])
+ p["max_lateral_offset"] = gp["wheel_tread"] / 2.0 + gp["left_overhang"]
p["min_height_offset"] = 0.0
- p["max_height_offset"] = p["vehicle_height"]
+ p["max_height_offset"] = gp["vehicle_height"]
return p
def get_vehicle_mirror_info(self):
@@ -509,7 +509,6 @@ def add_launch_arg(name: str, default_value=None):
launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
add_launch_arg("base_frame", "base_link")
- add_launch_arg("vehicle_param_file")
add_launch_arg("use_multithread", "False")
add_launch_arg("use_intra_process", "True")
add_launch_arg("use_pointcloud_container", "False")
diff --git a/perception_launch/launch/occupancy_grid_map/occupancy_grid_map.launch.py b/perception_launch/launch/occupancy_grid_map/occupancy_grid_map.launch.py
index 57e172ffd..ce2a53a7f 100644
--- a/perception_launch/launch/occupancy_grid_map/occupancy_grid_map.launch.py
+++ b/perception_launch/launch/occupancy_grid_map/occupancy_grid_map.launch.py
@@ -59,7 +59,7 @@ def add_launch_arg(name: str, default_value=None):
"max_height": 2.0,
"angle_min": -3.141592, # -M_PI
"angle_max": 3.141592, # M_PI
- "angle_increment": 0.00436332222, # 0.25*M_PI/180.0
+ "angle_increment": 0.0034906585, # 0.20*M_PI/180.0
"scan_time": 0.0,
"range_min": 1.0,
"range_max": 200.0,
diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml
index dd6acb409..330348f66 100644
--- a/perception_launch/launch/perception.launch.xml
+++ b/perception_launch/launch/perception.launch.xml
@@ -1,7 +1,6 @@
-
@@ -35,7 +34,6 @@
-
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 d86a8ccf1..462a89542 100644
--- a/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
+++ b/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
@@ -1,9 +1,22 @@
+
+
+
+
+
@@ -22,9 +35,14 @@
+
+
+
+
+
diff --git a/perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py b/perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py
index 899353034..3f16c9a04 100644
--- a/perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py
+++ b/perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py
@@ -15,7 +15,6 @@
import os
from ament_index_python.packages import get_package_share_directory
-import launch
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import SetLaunchConfiguration
@@ -38,6 +37,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
ssd_fine_detector_share_dir = get_package_share_directory("traffic_light_ssd_fine_detector")
classifier_share_dir = get_package_share_directory("traffic_light_classifier")
+ add_launch_arg("enable_image_decompressor", "True")
add_launch_arg("enable_fine_detection", "True")
add_launch_arg("input/image", "/sensing/camera/traffic_light/image_raw")
@@ -82,22 +82,6 @@ def create_parameter_dict(*args):
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
composable_node_descriptions=[
- ComposableNode(
- package="image_transport_decompressor",
- plugin="image_preprocessor::ImageTransportDecompressor",
- name="traffic_light_image_decompressor",
- parameters=[{"encoding": "rgb8"}],
- remappings=[
- (
- "~/input/compressed_image",
- [LaunchConfiguration("input/image"), "/compressed"],
- ),
- ("~/output/raw_image", LaunchConfiguration("input/image")),
- ],
- extra_arguments=[
- {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
- ],
- ),
ComposableNode(
package="traffic_light_classifier",
plugin="traffic_light::TrafficLightClassifierNodelet",
@@ -146,6 +130,29 @@ def create_parameter_dict(*args):
output="both",
)
+ decompressor_loader = LoadComposableNodes(
+ composable_node_descriptions=[
+ ComposableNode(
+ package="image_transport_decompressor",
+ plugin="image_preprocessor::ImageTransportDecompressor",
+ name="traffic_light_image_decompressor",
+ parameters=[{"encoding": "rgb8"}],
+ remappings=[
+ (
+ "~/input/compressed_image",
+ [LaunchConfiguration("input/image"), "/compressed"],
+ ),
+ ("~/output/raw_image", LaunchConfiguration("input/image")),
+ ],
+ extra_arguments=[
+ {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
+ ],
+ ),
+ ],
+ target_container=container,
+ condition=IfCondition(LaunchConfiguration("enable_image_decompressor")),
+ )
+
ssd_fine_detector_param = create_parameter_dict(
"onnx_file",
"label_file",
@@ -157,7 +164,7 @@ def create_parameter_dict(*args):
)
ssd_fine_detector_param["mode"] = LaunchConfiguration("fine_detector_precision")
- loader = LoadComposableNodes(
+ fine_detector_loader = LoadComposableNodes(
composable_node_descriptions=[
ComposableNode(
package="traffic_light_ssd_fine_detector",
@@ -175,7 +182,7 @@ def create_parameter_dict(*args):
),
],
target_container=container,
- condition=launch.conditions.IfCondition(LaunchConfiguration("enable_fine_detection")),
+ condition=IfCondition(LaunchConfiguration("enable_fine_detection")),
)
set_container_executable = SetLaunchConfiguration(
@@ -196,6 +203,7 @@ def create_parameter_dict(*args):
set_container_executable,
set_container_mt_executable,
container,
- loader,
+ decompressor_loader,
+ fine_detector_loader,
]
)
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index bfe310b73..4ddd16a8f 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -7,11 +7,15 @@
detection_area_right_expand_dist: 0.0
detection_area_left_expand_dist: 1.0
+ enable_avoidance_over_same_direction: true
+ enable_avoidance_over_opposite_direction: true
+
threshold_distance_object_is_on_center: 1.0 # [m]
threshold_speed_object_is_stopped: 1.0 # [m/s]
object_check_forward_distance: 150.0 # [m]
object_check_backward_distance: 2.0 # [m]
- lateral_collision_margin: 2.0 # [m]
+ lateral_collision_margin: 1.0 # [m]
+ lateral_collision_safety_buffer: 0.7 # [m]
prepare_time: 2.0 # [s]
min_prepare_distance: 1.0 # [m]
@@ -20,6 +24,8 @@
min_nominal_avoidance_speed: 7.0 # [m/s]
min_sharp_avoidance_speed: 1.0 # [m/s]
+ road_shoulder_safety_margin: 0.5 # [m]
+
max_right_shift_length: 5.0
max_left_shift_length: 5.0
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 fc435258b..f0a6e9813 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
@@ -7,8 +7,12 @@
backward_length_buffer_for_end_of_pull_out: 5.0
minimum_lane_change_length: 12.0
minimum_pull_over_length: 16.0
+
drivable_area_resolution: 0.1
- drivable_area_width: 100.0
- drivable_area_height: 50.0
+ drivable_lane_forward_length: 50.0
+ drivable_lane_backward_length: 5.0
+ drivable_lane_margin: 1.0
+ drivable_area_margin: 6.0
+
refine_goal_search_radius_range: 3.0
intersection_search_distance: 30.0
diff --git a/sensing_launch/README.md b/sensing_launch/README.md
index 2a6b577a1..68d14582d 100644
--- a/sensing_launch/README.md
+++ b/sensing_launch/README.md
@@ -16,7 +16,6 @@ You can include as follows in `*.launch.xml` to use `sensing.launch.xml`.
-
```
diff --git a/sensing_launch/launch/sensing.launch.xml b/sensing_launch/launch/sensing.launch.xml
index 715b8f911..cc0393234 100644
--- a/sensing_launch/launch/sensing.launch.xml
+++ b/sensing_launch/launch/sensing.launch.xml
@@ -2,7 +2,6 @@
-
@@ -15,7 +14,6 @@
-
diff --git a/sensing_launch/package.xml b/sensing_launch/package.xml
index 538895f40..b5012e35e 100644
--- a/sensing_launch/package.xml
+++ b/sensing_launch/package.xml
@@ -9,10 +9,7 @@
Apache License 2.0
ament_cmake_auto
- aip_x1_launch
- aip_x2_launch
- aip_xx1_launch
- common_sensor_launch
+
ament_lint_auto
autoware_lint_common
diff --git a/simulator_launch/launch/simulator.launch.xml b/simulator_launch/launch/simulator.launch.xml
index 7fe691ff1..006f35985 100644
--- a/simulator_launch/launch/simulator.launch.xml
+++ b/simulator_launch/launch/simulator.launch.xml
@@ -2,7 +2,8 @@
-
+
+
@@ -24,6 +25,46 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/system_launch/config/ad_service_state_monitor.param.yaml b/system_launch/config/ad_service_state_monitor.param.yaml
new file mode 100644
index 000000000..03610e09f
--- /dev/null
+++ b/system_launch/config/ad_service_state_monitor.param.yaml
@@ -0,0 +1,155 @@
+# Autoware State Monitor Parameters
+/**:
+ ros__parameters:
+ # modules_names: string array
+ module_names: [
+ "map",
+ "sensing",
+ "perception",
+ "localization",
+ "planning",
+ "control",
+ "vehicle",
+ "system"
+ ]
+
+ # Topic Config
+ ## names: string array
+ ## configs: top level
+ ### names used to declare parameter group
+ #### module: string
+ #### timeout[s]: double (0: none)
+ #### warn_rate[hz]: double (0: none)
+ topic_configs:
+ names: [
+ "/map/vector_map",
+ "/map/pointcloud_map",
+ "/perception/obstacle_segmentation/pointcloud",
+ "/initialpose3d",
+ "/localization/pose_twist_fusion_filter/pose",
+ "/perception/object_recognition/objects",
+ "/planning/mission_planning/route",
+ "/planning/scenario_planning/trajectory",
+ "/control/trajectory_follower/control_cmd",
+ "/control/command/control_cmd",
+ "/vehicle/status/velocity_status",
+ "/vehicle/status/steering_status",
+ "/system/emergency/control_cmd"
+ ]
+
+ configs:
+ /map/vector_map:
+ module: "map"
+ timeout: 0.0
+ warn_rate: 0.0
+ type: "autoware_auto_mapping_msgs/msg/HADMapBin"
+ transient_local: True
+
+ /map/pointcloud_map:
+ module: "map"
+ timeout: 0.0
+ warn_rate: 0.0
+ type: "sensor_msgs/msg/PointCloud2"
+ transient_local: True
+
+ /perception/obstacle_segmentation/pointcloud:
+ module: "sensing"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "sensor_msgs/msg/PointCloud2"
+ best_effort: True
+
+ /initialpose3d:
+ module: "localization"
+ timeout: 0.0
+ warn_rate: 0.0
+ type: "geometry_msgs/msg/PoseWithCovarianceStamped"
+
+ /localization/pose_twist_fusion_filter/pose:
+ module: "localization"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "geometry_msgs/msg/PoseStamped"
+
+ # Can be both with feature array or without
+ # In prediction.launch.xml this is set to without
+ /perception/object_recognition/objects:
+ module: "perception"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "autoware_auto_perception_msgs/msg/PredictedObjects"
+ # This topic could have two different types depending on the launch flags used.
+ # The implementation of subscriptions in ROS2 does not allow for multiple types
+ # to be defined for a topic. By default this is set to not use have features.
+ # type: ["tier4_perception_msgs/msg/DynamicObjectArray", "tier4_perception_msgs/msg/DynamicObjectWithFeatureArray"]
+
+ /planning/mission_planning/route:
+ module: "planning"
+ timeout: 0.0
+ warn_rate: 0.0
+ type: "autoware_auto_planning_msgs/msg/HADMapRoute"
+ transient_local: True
+
+ /planning/scenario_planning/trajectory:
+ module: "planning"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "autoware_auto_planning_msgs/msg/Trajectory"
+
+ /control/trajectory_follower/control_cmd:
+ module: "control"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "autoware_auto_control_msgs/msg/AckermannControlCommand"
+
+ /control/command/control_cmd:
+ module: "control"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "autoware_auto_control_msgs/msg/AckermannControlCommand"
+
+ /vehicle/status/velocity_status:
+ module: "vehicle"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "autoware_auto_vehicle_msgs/msg/VelocityReport"
+
+ /vehicle/status/steering_status:
+ module: "vehicle"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "autoware_auto_vehicle_msgs/msg/SteeringReport"
+
+ /system/emergency/control_cmd:
+ module: "system"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "autoware_auto_control_msgs/msg/AckermannControlCommand"
+
+ # Param Config
+ ## names: string array
+ ## configs: top level
+ ### names used to declare parameter group
+ #### module: string
+ # param_configs:
+ # names: ["/vehicle_info"]
+ # configs:
+ # /vehicle_info:
+ # module: "vehicle"
+
+ # TF Config
+ ## names: string array
+ ## configs: top level
+ ### names used to declare parameter group
+ #### module: string
+ #### from: string
+ #### to: string
+ #### timeout[s]: double (0: none)
+ tf_configs:
+ names: ["map_to_base_link"]
+ configs:
+ map_to_base_link:
+ module: "localization"
+ from: "map"
+ to: "base_link"
+ timeout: 1.0
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
new file mode 100644
index 000000000..41928923a
--- /dev/null
+++ b/system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml
@@ -0,0 +1,134 @@
+# Autoware State Monitor: Planning Simulator Parameters
+/**:
+ ros__parameters:
+ # modules_names: string array
+ module_names: [
+ "map",
+ "sensing",
+ "perception",
+ "localization",
+ "planning",
+ "control",
+ "vehicle",
+ "system"
+ ]
+
+# Topic Config
+ ## names: string array
+ ## configs: top level
+ ### names used to declare parameter group
+ #### module: string
+ #### timeout[s]: double (0: none)
+ #### warn_rate[hz]: double (0: none)
+ topic_configs:
+ names: [
+ "/map/vector_map",
+ "/map/pointcloud_map",
+ "/perception/object_recognition/objects",
+ "/initialpose2d",
+ "/planning/mission_planning/route",
+ "/planning/scenario_planning/trajectory",
+ "/control/trajectory_follower/control_cmd",
+ "/control/command/control_cmd",
+ "/vehicle/status/velocity_status",
+ "/vehicle/status/steering_status",
+ "/system/emergency/control_cmd"
+ ]
+
+ configs:
+ /map/vector_map:
+ module: "map"
+ timeout: 0.0
+ warn_rate: 0.0
+ type: "autoware_auto_mapping_msgs/msg/HADMapBin"
+ transient_local: True
+
+ /map/pointcloud_map:
+ module: "map"
+ timeout: 0.0
+ warn_rate: 0.0
+ type: "sensor_msgs/msg/PointCloud2"
+ transient_local: True
+
+ /perception/object_recognition/objects:
+ module: "perception"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "autoware_auto_perception_msgs/msg/PredictedObjects"
+
+ /initialpose2d:
+ module: "localization"
+ timeout: 0.0
+ warn_rate: 0.0
+ type: "geometry_msgs/msg/PoseWithCovarianceStamped"
+
+ /planning/mission_planning/route:
+ module: "planning"
+ timeout: 0.0
+ warn_rate: 0.0
+ type: "autoware_auto_planning_msgs/msg/HADMapRoute"
+ transient_local: True
+
+ /planning/scenario_planning/trajectory:
+ module: "planning"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "autoware_auto_planning_msgs/msg/Trajectory"
+
+ /control/trajectory_follower/control_cmd:
+ module: "control"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "autoware_auto_control_msgs/msg/AckermannControlCommand"
+
+ /control/command/control_cmd:
+ module: "control"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "autoware_auto_control_msgs/msg/AckermannControlCommand"
+
+ /vehicle/status/velocity_status:
+ module: "vehicle"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "autoware_auto_vehicle_msgs/msg/VelocityReport"
+
+ /vehicle/status/steering_status:
+ module: "vehicle"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "autoware_auto_vehicle_msgs/msg/SteeringReport"
+
+ /system/emergency/control_cmd:
+ module: "system"
+ timeout: 1.0
+ warn_rate: 5.0
+ type: "autoware_auto_control_msgs/msg/AckermannControlCommand"
+
+ # Param Config
+ ## names: string array
+ ## configs: top level
+ ### names used to declare parameter group
+ #### module: string
+ # param_configs:
+ # names: ["/vehicle_info"]
+ # configs:
+ # /vehicle_info:
+ # module: "vehicle"
+
+ # TF Config
+ ## names: string array
+ ## configs: top level
+ ### names used to declare parameter group
+ #### module: string
+ #### from: string
+ #### to: string
+ #### timeout[s]: double (0: none)
+ tf_configs:
+ names: ["map_to_base_link"]
+ configs:
+ map_to_base_link:
+ module: "localization"
+ from: "map"
+ to: "base_link"
+ timeout: 1.0
diff --git a/system_launch/config/system_error_monitor.param.yaml b/system_launch/config/system_error_monitor.param.yaml
new file mode 100644
index 000000000..b9a5a4fa7
--- /dev/null
+++ b/system_launch/config/system_error_monitor.param.yaml
@@ -0,0 +1,50 @@
+# 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: "none", 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
diff --git a/system_launch/config/system_error_monitor.planning_simulation.param.yaml b/system_launch/config/system_error_monitor.planning_simulation.param.yaml
new file mode 100644
index 000000000..ce081b75b
--- /dev/null
+++ b/system_launch/config/system_error_monitor.planning_simulation.param.yaml
@@ -0,0 +1,50 @@
+# 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
diff --git a/system_launch/launch/awapi_topic_state_monitor.launch.xml b/system_launch/launch/awapi_topic_state_monitor.launch.xml
index 45cd859bc..6dc0804d8 100644
--- a/system_launch/launch/awapi_topic_state_monitor.launch.xml
+++ b/system_launch/launch/awapi_topic_state_monitor.launch.xml
@@ -50,6 +50,7 @@
+
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
index f046d752e..84b0f9049 100644
--- a/system_launch/launch/system.launch.xml
+++ b/system_launch/launch/system.launch.xml
@@ -24,16 +24,16 @@
-
-
+
+
-
-
+
+