diff --git a/autoware_api_launch/launch/autoware_api.launch.xml b/autoware_api_launch/launch/autoware_api.launch.xml index 509e0c4f9..ccc1527fb 100644 --- a/autoware_api_launch/launch/autoware_api.launch.xml +++ b/autoware_api_launch/launch/autoware_api.launch.xml @@ -1,38 +1,9 @@ - - - - - - - - - - - - - - - - - - - - - - - - + + + + - - + - - - - - - - - diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py deleted file mode 100644 index 3aafd3d1b..000000000 --- a/autoware_api_launch/launch/include/external_api_adaptor.launch.py +++ /dev/null @@ -1,60 +0,0 @@ -# Copyright 2021 Tier IV, Inc. -# -# 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. - -import launch -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode - - -def _create_api_node(node_name, class_name, **kwargs): - return ComposableNode( - namespace="external", - name=node_name, - package="autoware_iv_external_api_adaptor", - plugin="external_api::" + class_name, - **kwargs - ) - - -def generate_launch_description(): - components = [ - _create_api_node("calibration_status", "CalibrationStatus"), - _create_api_node("cpu_usage", "CpuUsage"), - _create_api_node("diagnostics", "Diagnostics"), - _create_api_node("door", "Door"), - _create_api_node("emergency", "Emergency"), - _create_api_node("engage", "Engage"), - _create_api_node("fail_safe_state", "FailSafeState"), - _create_api_node("initial_pose", "InitialPose"), - _create_api_node("localization_score", "LocalizationScore"), - _create_api_node("map", "Map"), - _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"), - _create_api_node("velocity", "Velocity"), - _create_api_node("version", "Version"), - ] - container = ComposableNodeContainer( - namespace="external", - name="autoware_iv_adaptor", - package="rclcpp_components", - executable="component_container_mt", - composable_node_descriptions=components, - output="screen", - ) - return launch.LaunchDescription([container]) diff --git a/autoware_api_launch/launch/include/internal_api_adaptor.launch.py b/autoware_api_launch/launch/include/internal_api_adaptor.launch.py deleted file mode 100644 index f1962908c..000000000 --- a/autoware_api_launch/launch/include/internal_api_adaptor.launch.py +++ /dev/null @@ -1,44 +0,0 @@ -# Copyright 2021 Tier IV, Inc. -# -# 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. - -import launch -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode - - -def _create_api_node(node_name, class_name, **kwargs): - return ComposableNode( - namespace="internal", - name=node_name, - package="autoware_iv_internal_api_adaptor", - plugin="internal_api::" + class_name, - **kwargs - ) - - -def generate_launch_description(): - components = [ - _create_api_node("iv_msgs", "IVMsgs"), - _create_api_node("operator", "Operator"), - _create_api_node("velocity", "Velocity"), - ] - container = ComposableNodeContainer( - namespace="internal", - name="autoware_iv_adaptor", - package="rclcpp_components", - executable="component_container_mt", - composable_node_descriptions=components, - output="screen", - ) - return launch.LaunchDescription([container]) diff --git a/autoware_api_launch/launch/include/internal_api_relay.launch.xml b/autoware_api_launch/launch/include/internal_api_relay.launch.xml deleted file mode 100644 index e850fb3dc..000000000 --- a/autoware_api_launch/launch/include/internal_api_relay.launch.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index e33089a5f..00ea708b9 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -134,17 +134,8 @@ - - - - - + + + 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 3af3a2683..40de19bd6 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 @@ -2,75 +2,26 @@ /**: ros__parameters: avoidance: - resample_interval_for_planning: 0.3 - resample_interval_for_output: 4.0 - detection_area_right_expand_dist: 0.0 - detection_area_left_expand_dist: 1.0 - + resample_interval_for_planning: 0.3 # [m] + resample_interval_for_output: 4.0 # [m] + detection_area_right_expand_dist: 0.0 # [m] + detection_area_left_expand_dist: 1.0 # [m] + drivable_area_right_bound_offset: 0.0 # [m] + drivable_area_left_bound_offset: 0.0 # [m] + object_envelope_buffer: 0.3 # [m] + + # avoidance module common setting + enable_bound_clipping: false enable_avoidance_over_same_direction: true enable_avoidance_over_opposite_direction: true enable_update_path_when_object_is_gone: false enable_safety_check: false - - # For target object filtering - threshold_speed_object_is_stopped: 1.0 # [m/s] - threshold_time_object_is_moving: 1.0 # [s] - - object_check_forward_distance: 150.0 # [m] - object_check_backward_distance: 2.0 # [m] - object_check_goal_distance: 20.0 # [m] - - threshold_distance_object_is_on_center: 1.0 # [m] - - object_check_shiftable_ratio: 0.6 # [-] - object_check_min_road_shoulder_width: 0.5 # [m] - - # For safety check - safety_check_backward_distance: 50.0 # [m] - safety_check_time_horizon: 10.0 # [s] - safety_check_idling_time: 1.5 # [s] - safety_check_accel_for_rss: 2.5 # [m/ss] - - # For lateral margin - object_envelope_buffer: 0.3 # [m] - lateral_collision_margin: 1.0 # [m] - lateral_collision_safety_buffer: 0.7 # [m] - - # For longitudinal margin - longitudinal_collision_margin_buffer: 0.0 # [m] - - prepare_time: 2.0 # [s] - min_prepare_distance: 1.0 # [m] - min_avoidance_distance: 10.0 # [m] - - min_nominal_avoidance_speed: 7.0 # [m/s] - min_sharp_avoidance_speed: 1.0 # [m/s] - - road_shoulder_safety_margin: 0.0 # [m] - - max_right_shift_length: 5.0 - max_left_shift_length: 5.0 - - nominal_lateral_jerk: 0.2 # [m/s3] - max_lateral_jerk: 1.0 # [m/s3] - - object_last_seen_threshold: 2.0 - - # For prevention of large acceleration while avoidance - min_avoidance_speed_for_acc_prevention: 3.0 # [m/s] - max_avoidance_acceleration: 0.5 # [m/ss] - - # bound clipping for objects - enable_bound_clipping: false + enable_yield_maneuver: false # for debug publish_debug_marker: false print_debug_info: false - # not enabled yet - longitudinal_collision_margin_min_distance: 0.0 # [m] - longitudinal_collision_margin_time: 0.0 - # avoidance is performed for the object type with true target_object: car: true @@ -82,11 +33,80 @@ motorcycle: false pedestrian: false - # ---------- advanced parameters ---------- - avoidance_execution_lateral_threshold: 0.499 + # For target object filtering + target_filtering: + # filtering moving objects + threshold_speed_object_is_stopped: 1.0 # [m/s] + threshold_time_object_is_moving: 1.0 # [s] + # detection range + object_check_forward_distance: 150.0 # [m] + object_check_backward_distance: 2.0 # [m] + object_check_goal_distance: 20.0 # [m] + # filtering parking objects + threshold_distance_object_is_on_center: 1.0 # [m] + object_check_shiftable_ratio: 0.6 # [-] + object_check_min_road_shoulder_width: 0.5 # [m] + # lost object compensation + object_last_seen_threshold: 2.0 + + # For safety check + safety_check: + safety_check_backward_distance: 50.0 # [m] + safety_check_time_horizon: 10.0 # [s] + safety_check_idling_time: 1.5 # [s] + safety_check_accel_for_rss: 2.5 # [m/ss] + safety_check_hysteresis_factor: 2.0 # [-] + + # For avoidance maneuver + avoidance: + # avoidance lateral parameters + lateral: + lateral_collision_margin: 1.0 # [m] + lateral_collision_safety_buffer: 0.7 # [m] + lateral_passable_safety_buffer: 0.0 # [m] + road_shoulder_safety_margin: 0.0 # [m] + avoidance_execution_lateral_threshold: 0.499 + max_right_shift_length: 5.0 + max_left_shift_length: 5.0 + # avoidance distance parameters + longitudinal: + prepare_time: 2.0 # [s] + longitudinal_collision_safety_buffer: 0.0 # [m] + min_prepare_distance: 1.0 # [m] + min_avoidance_distance: 10.0 # [m] + min_nominal_avoidance_speed: 7.0 # [m/s] + min_sharp_avoidance_speed: 1.0 # [m/s] + + # For yield maneuver + yield: + yield_velocity: 2.78 # [m/s] + + # For stop maneuver + stop: + min_distance: 10.0 # [m] + max_distance: 20.0 # [m] + + constraints: + # vehicle slows down under longitudinal constraints + use_constraints_for_decel: false # [-] + + # lateral constraints + lateral: + nominal_lateral_jerk: 0.2 # [m/s3] + max_lateral_jerk: 1.0 # [m/s3] + + # longitudinal constraints + longitudinal: + nominal_deceleration: -1.0 # [m/ss] + nominal_jerk: 0.5 # [m/sss] + max_deceleration: -2.0 # [m/ss] + max_jerk: 1.0 + # For prevention of large acceleration while avoidance + min_avoidance_speed_for_acc_prevention: 3.0 # [m/s] + max_avoidance_acceleration: 0.5 # [m/ss] target_velocity_matrix: - col_size: 4 + col_size: 2 matrix: - [2.78, 5.56, 11.1, 13.9, # velocity [m/s] - 0.20, 0.90, 1.10, 1.20] # margin [m] + [2.78, 13.9, # velocity [m/s] + 0.50, 1.00] # margin [m] diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 660a4d2af..29d577a7a 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -3,18 +3,24 @@ avoidance: drivable_area_right_bound_offset: 0.0 drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] lane_change: drivable_area_right_bound_offset: 0.0 drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] lane_following: drivable_area_right_bound_offset: 0.0 drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] pull_out: drivable_area_right_bound_offset: 0.0 drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] pull_over: drivable_area_right_bound_offset: 0.0 drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] side_shift: drivable_area_right_bound_offset: 0.0 drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border]