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 @@
-
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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]