chore: sync awf-latest-x1

autoware_api_launch/launch/autoware_api.launch.xml

@@ -1,38 +1,9 @@
 <launch>
-
-  <arg name="respawn" default="true" />
-  <arg name="launch_default_ad_api" default="true"/>
-  <arg name="max_message_size" default="1000000000" />
-
-  <!-- AD API -->
-  <group if="$(var launch_default_ad_api)">
-    <include file="$(find-pkg-share default_ad_api)/launch/default_ad_api.launch.py"/>
-  </group>
-
-  <!-- awapi (deprecated) -->
-  <group>
-    <include file="$(find-pkg-share awapi_awiv_adapter)/launch/awapi_awiv_adapter.launch.xml"/>
-  </group>
-
-  <!-- autoware api adaptor -->
-  <group>
-    <push-ros-namespace namespace="autoware_api"/>
-    <include file="$(find-pkg-share autoware_api_launch)/launch/include/external_api_adaptor.launch.py"/>
-    <include file="$(find-pkg-share autoware_api_launch)/launch/include/internal_api_adaptor.launch.py"/>
-    <include file="$(find-pkg-share autoware_api_launch)/launch/include/internal_api_relay.launch.xml"/>
-  </group>
-
-  <!-- autoware api utils -->
+  <!-- forwarding options -->
+  <arg name="launch_deprecated_api" default="true"/>
+  <arg name="rosbridge_enabled" default="true"/>
+  <arg name="rosbridge_max_message_size" default="1000000000"/>
   <group>
-    <push-ros-namespace namespace="autoware_api/utils"/>
-    <include file="$(find-pkg-share path_distance_calculator)/launch/path_distance_calculator.launch.xml"/>
+    <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>
   </group>
-
-  <!-- rosbridge -->
-  <!-- TODO: respawn will work once https://github.com/ros2/launch/pull/569 is released. I'll delete this comment when it's done. -->
-  <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
-      <arg name="respawn" value="$(var respawn)"/>
-      <arg name="max_message_size" value="$(var max_message_size)"/>
-  </include>
-
 </launch>

autoware_launch/launch/autoware.launch.xml

@@ -134,17 +134,8 @@
     <include file="$(find-pkg-share autoware_api_launch)/launch/autoware_api.launch.xml"/>
   </group>
 
-  <!-- Tools -->
-  <group>
-    <!-- Rviz -->
-    <node
-      pkg="rviz2"
-      exec="rviz2"
-      name="rviz2"
-      output="screen"
-      args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
-      if="$(var rviz)"
-    />
-    <include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var rviz)"/>
+  <!-- Rviz -->
+  <group if="$(var rviz)">
+    <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"/>
   </group>
 </launch>

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]