chore: sync awf-latest

.github/workflows/pre-commit.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   pre-commit:
-    if: ${{ github.event.repository.private }}
+    if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories
     runs-on: ubuntu-latest
     steps:
       - name: Generate token

.pre-commit-config.yaml

@@ -57,7 +57,7 @@ repos:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 22.12.0
+    rev: 23.1.0
     hooks:
       - id: black
         args: [--line-length=100]

autoware_launch/config/map/lanelet2_map_loader.param.yaml

@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    lanelet2_map_projector_type: MGRS   # Options: MGRS, UTM
+    latitude: 40.81187906        # Latitude of map_origin, using in UTM
+    longitude: 29.35810110          # Longitude of map_origin, using in UTM
+
+    center_line_resolution: 5.0         # [m]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml

@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    # Static expansion
     avoidance:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
@@ -24,3 +25,34 @@
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
       drivable_area_types_to_skip: [road_border]
+
+    # Dynamic expansion by projecting the ego footprint along the path
+    dynamic_expansion:
+      enabled: false
+      ego:
+        extra_footprint_offset:
+          front: 0.5 # [m] extra length to add to the front of the ego footprint
+          rear: 0.5 # [m] extra length to add to the rear of the ego footprint
+          left: 0.5 # [m] extra length to add to the left of the ego footprint
+          right: 0.5 # [m] extra length to add to the rear of the ego footprint
+      dynamic_objects:
+        avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects
+        extra_footprint_offset:
+          front: 0.5 # [m] extra length to add to the front of the dynamic object footprint
+          rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
+          left: 0.5 # [m] extra length to add to the left of the dynamic object footprint
+          right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
+      expansion:
+        method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'.
+                         # 'lanelet': add lanelets overlapped by the ego footprints
+                         # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area
+        max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
+        max_path_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
+        extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint
+      avoid_linestring:
+        types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area
+          - road_border
+        distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid
+        compensate:
+          enable: true  # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction
+          extra_distance: 3.0 # [m] extra distance to add to the compensation

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml

@@ -7,6 +7,8 @@
     voxel_grid_x: 0.05                       # voxel grid x parameter for filtering pointcloud [m]
     voxel_grid_y: 0.05                       # voxel grid y parameter for filtering pointcloud [m]
     voxel_grid_z: 100000.0                   # voxel grid z parameter for filtering pointcloud [m]
+    use_predicted_objects: False            # whether to use predicted objects [-]
+    publish_obstacle_polygon: False          # whether to publish obstacle polygon [-]
 
     stop_planner:
       # params for stop position
@@ -17,7 +19,10 @@
 
       # params for detection area
       detection_area:
-        lateral_margin: 0.0                  # margin of vehicle footprint [m]
+        lateral_margin: 0.0                  # margin [m]
+        vehicle_lateral_margin: 0.0          # margin of vehicle footprint [m]
+        pedestrian_lateral_margin: 0.0       # margin of pedestrian footprint [m]
+        unknown_lateral_margin: 0.0          # margin of unknown footprint [m]
         step_length: 1.0                     # step length for pointcloud search range [m]
         extend_distance: 0.0                 # extend trajectory to consider after goal obstacle in the extend_distance [m]
 
@@ -33,6 +38,9 @@
       # params for detection area
       detection_area:
         lateral_margin: 1.0                  # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
+        vehicle_lateral_margin: 1.0          # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
+        pedestrian_lateral_margin: 1.0       # offset from pedestrian side edge for expanding the search area of the surrounding point cloud [m]
+        unknown_lateral_margin: 1.0          # offset from unknown side edge for expanding the search area of the surrounding point cloud [m]
 
       # params for velocity
       target_velocity:

autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml

@@ -0,0 +1,26 @@
+/**:
+  ros__parameters:
+    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]

autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml

@@ -0,0 +1,31 @@
+/**:
+  ros__parameters:
+    module_list:
+      - "blind_spot"
+      - "crosswalk"
+      - "detection_area"
+      - "intersection"
+      - "no_stopping_area"
+      - "traffic_light"
+      - "ext_request_lane_change_left"
+      - "ext_request_lane_change_right"
+      - "lane_change_left"
+      - "lane_change_right"
+      - "avoidance_left"
+      - "avoidance_right"
+      - "pull_over"
+      - "pull_out"
+
+    default_enable_list:
+      - "blind_spot"
+      - "crosswalk"
+      - "detection_area"
+      - "intersection"
+      - "no_stopping_area"
+      - "traffic_light"
+      - "lane_change_left"
+      - "lane_change_right"
+      - "avoidance_left"
+      - "avoidance_right"
+      - "pull_over"
+      - "pull_out"

autoware_launch/launch/components/tier4_map_component.launch.xml

@@ -8,5 +8,6 @@
     <arg name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
 
     <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
+    <arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>
   </include>
 </launch>