From 542a5f9b7a45a3f67be2bf1b68c4ddd5dde91b37 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 9 Mar 2023 14:38:01 +0900 Subject: [PATCH 1/9] feat(lane_change): add config for new framework (#239) * feat(lane_change): add config for new framework Signed-off-by: Muhammad Zulfaqar Azmi * rearrange module alphabetically Signed-off-by: Muhammad Zulfaqar --------- Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Muhammad Zulfaqar --- .../behavior_path_planner.param.yaml | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 6dddcd64a..916c97d1e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -37,6 +37,12 @@ # USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE. # https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt + lane_change: + enable_module: true + enable_simultaneous_execution: false + priority: 0 + max_module_size: 1 + pull_out: enable_module: true enable_simultaneous_execution: false @@ -46,5 +52,5 @@ side_shift: enable_module: true enable_simultaneous_execution: false - priority: 0 + priority: 2 max_module_size: 1 From a32de6e499a7a6ec09c7455885f6b08fab929f38 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 9 Mar 2023 14:51:21 +0900 Subject: [PATCH 2/9] feat(pull_over): support new framework (#237) feat(behavior_path_planner): add config for pull over on new framework Signed-off-by: satoshi-ota --- .../behavior_path_planner/behavior_path_planner.param.yaml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 916c97d1e..996f0770c 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -54,3 +54,9 @@ enable_simultaneous_execution: false priority: 2 max_module_size: 1 + + pull_over: + enable_module: true + enable_simultaneous_execution: false + priority: 2 + max_module_size: 1 From 17eed3623580804896d1a9417c1a49c7098deca8 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 9 Mar 2023 15:51:51 +0900 Subject: [PATCH 3/9] feat(avoidance): add config for new framework (#233) * feat(behavior_path_planner): add config for avoidance on new framework Signed-off-by: satoshi-ota * fix(behavior_path_planner): fix priority Signed-off-by: satoshi-ota * fix(behavior_path_planner): add description of priority param Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../behavior_path_planner.param.yaml | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 996f0770c..6ad2b31dc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -37,16 +37,17 @@ # USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE. # https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt + # NOTE: The smaller the priority number is, the higher the module priority is. lane_change: enable_module: true enable_simultaneous_execution: false - priority: 0 + priority: 4 max_module_size: 1 pull_out: enable_module: true enable_simultaneous_execution: false - priority: 1 + priority: 0 max_module_size: 1 side_shift: @@ -58,5 +59,11 @@ pull_over: enable_module: true enable_simultaneous_execution: false - priority: 2 + priority: 1 + max_module_size: 1 + + avoidance: + enable_module: true + enable_simultaneous_execution: false + priority: 3 max_module_size: 1 From 98143789950059191514a2d614c7320d018c959a Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Fri, 10 Mar 2023 11:31:29 +0900 Subject: [PATCH 4/9] feat(planning_evaluator): delete_launch_planning_evaluator_arg (#240) * delete_launch_planning_evaluator_arg Signed-off-by: kyoichi-sugahara * delete_launch_planning_evaluator_arg Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../launch/components/tier4_simulator_component.launch.xml | 2 -- autoware_launch/launch/planning_simulator.launch.xml | 2 -- 2 files changed, 4 deletions(-) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index 3be46fb14..0c9729971 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -3,7 +3,6 @@ - @@ -16,7 +15,6 @@ - diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 3859ae650..1e8bbf2e8 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -62,14 +62,12 @@ - - From e321eea4b0ecbc741b936d5750cf6dd8c4df8898 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 10 Mar 2023 19:33:37 +0900 Subject: [PATCH 5/9] fix(pull_over): add params (#246) * fix(pull_over): add params Signed-off-by: satoshi-ota * Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml --------- Signed-off-by: satoshi-ota Co-authored-by: Kosuke Takeuchi --- .../behavior_path_planner/pull_over/pull_over.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index 31dde6c5c..ca1eb740b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml @@ -87,6 +87,7 @@ min_stop_distance: 5.0 stop_time: 2.0 hysteresis_buffer_distance: 2.0 + prediction_time_resolution: 0.5 enable_collision_check_at_prepare_phase: false use_predicted_path_outside_lanelet: false use_all_predicted_path: false From c64541edf9171a74a541b5f44223bc4740977302 Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Sun, 12 Mar 2023 00:25:53 +0900 Subject: [PATCH 6/9] fix(autoware_launch): perception mode (#249) Signed-off-by: Yukihito Saito --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 92fdaf96a..5e338dda4 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -34,7 +34,7 @@ - + From f8658fbb6933c131f9a6b55181d9eb6ef27d17dc Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 13 Mar 2023 12:39:26 +0900 Subject: [PATCH 7/9] feat(autoware_launch): add option to use akima spline at first (#247) * feat(autoware_launch): enable akima spline for xy only first * disable akima spline Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../behavior_path_planner/behavior_path_planner.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 6ad2b31dc..386ef6582 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -19,7 +19,9 @@ turn_signal_shift_length_threshold: 0.3 turn_signal_on_swerving: true - path_interval: 2.0 + enable_akima_spline_first: false + input_path_interval: 2.0 + output_path_interval: 2.0 visualize_maximum_drivable_area: true From 55aaf40dc75ebe1894b0a82c97812b210edc21d9 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 13 Mar 2023 15:20:09 +0900 Subject: [PATCH 8/9] feat(rviz): add path reference marker (#245) * feat(rviz): add path reference (hide as default) Signed-off-by: satoshi-ota * fix(rviz): fix typo Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * differentiate path color Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: satoshi-ota Signed-off-by: Muhammad Zulfaqar Azmi Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: Muhammad Zulfaqar Azmi --- autoware_launch/rviz/autoware.rviz | 92 ++++++++++++++++++++++++++++++ 1 file changed, 92 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index cac9bb8e6..e1674c7d7 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1011,6 +1011,98 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: true + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/avoidance + Value: true + View Path: + Alpha: 0.3 + Color: 210; 110; 210 + Constant Color: true + Value: true + Width: 2 + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_LaneChange + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/lane_change + Value: true + View Path: + Alpha: 0.3 + Color: 210; 210; 110 + Constant Color: true + Value: true + Width: 2 + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_PullOver + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/pull_over + Value: true + View Path: + Alpha: 0.3 + Color: 110; 110; 210 + Constant Color: true + Value: true + Width: 2 + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_PullOut + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/pull_out + Value: true + View Path: + Alpha: 0.3 + Color: 210; 110; 110 + Constant Color: true + Value: true + Width: 2 + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: true From dba73df0fc05193100070860277302610c7fbf56 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 14 Mar 2023 08:15:26 +0900 Subject: [PATCH 9/9] feat(lane_change): support param for new framework (include external lc) (#248) * feat(lane_change): support param for new framework (include external lc) Signed-off-by: Muhammad Zulfaqar * rename external lane change Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_planner.param.yaml | 20 ++++++++++++++++++- 1 file changed, 19 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 386ef6582..fb1a63261 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -40,7 +40,25 @@ # USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE. # https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt # NOTE: The smaller the priority number is, the higher the module priority is. - lane_change: + ext_request_lane_change_left: + enable_module: true + enable_simultaneous_execution: true + priority: 6 + max_module_size: 1 + + ext_request_lane_change_right: + enable_module: true + enable_simultaneous_execution: true + priority: 6 + max_module_size: 1 + + lane_change_left: + enable_module: true + enable_simultaneous_execution: false + priority: 5 + max_module_size: 1 + + lane_change_right: enable_module: true enable_simultaneous_execution: false priority: 4