From 283a38acc94c51ae81d1950ba05cf611d761ec4a Mon Sep 17 00:00:00 2001
From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
Date: Fri, 17 Mar 2023 11:08:57 +0900
Subject: [PATCH 1/3] feat(control_launch): add parameter for aeb (#232)

---
 .../autonomous_emergency_braking.param.yaml      | 16 ++++++++++++++++
 .../tier4_control_component.launch.xml           |  3 +++
 autoware_launch/rviz/autoware.rviz               | 15 +++++++++++++++
 3 files changed, 34 insertions(+)
 create mode 100644 autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml

diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
new file mode 100644
index 000000000..6019eaae5
--- /dev/null
+++ b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    use_predicted_trajectory: true
+    use_imu_path: true
+    voxel_grid_x: 0.05
+    voxel_grid_y: 0.05
+    voxel_grid_z: 100000.0
+    min_generated_path_length: 0.5
+    expand_width: 0.1
+    longitudinal_offset: 2.0
+    t_response: 1.0
+    a_ego_min: -3.0
+    a_obj_min: -1.0
+    prediction_time_horizon: 1.5
+    prediction_time_interval: 0.1
+    aeb_hz: 10.0
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index bae586510..3af7b43df 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -4,6 +4,7 @@
   <arg name="lateral_controller_mode" default="mpc"/>
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
+  <arg name="enable_autonomous_emergency_braking" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
@@ -37,5 +38,7 @@
     <arg name="shift_decider_param_path" value="$(find-pkg-share autoware_launch)/config/control/shift_decider/shift_decider.param.yaml"/>
     <arg name="obstacle_collision_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml"/>
     <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
+    <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
+    <arg name="enable_autonomous_emergency_braking" value="$(var enable_autonomous_emergency_braking)"/>
   </include>
 </launch>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index e1674c7d7..f694b1d2c 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1976,6 +1976,21 @@ Visualization Manager:
             Reliability Policy: Reliable
             Value: /control/trajectory_follower/controller_node_exe/debug/markers
           Value: false
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: false
+          Name: Debug/AEB
+          Namespaces:
+            ego_path: true
+            ego_polygons: true
+            predicted_path: true
+            predicted_polygons: true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /control/autonomous_emergency_braking/debug/markers
+          Value: false
       Enabled: true
       Name: Control
   Enabled: true

From 7edf20f08b823b3223387a42ee9722fbc3105c96 Mon Sep 17 00:00:00 2001
From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date: Sat, 18 Mar 2023 15:58:10 +0900
Subject: [PATCH 2/3] fix(rviz): fix lane change topic name (#256)

* fix(rviz): fix lane change topic name

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(rviz): rename

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 autoware_launch/rviz/autoware.rviz | 54 +++++++++++++++++++++++++++---
 1 file changed, 50 insertions(+), 4 deletions(-)

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index f694b1d2c..022a24f72 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1037,13 +1037,36 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: false
-                      Name: PathReference_LaneChange
+                      Name: PathReference_LaneChangeRight
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_reference/lane_change
+                        Value: /planning/path_reference/lane_change_right
+                      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_LaneChangeLeft
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_reference/lane_change_left
                       Value: true
                       View Path:
                         Alpha: 0.3
@@ -1106,13 +1129,36 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true
-                      Name: PathChangeCandidate_LaneChange
+                      Name: PathChangeCandidate_LaneChangeRight
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_candidate/lane_change_right
+                      Value: true
+                      View Path:
+                        Alpha: 0.30000001192092896
+                        Color: 115; 210; 22
+                        Constant Color: false
+                        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
+                      Name: PathChangeCandidate_LaneChangeLeft
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_candidate/lane_change
+                        Value: /planning/path_candidate/lane_change_left
                       Value: true
                       View Path:
                         Alpha: 0.30000001192092896

From a13af90d620f63baa87b8920715c675f77371fda Mon Sep 17 00:00:00 2001
From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com>
Date: Sat, 18 Mar 2023 19:46:44 +0900
Subject: [PATCH 3/3] chore(ground_segmentation): add optional param (#259)

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../ground_segmentation/ground_segmentation.param.yaml           | 1 +
 1 file changed, 1 insertion(+)

diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
index 9a26840e3..b367fef38 100644
--- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
+++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -29,3 +29,4 @@
         gnd_grid_buffer_size: 4
         detection_range_z_max: 2.5
         elevation_grid_mode: true
+        use_recheck_ground_cluster: true