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chore: sync awf/autoware_launch #864

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Mar 20, 2023
Merged

chore: sync awf/autoware_launch #864

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283a38a
feat(control_launch): add parameter for aeb (#232)
purewater0901 Mar 17, 2023
7edf20f
fix(rviz): fix lane change topic name (#256)
satoshi-ota Mar 18, 2023
a13af90
chore(ground_segmentation): add optional param (#259)
badai-nguyen Mar 18, 2023
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16 changes: 16 additions & 0 deletions ...aunch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
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Original file line number Diff line number Diff line change
@@ -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
1 change: 1 addition & 0 deletions ...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,3 +29,4 @@
gnd_grid_buffer_size: 4
detection_range_z_max: 2.5
elevation_grid_mode: true
use_recheck_ground_cluster: true
3 changes: 3 additions & 0 deletions autoware_launch/launch/components/tier4_control_component.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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="$(var use_individual_control_param)"/>
Expand Down Expand Up @@ -37,5 +38,7 @@
<arg name="shift_decider_param_path" value="$(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>
69 changes: 65 additions & 4 deletions autoware_launch/rviz/autoware.rviz
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Expand Up @@ -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
Expand Down Expand Up @@ -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
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_left
Value: true
View Path:
Alpha: 0.30000001192092896
Expand Down Expand Up @@ -1976,6 +2022,21 @@ 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
Expand Down