Merge pull request #207 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
tier4 · Jul 18, 2023 · 24095fb · 24095fb
2 parents 80f9de1 + 2796d0a
commit 24095fb
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Showing 12 changed files with 100 additions and 9 deletions.
diff --git a/...e_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml b/...e_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+
+    # distance threshold for compare compare
+    distance_threshold: 0.5
+
+    # publish voxelized map pointcloud for debug
+    publish_debug_pcd: False
+
+    # use dynamic map loading
+    use_dynamic_map_loading: True
+
+    # time interval to check dynamic map loading
+    timer_interval_ms: 100
+
+    # distance threshold for dynamic map update
+    map_update_distance_threshold: 10.0
+
+    # radius map for dynamic map loading
+    map_loader_radius: 150.0
diff --git a/...ch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml b/...ch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    max_cluster_size: 1000
+    min_cluster_size: 10
+    tolerance: 0.7
+    use_height: false
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    input_frame: base_link
+    output_frame: base_link
+    voxel_size_x: 0.3
+    voxel_size_y: 0.3
+    voxel_size_z: 100.0
+    voxel_points_threshold: 3
diff --git a/...re_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml b/...re_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    input_frame: base_link
+    output_frame: base_link
+    voxel_size_x: 0.15
+    voxel_size_y: 0.15
+    voxel_size_z: 0.15
diff --git a/...ion/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/...ion/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    tolerance: 0.7
+    voxel_leaf_size: 0.3
+    min_points_number_per_voxel: 1
+    min_cluster_size: 10
+    max_cluster_size: 3000
+    use_height: false
+    input_frame: "base_link"
+    max_x: 70.0
+    min_x: -70.0
+    max_y: 70.0
+    min_y: -70.0
+    max_z: 4.5
+    min_z: -4.5
diff --git a/...recognition/detection/roi_sync.param.yaml → ...ojection_based_fusion/roi_sync.param.yaml b/...recognition/detection/roi_sync.param.yaml → ...ojection_based_fusion/roi_sync.param.yaml
diff --git a/...etection/object_lanelet_filter.param.yaml → ...t_filter/object_lanelet_filter.param.yaml b/...etection/object_lanelet_filter.param.yaml → ...t_filter/object_lanelet_filter.param.yaml
diff --git a/...tection/object_position_filter.param.yaml → ..._filter/object_position_filter.param.yaml b/...tection/object_position_filter.param.yaml → ..._filter/object_position_filter.param.yaml
diff --git a/...etection/pointcloud_map_filter.param.yaml → ...d_filter/pointcloud_map_filter.param.yaml b/...etection/pointcloud_map_filter.param.yaml → ...d_filter/pointcloud_map_filter.param.yaml
diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -21,12 +21,13 @@
       stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk
 
       # param for pass judge logic
+      disable_stop_for_yield_cancel: false
       ego_pass_first_margin: 6.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
       ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
       stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
       min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
       max_yield_timeout: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
-      ego_yield_query_stop_duration: 0.1 # [s] the amount of time which ego should be stopping to query whether it yields or not
+      ego_yield_query_stop_duration: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not
 
       # param for input data
       tl_state_timeout: 3.0 # [s] timeout threshold for traffic light signal

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -9,24 +9,46 @@
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
+    <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
+    <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
 
+    <!-- object recognition -->
+    <arg name="object_recognition_detection_compare_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/compare_map.param.yaml"/>
+    <arg
+      name="object_recognition_detection_euclidean_cluster_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml"
+    />
+    <arg name="object_recognition_detection_outlier_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/outlier.param.yaml"/>
+    <arg
+      name="object_recognition_detection_voxel_grid_based_euclidean_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml"
+    />
     <arg
       name="object_recognition_detection_object_lanelet_filter_param_path"
-      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml"
     />
     <arg
       name="object_recognition_detection_object_position_filter_param_path"
-      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_position_filter.param.yaml"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml"
     />
     <arg
       name="object_recognition_detection_pointcloud_map_filter_param_path"
-      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_fusion_sync_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml"
     />
-    <arg name="object_recognition_detection_fusion_sync_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/roi_sync.param.yaml"/>
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
     />
+
+    <!-- obstacle segmentation -->
     <arg
       name="obstacle_segmentation_ground_segmentation_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml"
@@ -35,9 +57,9 @@
       name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
     />
-    <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
+
+    <!-- occupancy grid map -->
     <arg name="occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml"/>
-    <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
     <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
   </include>
 </launch>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1828,15 +1828,27 @@ Visualization Manager:
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
-                          Name: LaneChange
+                          Name: LeftLaneChange
                           Namespaces:
                             {}
                           Topic:
                             Depth: 5
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left
+                          Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: RightLaneChange
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false