Merge pull request #388 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.27.0 with tier4/main

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -46,7 +46,7 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.24                # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.3     # steering dynamics time constant (1d approximation) [s]
+    vehicle_model_steer_tau: 0.27     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0]             # steering angle rate limit list depending on velocity [deg/s]

autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    delay_compensation_time: 0.17
+    delay_compensation_time: 0.1
 
     enable_smooth_stop: true
     enable_overshoot_emergency: true

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml

@@ -14,6 +14,7 @@
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
     score_threshold: 0.35
+    has_variance: false
     has_twist: false
     trt_precision: fp16
     densification_num_past_frames: 1

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml

@@ -0,0 +1,27 @@
+/**:
+  ros__parameters:
+    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+    point_feature_size: 4
+    max_voxel_size: 40000
+    point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+    voxel_size: [0.32, 0.32, 10.0]
+    downsample_factor: 1
+    encoder_in_feature_size: 9
+    # post-process params
+    circle_nms_dist_threshold: 0.5
+    iou_nms_target_class_names: ["CAR"]
+    iou_nms_search_distance_2d: 10.0
+    iou_nms_threshold: 0.1
+    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    score_threshold: 0.35
+    has_variance: true
+    has_twist: true
+    trt_precision: fp16
+    densification_num_past_frames: 1
+    densification_world_frame_id: map
+
+    # weight files
+    encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+    encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+    head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+    head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml

@@ -14,6 +14,7 @@
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
     score_threshold: 0.35
+    has_variance: false
     has_twist: false
     trt_precision: fp16
     densification_num_past_frames: 1

autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml

@@ -16,6 +16,7 @@
       downsample_factor: 1
       encoder_in_feature_size: 12
       yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+      has_variance: false
       has_twist: false
     densification_params:
       world_frame_id: "map"

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -30,6 +30,7 @@
         detection_range_z_max: 2.5
         elevation_grid_mode: true
         use_recheck_ground_cluster: true
+        use_lowest_point: true
         low_priority_region_x: -20.0
         center_pcl_shift: 0.0
         radial_divider_angle_deg: 1.0