Merge pull request #590 from tier4/update-aeb-to-latest

feat(aeb): update aeb to latest
tier4 · Sep 11, 2024 · 3c95327 · 3c95327
2 parents ec22cbc + cb9bbde
commit 3c95327
Show file tree

Hide file tree

Showing 2 changed files with 25 additions and 7 deletions.
diff --git a/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -2,30 +2,35 @@
   ros__parameters:
     # Ego path calculation
     use_predicted_trajectory: true
-    use_imu_path: false
+    use_imu_path: true
+    use_pointcloud_data: true
+    use_predicted_object_data: false
     use_object_velocity_calculation: true
+    check_autoware_state: true
     min_generated_path_length: 0.5
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1
-    mpc_prediction_time_horizon: 1.5
+    mpc_prediction_time_horizon: 4.5
     mpc_prediction_time_interval: 0.1
 
     # Debug
     publish_debug_pointcloud: false
+    publish_debug_markers: true
 
     # Point cloud partitioning
     detection_range_min_height: 0.0
     detection_range_max_height_margin: 0.0
-    voxel_grid_x: 0.05
-    voxel_grid_y: 0.05
-    voxel_grid_z: 100000.0
+    voxel_grid_x: 0.1
+    voxel_grid_y: 0.1
+    voxel_grid_z: 0.5
 
     # Point cloud cropping
     expand_width: 0.1
-    path_footprint_extra_margin: 4.0
+    path_footprint_extra_margin: 2.0
 
     # Point cloud clustering
-    cluster_tolerance: 0.1 #[m]
+    cluster_tolerance: 0.15 #[m]
+    cluster_minimum_height: 0.1
     minimum_cluster_size: 10
     maximum_cluster_size: 10000
 

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -2461,6 +2461,19 @@ Visualization Manager:
             Reliability Policy: Reliable
             Value: /control/autonomous_emergency_braking/debug/markers
           Value: false
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: false
+          Name: Info/AEB
+          Namespaces:
+            stop_factor_text: true
+            stop_virtual_wall: true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /control/autonomous_emergency_braking/info/markers
+          Value: false
       Enabled: true
       Name: Control
     - Class: rviz_common/Group