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Signed-off-by: Yuxuan Liu <[email protected]>
Co-authored-by: Yuxuan Liu <[email protected]>
Co-authored-by: Yuxuan Liu <[email protected]>
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3 people authored Jun 25, 2024
1 parent 4e63313 commit 6e4bdb6
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Showing 5 changed files with 21 additions and 16 deletions.
27 changes: 16 additions & 11 deletions autoware_launch/config/planning/preset/xx1_preset.yaml
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launch:
# behavior path modules
- arg:
name: launch_avoidance_module
name: launch_static_obstacle_avoidance
default: "true"
- arg:
name: launch_avoidance_by_lane_change_module
default: "false"
- arg:
name: launch_dynamic_avoidance_module
name: launch_dynamic_obstacle_avoidance
default: "true"
- arg:
name: launch_sampling_planner_module
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- arg:
name: launch_speed_bump_module
default: "false"
- arg:
name: launch_out_of_lane_module
default: "true"
- arg:
name: launch_no_drivable_lane_module
default: "false"
- arg:
name: launch_dynamic_obstacle_stop_module
default: "true"

# motion planning modules
- arg:
Expand All @@ -96,11 +90,22 @@ launch:

- arg:
name: motion_path_planner_type
default: obstacle_avoidance_planner
# option: obstacle_avoidance_planner
default: path_optimizer
# option: path_optimizer
# path_sampler
# none

# motion velocity planner modules
- arg:
name: launch_dynamic_obstacle_stop_module
default: "true"
- arg:
name: launch_out_of_lane_module
default: "true"
- arg:
name: launch_obstacle_velocity_limiter_module
default: "true"

- arg:
name: motion_stop_planner_type
default: obstacle_cruise_planner
Expand All @@ -109,7 +114,7 @@ launch:
# none

- arg:
name: motion_velocity_smoother_type
name: velocity_smoother_type
default: JerkFiltered
# option: JerkFiltered
# L2
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priority: 1
max_module_size: 1

avoidance:
static_obstacle_avoidance:
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
Expand All @@ -75,7 +75,7 @@
priority: 3
max_module_size: 1

dynamic_avoidance:
dynamic_obstacle_avoidance:
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
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# /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp
# /autoware/control/autonomous_driving/performance_monitoring/control_validator: default
/autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
/autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
/autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
/autoware/control/control_command_gate/node_alive_monitoring: default
# /autoware/control/external_control/local_external_control/device_connection: default

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Expand Up @@ -21,7 +21,7 @@
/autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
# /autoware/control/autonomous_driving/performance_monitoring/control_validator: default
/autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
/autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
/autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
/autoware/control/control_command_gate/node_alive_monitoring: default
/autoware/control/external_control/local_external_control/device_connection: default

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Expand Up @@ -21,7 +21,7 @@
/autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
# /autoware/control/autonomous_driving/performance_monitoring/control_validator: default
/autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
/autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
/autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
/autoware/control/control_command_gate/node_alive_monitoring: default

/autoware/localization/node_alive_monitoring: default
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