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Merge pull request #579 from tier4/sync-awf-upstream
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chore: sync tier4/autoware_launch:awf-latest
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tier4-autoware-public-bot[bot] authored Sep 5, 2024
2 parents 729924b + 8617770 commit 6ff2653
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Showing 19 changed files with 3,335 additions and 37 deletions.
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emergency_acc: -5.0 # denotes acceleration
emergency_jerk: -3.0

# acceleration feedback
lpf_acc_error_gain: 0.98
acc_feedback_gain: 0.0

# acceleration limit
max_acc: 3.0
min_acc: -5.0
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4 changes: 2 additions & 2 deletions autoware_launch/config/localization/ekf_localizer.param.yaml
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Expand Up @@ -30,8 +30,8 @@
simple_1d_filter_parameters:
#Simple1DFilter parameters
z_filter_proc_dev: 1.0
roll_filter_proc_dev: 0.01
pitch_filter_proc_dev: 0.01
roll_filter_proc_dev: 0.1
pitch_filter_proc_dev: 0.1

diagnostics:
# for diagnostics
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/**:
ros__parameters:

# marker name
marker_name: "reflector"

# for marker detection algorithm
resolution: 0.05
# A sequence of high/low intensity to perform pattern matching.
# 1: high intensity (positive match), 0: not consider, -1: low intensity (negative match)
intensity_pattern: [-1, -1, 0, 1, 1, 1, 1, 1, 0, -1, -1]
match_intensity_difference_threshold: 20
positive_match_num_threshold: 3
negative_match_num_threshold: 3
vote_threshold_for_detect_marker: 20
marker_height_from_ground: 1.075

# for interpolate algorithm
self_pose_timeout_sec: 1.0
self_pose_distance_tolerance_m: 1.0

# for validation
limit_distance_from_self_pose_to_nearest_marker: 2.0
limit_distance_from_self_pose_to_marker: 2.0

# base_covariance
# [TBD] This value is dynamically scaled according to the distance at which markers are detected.
base_covariance: [0.04, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.04, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.01, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.00007569, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.00007569, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.00030625]

# for visualize the detected marker pointcloud
marker_width: 0.8

# for save log
enable_save_log: false
save_file_directory_path: detected_reflector_intensity
save_file_name: detected_reflector_intensity
save_frame_id: velodyne_top
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/**:
ros__parameters:
input_frame: "base_link"
output_frame: "base_link"
min_x: -10.0
max_x: 10.0
min_y: 0.0
max_y: 7.5
min_z: -5.0
max_z: 5.0
negative: False
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/**:
ros__parameters:
input_frame: "base_link"
output_frame: "base_link"
filter_field_name: "channel"
filter_limit_min: 5
filter_limit_max: 45
filter_limit_negative: False
keep_organized: False
4 changes: 4 additions & 0 deletions autoware_launch/config/localization/stop_filter.param.yaml
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/**:
ros__parameters:
vx_threshold: 0.1 # [m/s]
wz_threshold: 0.02 # [rad/s]
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/**:
ros__parameters:
filter_target_label:
UNKNOWN : true
CAR : false
TRUCK : false
BUS : false
TRAILER : false
MOTORCYCLE : false
BICYCLE : false
PEDESTRIAN : false

filter_settings:
# polygon overlap based filter
polygon_overlap_filter:
enabled: true
# velocity direction based filter
lanelet_direction_filter:
enabled: false
velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
object_speed_threshold: 3.0 # [m/s]
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/**:
ros__parameters:
filter_target_label:
UNKNOWN : true
CAR : false
TRUCK : false
BUS : false
TRAILER : false
MOTORCYCLE : false
BICYCLE : false
PEDESTRIAN : false

upper_bound_x: 100.0
lower_bound_x: 0.0
upper_bound_y: 10.0
lower_bound_y: -10.0
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Expand Up @@ -2,14 +2,15 @@
ros__parameters:
min_points_num:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[10, 10, 10, 10, 10,10, 10, 10]
[10, 10, 10, 10, 10, 10, 10, 10]

max_points_num:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[10, 10, 10, 10, 10,10, 10, 10]
[10, 10, 10, 10, 10, 10, 10, 10]

min_points_and_distance_ratio:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[800.0, 880.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0]
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0]

using_2d_validator: true
enable_debugger: false
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/**:
ros__parameters:
mean_threshold: 0.6
enable_debug: false
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/**:
ros__parameters:
# network
trt_precision: fp16
cloud_capacity: 2000000
onnx_path: "$(var model_path)/transfusion.onnx"
engine_path: "$(var model_path)/transfusion.engine"
# pre-process params
densification_num_past_frames: 1
densification_world_frame_id: map
# 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] # refers to the class_names
score_threshold: 0.1
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Expand Up @@ -7,7 +7,7 @@
unknown: 10.0 #[s]
lateral_control_time_horizon: 5.0 #[s]
prediction_sampling_delta_time: 0.5 #[s]
min_velocity_for_map_based_prediction: 1.39 #[m/s]
min_velocity_for_map_based_prediction: 1.0 #[m/s]
min_crosswalk_user_velocity: 1.39 #[m/s]
max_crosswalk_user_delta_yaw_threshold_for_lanelet: 0.785 #[m/s]
dist_threshold_for_searching_lanelet: 3.0 #[m]
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/**:
ros__parameters:
radius_search_2d_filter.search_radius: 1.0
radius_search_2d_filter.min_points_and_distance_ratio: 400.0
radius_search_2d_filter.min_points: 4
radius_search_2d_filter.max_points: 70
radius_search_2d_filter.max_filter_points_nb: 15000
map_frame: "map"
base_link_frame: "base_link"
cost_threshold: 45
use_radius_search_2d_filter: true
enable_debugger: false
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Expand Up @@ -23,44 +23,44 @@
th_moving_time: 2.0 # [s]
longitudinal_margin: 0.0 # [m]
lateral_margin:
soft_margin: 0.3 # [m]
soft_margin: 0.7 # [m]
hard_margin: 0.2 # [m]
hard_margin_for_parked_vehicle: 0.7 # [m]
max_expand_ratio: 0.0 # [-] FOR DEVELOPER
envelope_buffer_margin: 0.5 # [m] FOR DEVELOPER
envelope_buffer_margin: 0.1 # [m] FOR DEVELOPER
th_error_eclipse_long_radius : 0.6 # [m]
truck:
th_moving_speed: 1.0
th_moving_time: 2.0
longitudinal_margin: 0.0
lateral_margin:
soft_margin: 0.3
soft_margin: 0.7
hard_margin: 0.2
hard_margin_for_parked_vehicle: 0.7
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
envelope_buffer_margin: 0.1
th_error_eclipse_long_radius : 0.6
bus:
th_moving_speed: 1.0
th_moving_time: 2.0
longitudinal_margin: 0.0
lateral_margin:
soft_margin: 0.3
soft_margin: 0.7
hard_margin: 0.2
hard_margin_for_parked_vehicle: 0.7
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
envelope_buffer_margin: 0.1
th_error_eclipse_long_radius : 0.6
trailer:
th_moving_speed: 1.0
th_moving_time: 2.0
longitudinal_margin: 0.0
lateral_margin:
soft_margin: 0.3
soft_margin: 0.7
hard_margin: 0.2
hard_margin_for_parked_vehicle: 0.7
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
envelope_buffer_margin: 0.1
th_error_eclipse_long_radius : 0.6
unknown:
th_moving_speed: 0.28
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# avoidance distance parameters
longitudinal:
min_prepare_time: 1.0 # [s]
max_prepare_time: 2.0 # [s]
max_prepare_time: 3.0 # [s]
min_prepare_distance: 1.0 # [m]
min_slow_down_speed: 1.38 # [m/s]
buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER
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/**:
ros__parameters:
out_of_lane: # module to stop or slowdown before overlapping another lane with other objects
mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc"
mode: ttc # mode used to consider a conflict with an object. "threshold", or "ttc"
skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane
ignore_overlaps_over_lane_changeable_lanelets: true # if true, overlaps on lane changeable lanelets are ignored
max_arc_length: 100.0 # [m] maximum trajectory arc length that is checked for out_of_lane collisions

threshold:
time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time
intervals: # consider objects if their estimated time interval spent on the overlap intersect the estimated time interval of ego
ego_time_buffer: 0.5 # [s] extend the ego time interval by this buffer
objects_time_buffer: 0.5 # [s] extend the time intervals of objects by this buffer
ttc:
threshold: 3.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap
threshold: 1.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap

objects:
minimum_velocity: 0.5 # [m/s] objects lower than this velocity will be ignored
use_predicted_paths: true # if true, use the predicted paths to estimate future positions.
# if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value.
distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane
cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights
ignore_behind_ego: false # if true, objects behind the ego vehicle are ignored

overlap:
minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered
extra_length: 0.0 # [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times)

action: # action to insert in the path if an object causes a conflict at an overlap
skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed
precision: 0.1 # [m] precision when inserting a stop pose in the path
action: # action to insert in the trajectory if an object causes a conflict at an overlap
precision: 0.1 # [m] precision when inserting a stop pose in the trajectory
longitudinal_distance_buffer: 1.5 # [m] safety distance buffer to keep in front of the ego vehicle
lateral_distance_buffer: 1.0 # [m] safety distance buffer to keep on the side of the ego vehicle
min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled
Expand All @@ -39,8 +29,8 @@
distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap

ego:
min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego
extra_front_offset: 0.0 # [m] extra front distance
extra_rear_offset: 0.0 # [m] extra rear distance
extra_right_offset: 0.0 # [m] extra right distance
extra_left_offset: 0.0 # [m] extra left distance
# extra footprint offsets to calculate out of lane collisions
extra_front_offset: 0.0 # [m] extra footprint front distance
extra_rear_offset: 0.0 # [m] extra footprint rear distance
extra_right_offset: 0.0 # [m] extra footprint right distance
extra_left_offset: 0.0 # [m] extra footprint left distance
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Expand Up @@ -26,3 +26,8 @@
max_d: 0.0
min_d: 0.0
invalid_integration_decay: 0.97
convert_steer_cmd_method: "vgr" # "vgr" or "steer_map"
vgr_coef_a: 15.713
vgr_coef_b: 0.053
vgr_coef_c: 0.042
convert_actuation_to_steering_status: false
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Expand Up @@ -19,6 +19,7 @@
<!-- parameter paths for common -->
<arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>
<arg name="ekf_localizer_param_path" value="$(var loc_config_path)/ekf_localizer.param.yaml"/>
<arg name="stop_filter_param_path" value="$(var loc_config_path)/stop_filter.param.yaml"/>
<arg name="pose_initializer_param_path" value="$(var loc_config_path)/pose_initializer.param.yaml"/>
<arg name="twist2accel_param_path" value="$(var loc_config_path)/twist2accel.param.yaml"/>

Expand Down Expand Up @@ -51,6 +52,14 @@
<!-- parameter paths for eagleye -->
<arg name="eagleye_param_path" value="$(find-pkg-share autoware_launch)/config/localization/eagleye_config.param.yaml"/>

<!-- parameter paths for lidar_marker_localizer -->
<arg name="lidar_marker_localizer/lidar_marker_localizer_param_path" value="$(var loc_config_path)/lidar_marker_localizer/lidar_marker_localizer.param.yaml"/>
<arg
name="lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path"
value="$(var loc_config_path)/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml"
/>
<arg name="lidar_marker_localizer/pointcloud_preprocessor/ring_filter_param_path" value="$(var loc_config_path)/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml"/>

<!-- parameter path for ar_tag_based_localizer -->
<arg name="ar_tag_based_localizer_param_path" value="$(var loc_config_path)/ar_tag_based_localizer.param.yaml"/>
</include>
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4 changes: 3 additions & 1 deletion autoware_launch/launch/e2e_simulator.launch.xml
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Expand Up @@ -37,6 +37,8 @@
default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
description="system error monitor param path"
/>
<!-- Sensing -->
<arg name="launch_sensing_driver" default="false"/>
<!-- Tools -->
<arg name="rviz" default="true" description="launch rviz"/>
<arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
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<arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
<arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml"/>
<!-- Sensing -->
<arg name="launch_sensing_driver" value="false"/>
<arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
<!-- Perception-->
<arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
<arg name="namespace1" value="$(var traffic_light_namespace)"/>
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