Skip to content

Commit

Permalink
Merge pull request #591 from tier4/beta-to-tier4-main-sync
Browse files Browse the repository at this point in the history
chore: sync beta branch beta/v0.34 with tier4/main
  • Loading branch information
tier4-autoware-public-bot[bot] authored Sep 11, 2024
2 parents 729924b + 6ff2653 commit bbac9e3
Show file tree
Hide file tree
Showing 19 changed files with 3,335 additions and 37 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,10 @@
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
Expand Down
4 changes: 2 additions & 2 deletions autoware_launch/config/localization/ekf_localizer.param.yaml
Original file line number Diff line number Diff line change
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
Expand Down
Original file line number Diff line number Diff line change
@@ -0,0 +1,42 @@
/**:
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
Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
/**:
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
Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
/**:
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
Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
/**:
ros__parameters:
vx_threshold: 0.1 # [m/s]
wz_threshold: 0.02 # [rad/s]
Original file line number Diff line number Diff line change
@@ -0,0 +1,21 @@
/**:
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]
Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
/**:
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
Original file line number Diff line number Diff line change
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
Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
/**:
ros__parameters:
mean_threshold: 0.6
enable_debug: false
Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
/**:
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
Original file line number Diff line number Diff line change
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]
Expand Down
Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
/**:
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
Original file line number Diff line number Diff line change
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
Expand Down Expand Up @@ -232,7 +232,7 @@
# 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
Expand Down
Original file line number Diff line number Diff line change
@@ -1,34 +1,24 @@
/**:
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
Original file line number Diff line number Diff line change
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
Original file line number Diff line number Diff line change
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="$(var loc_config_path)/ar_tag_based_localizer.param.yaml"/>
</include>
Expand Down
4 changes: 3 additions & 1 deletion autoware_launch/launch/e2e_simulator.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,8 @@
default="$(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="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
Expand Down Expand Up @@ -74,7 +76,7 @@
<arg name="system_error_monitor_param_path" value="$(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)"/>
Expand Down
Loading

0 comments on commit bbac9e3

Please sign in to comment.