From 2b2cfa744367d96229c8bc063fd1e8375f6c53ee Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 25 Oct 2022 11:26:36 +0900 Subject: [PATCH 1/4] feat(behavior_path_planner): add parameters to expand the drivable area (#502) Signed-off-by: Maxime CLEMENT --- .../drivable_area_expansion.param.yaml | 20 +++++++++++++++++++ .../lane_following/lane_following.param.yaml | 3 --- .../behavior_planning.launch.py | 13 ++++++++++++ .../behavior_planning.launch.xml | 1 + 4 files changed, 34 insertions(+), 3 deletions(-) create mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml new file mode 100644 index 0000000000..660a4d2af0 --- /dev/null +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -0,0 +1,20 @@ +/**: + ros__parameters: + avoidance: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + lane_change: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + lane_following: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + pull_out: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + pull_over: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + side_shift: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml index f685f8a657..b6a9574bb4 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml @@ -1,7 +1,4 @@ /**: ros__parameters: lane_following: - expand_drivable_area: false - right_bound_offset: 0.5 - left_bound_offset: 0.5 lane_change_prepare_duration: 2.0 diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index f3955b1aab..3b831d7080 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -120,6 +120,18 @@ def generate_launch_description(): with open(pull_out_param_path, "r") as f: pull_out_param = yaml.safe_load(f)["/**"]["ros__parameters"] + drivable_area_expansion_param_path = os.path.join( + get_package_share_directory("planning_launch"), + "config", + "scenario_planning", + "lane_driving", + "behavior_planning", + "behavior_path_planner", + "drivable_area_expansion.param.yaml", + ) + with open(drivable_area_expansion_param_path, "r") as f: + drivable_area_expansion_param = yaml.safe_load(f)["/**"]["ros__parameters"] + behavior_path_planner_param_path = os.path.join( get_package_share_directory("planning_launch"), "config", @@ -156,6 +168,7 @@ def generate_launch_description(): lane_following_param, pull_over_param, pull_out_param, + drivable_area_expansion_param, behavior_path_planner_param, { "bt_tree_config_path": [ diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index a16b2f56cb..ddd7e8b894 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -15,6 +15,7 @@ + From 5e0e4be30056dd9a407cf35dbfaee6eed66b7057 Mon Sep 17 00:00:00 2001 From: yabuta Date: Wed, 26 Oct 2022 15:08:51 +0900 Subject: [PATCH 2/4] feat(autoware_api/rosbridge): add rosbridge max message size parameter (#522) * add param * change parameter value * delete from root launcher * delete space --- autoware_api_launch/launch/autoware_api.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_api_launch/launch/autoware_api.launch.xml b/autoware_api_launch/launch/autoware_api.launch.xml index 45c1f62d12..509e0c4f9c 100644 --- a/autoware_api_launch/launch/autoware_api.launch.xml +++ b/autoware_api_launch/launch/autoware_api.launch.xml @@ -2,6 +2,7 @@ + @@ -31,6 +32,7 @@ + From 436d30c2058757bf6d93d37a1647774484c99be6 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu, 27 Oct 2022 12:19:09 +0900 Subject: [PATCH 3/4] feat(planning_launch): update smoother resampling parameter (#530) Signed-off-by: yutaka Signed-off-by: yutaka --- .../motion_velocity_smoother.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 016d313e9b..d95c9992c8 100644 --- a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -32,8 +32,8 @@ # resampling parameters for optimization max_trajectory_length: 200.0 # max trajectory length for resampling [m] min_trajectory_length: 150.0 # min trajectory length for resampling [m] - resample_time: 5.0 # resample total time for dense sampling [s] - dense_resample_dt: 0.1 # resample time interval for dense sampling [s] + resample_time: 2.0 # resample total time for dense sampling [s] + dense_resample_dt: 0.2 # resample time interval for dense sampling [s] dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m] sparse_resample_dt: 0.5 # resample time interval for sparse sampling [s] sparse_min_interval_distance: 4.0 # minimum points-interval length for sparse sampling [m] From bc07407dbcb8bf0bcd9e6d1bdc17ce313ad14fa7 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 28 Oct 2022 10:29:42 +0900 Subject: [PATCH 4/4] fix: fix xacro command in vehicle.launch (#535) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- vehicle_launch/launch/vehicle_description.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/vehicle_launch/launch/vehicle_description.launch.xml b/vehicle_launch/launch/vehicle_description.launch.xml index 3feda41d8c..5a2bd35382 100644 --- a/vehicle_launch/launch/vehicle_description.launch.xml +++ b/vehicle_launch/launch/vehicle_description.launch.xml @@ -9,7 +9,7 @@ - +