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Merge pull request #622 from tier4/beta-to-tier4-main-sync
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chore: sync beta branch beta/v0.36 with tier4/main
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tier4-autoware-public-bot[bot] authored Oct 10, 2024
2 parents b2c38f6 + c8a5b56 commit fdec55d
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Showing 6 changed files with 23 additions and 50 deletions.
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Expand Up @@ -7,7 +7,8 @@
use_predicted_object_data: false
use_object_velocity_calculation: true
check_autoware_state: true
min_generated_path_length: 0.5
min_generated_imu_path_length: 0.5
max_generated_imu_path_length: 10.0
imu_prediction_time_horizon: 1.5
imu_prediction_time_interval: 0.1
mpc_prediction_time_horizon: 4.5
Expand All @@ -27,6 +28,7 @@
# Point cloud cropping
expand_width: 0.1
path_footprint_extra_margin: 4.0
speed_calculation_expansion_margin: 0.5

# Point cloud clustering
cluster_tolerance: 0.15 #[m]
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Expand Up @@ -6,6 +6,8 @@

gnss_pose_timeout: 3.0 # [sec]
stop_check_duration: 3.0 # [sec]
pose_error_threshold: 5.0 # [m]
pose_error_check_enabled: false
ekf_enabled: $(var ekf_enabled)
gnss_enabled: $(var gnss_enabled)
yabloc_enabled: $(var yabloc_enabled)
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Expand Up @@ -15,3 +15,4 @@
min_y: -200.0
max_z: 2.0
min_z: -10.0
negative: false
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Expand Up @@ -7,7 +7,6 @@
# avoidance is performed for the object type with true
target_object:
car:
execute_num: 2 # [-]
th_moving_speed: 1.0 # [m/s]
th_moving_time: 1.0 # [s]
max_expand_ratio: 0.0 # [-]
Expand All @@ -17,7 +16,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
truck:
execute_num: 2
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -27,7 +25,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
bus:
execute_num: 2
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -37,7 +34,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
trailer:
execute_num: 2
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -47,7 +43,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
unknown:
execute_num: 1
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -57,7 +52,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
bicycle:
execute_num: 2
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -67,7 +61,6 @@
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
motorcycle:
execute_num: 2
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -77,7 +70,6 @@
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
pedestrian:
execute_num: 2
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
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Expand Up @@ -34,6 +34,7 @@
# safety check
safety_check:
allow_loose_check_for_cancel: true
enable_target_lane_bound_check: true
collision_check_yaw_diff_threshold: 3.1416
execution:
expected_front_deceleration: -1.0
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57 changes: 16 additions & 41 deletions autoware_launch/rviz/autoware.rviz
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Expand Up @@ -520,39 +520,26 @@ Visualization Manager:
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/pose_estimator/pose_with_covariance
Value: false
Value: true
- Buffer Size: 200
Class: rviz_plugins::PoseWithCovarianceHistory
Covariance:
Alpha: 0.5
Color: 204; 51; 204
Scale: 1
Value: true
Class: rviz_plugins::PoseHistory
Enabled: false
Name: PoseWithCovarianceHistory
Path:
Shape Type:
Alpha: 0.999
Color: 170; 255; 127
Head Length: 0.20000
Head diameter: 0.30000
Shaft Length: 0.30000
Shaft diameter: 0.15000
Value: Line
Width: 0.10000
Line:
Color: 170; 255; 127
Value: true
Width: 0.10000000149011612
Alpha: 0.999
Name: PoseHistory
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/pose_estimator/pose_with_covariance
Value: false
Value: /localization/pose_estimator/pose
Value: true
- Alpha: 0.999
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Expand Down Expand Up @@ -635,32 +622,20 @@ Visualization Manager:
- Class: rviz_common/Group
Displays:
- Buffer Size: 1000
Class: rviz_plugins::PoseWithCovarianceHistory
Covariance:
Alpha: 0.5
Color: 153; 193; 241
Scale: 1
Value: false
Class: rviz_plugins::PoseHistory
Enabled: true
Name: PoseWithCovarianceHistory
Path:
Shape Type:
Alpha: 0.999
Color: 0; 255; 255
Head Length: 0.20000
Head diameter: 0.300000
Shaft Length: 0.30000
Shaft diameter: 0.15000
Value: Line
Width: 0.10000
Line:
Color: 0; 255; 255
Value: true
Width: 0.10000000149011612
Alpha: 0.999
Name: PoseHistory
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/pose_with_covariance
Value: /localization/pose_twist_fusion_filter/pose
Value: true
Enabled: true
Name: EKF
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