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chore: sync awf/autoware_launch #232

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merged 3 commits into from
Aug 30, 2023
Merged

chore: sync awf/autoware_launch #232

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449bb69
feat(autoware_launch): set larger max_area for pedestrian with umbrel…
YoshiRi Aug 29, 2023
87021c6
feat(autoware_launch): add min_longitudinal_polygon_margin and use ob…
takayuki5168 Aug 29, 2023
0bd22cd
feat(autoware_launch): add max_crosswalk_user_delta_yaw_threshold_for…
takayuki5168 Aug 29, 2023
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1 change: 1 addition & 0 deletions ...re_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
prediction_sampling_delta_time: 0.5 #[s]
min_velocity_for_map_based_prediction: 1.39 #[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]
delta_yaw_threshold_for_searching_lanelet: 0.785 #[rad]
sigma_lateral_offset: 0.5 #[m]
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6 changes: 3 additions & 3 deletions ...ption/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
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Expand Up @@ -30,9 +30,9 @@
36.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #TRUCK
60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #BUS
60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #TRAILER
2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #MOTORBIKE
2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #BICYCLE
2.00, 10000.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00] #PEDESTRIAN
2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.50, #MOTORBIKE
2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.50, #BICYCLE
2.00, 10000.00, 10000.00, 10000.00, 10000.00, 2.00, 2.00, 1.50] #PEDESTRIAN
min_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
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6 changes: 4 additions & 2 deletions ...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
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Expand Up @@ -2,7 +2,7 @@
ros__parameters:
dynamic_avoidance:
common:
enable_debug_info: true
enable_debug_info: false
use_hatched_road_markings: true

# avoidance is performed for the object type with true
Expand Down Expand Up @@ -42,7 +42,9 @@
max_object_angle: 0.785

drivable_area_generation:
polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
polygon_generation_method: "object_path_base" # choose "ego_path_base" and "object_path_base"
object_path_base:
min_longitudinal_polygon_margin: 3.0 # [m]

lat_offset_from_obstacle: 0.8 # [m]
max_lat_offset_to_avoid: 0.5 # [m]
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