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chore: sync awf/autoware_launch #245

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Oct 11, 2023
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98da1a0
feat(autoware_launch): add max_obstacle_vel in dynamic_avoidance (#595)
takayuki5168 Sep 26, 2023
f9edba4
feat(goal_planner): extend goal search area (#592)
kosuke55 Sep 27, 2023
3d050e3
feat(goal_planner): change minimum_request_length 0.0 (#598)
kosuke55 Sep 27, 2023
051da83
feat(start_planner): enable divide_pull_out_path (#600)
kosuke55 Sep 27, 2023
6b6f006
feat(start_planner): change th_distance_to_middle_of_the_road 0.5 (#599)
kosuke55 Sep 27, 2023
557b4cc
feat(goal_planner): prioritize goals before objects to avoid (#594)
kosuke55 Sep 28, 2023
4028124
feat(intersection): use planned velocity from upstream modules (#597)
soblin Sep 28, 2023
206d439
refactor(ndt_scan_matcher): modified ndt_scan_matcher.param.yaml to m…
TaikiYamada4 Sep 28, 2023
901a044
feat(autoware_launch): add predicted_path_checker package (#385)
brkay54 Oct 1, 2023
da1cfda
feat(lane_change): expand target lanes for object filtering (#601)
zulfaqar-azmi-t4 Oct 2, 2023
c1e98dd
feat(behavior_path_planner): update rss param (#604)
kyoichi-sugahara Oct 2, 2023
3fa16a1
feat(localization_error_monitor): update parameter (#614)
kminoda Oct 2, 2023
dee409f
fix(autoware_launch): improve stop decision in out_of_lane (#615)
maxime-clem Oct 3, 2023
b951b51
feat(autoware_launch): dynamic timeout for no intention to walk decis…
takayuki5168 Oct 3, 2023
cc47aff
feat(intersection): aggressively peek into attention area if traffic …
soblin Oct 4, 2023
c1edaf9
perf(ndt_scan_matcher): changed default `initial_estimate_particles_n…
SakodaShintaro Oct 4, 2023
5cba1da
feat(intersection): ignore occlusion beyond high curvature point (#619)
soblin Oct 4, 2023
811307d
fix: add param file for obstacle pointcloud based validator (#606)
badai-nguyen Oct 5, 2023
0ac076d
refactor(avoidance): use safety check parameter struct (#617)
satoshi-ota Oct 5, 2023
fd15eb8
feat(intersection)!: disable the exception behavior in the private ar…
yuki-takagi-66 Oct 6, 2023
cbe4ed8
feat(obstacle_cruise_planner): obstacle type dependent slow down for …
danielsanchezaran Oct 6, 2023
347b293
feat(lane_change): separate execution and cancel safety check param (…
zulfaqar-azmi-t4 Oct 6, 2023
2c08bc6
feat(intersection): yield initially on green light (#623)
soblin Oct 6, 2023
9d9eb33
feat(rtc_auto_mode_manager): eliminate rtc auto mode manager (#625)
kyoichi-sugahara Oct 7, 2023
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Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
/**:
ros__parameters:
# Node
update_rate: 10.0
delay_time: 0.17
max_deceleration: 1.5
resample_interval: 0.5
stop_margin: 0.5 # [m]
ego_nearest_dist_threshold: 3.0 # [m]
ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]
min_trajectory_check_length: 1.5 # [m]
trajectory_check_time: 3.0
distinct_point_distance_threshold: 0.3
distinct_point_yaw_threshold: 5.0 # [deg]
filtering_distance_threshold: 1.5 # [m]
use_object_prediction: true

collision_checker_params:
width_margin: 0.2
chattering_threshold: 0.2
z_axis_filtering_buffer: 0.3
enable_z_axis_obstacle_filtering: false
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
/**:
ros__parameters:
scale: 3.0
error_ellipse_size: 1.0
warn_ellipse_size: 0.8
error_ellipse_size: 1.5
warn_ellipse_size: 1.2
error_ellipse_size_lateral_direction: 0.3
warn_ellipse_size_lateral_direction: 0.25
11 changes: 7 additions & 4 deletions autoware_launch/config/localization/ndt_scan_matcher.param.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,9 @@
# NDT reference frame
ndt_base_frame: "ndt_base_link"

# map frame
map_frame: "map"

# Subscriber queue size
input_sensor_points_queue_size: 1

Expand Down Expand Up @@ -38,7 +41,7 @@
converged_param_nearest_voxel_transformation_likelihood: 2.3

# The number of particles to estimate initial pose
initial_estimate_particles_num: 100
initial_estimate_particles_num: 200

# Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
lidar_topic_timeout_sec: 1.0
Expand All @@ -53,7 +56,7 @@
num_threads: 4

# The covariance of output pose
# Do note that this covariance matrix is empirically derived
# Note that this covariance matrix is empirically derived
output_pose_covariance:
[
0.0225, 0.0, 0.0, 0.0, 0.0, 0.0,
Expand Down Expand Up @@ -86,5 +89,5 @@
# If lidar_point.z - base_link.z <= this threshold , the point will be removed
z_margin_for_ground_removal: 0.8

# The execution time which means probably NDT cannot matches scans properly
critical_upper_bound_exe_time_ms: 100 # [ms]
# The execution time which means probably NDT cannot matches scans properly. [ms]
critical_upper_bound_exe_time_ms: 100
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
/**:
ros__parameters:
min_points_num:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[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]

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]
Original file line number Diff line number Diff line change
Expand Up @@ -139,12 +139,16 @@
check_other_object: true # [-]
# collision check parameters
check_all_predicted_path: false # [-]
time_resolution: 0.5 # [s]
time_horizon_for_front_object: 3.0 # [s]
time_horizon_for_rear_object: 10.0 # [s]
safety_check_backward_distance: 100.0 # [m]
hysteresis_factor_expand_rate: 1.5 # [-]
hysteresis_factor_safe_count: 10 # [-]
# predicted path parameters
min_velocity: 1.38 # [m/s]
max_velocity: 50.0 # [m/s]
time_resolution: 0.5 # [s]
time_horizon_for_front_object: 3.0 # [s]
time_horizon_for_rear_object: 10.0 # [s]
delay_until_departure: 0.0 # [s]
# rss parameters
expected_front_deceleration: -1.0 # [m/ss]
expected_rear_deceleration: -1.0 # [m/ss]
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
motorcycle: true
pedestrian: false

max_obstacle_vel: 100.0 # [m/s]
min_obstacle_vel: 0.0 # [m/s]

successive_num_to_entry_dynamic_avoidance_condition: 5
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -12,14 +12,14 @@
goal_priority: "minimum_weighted_distance" # "minimum_weighted_distance" or "minimum_longitudinal_distance"
minimum_weighted_distance:
lateral_weight: 40.0
path_priority: "efficient_path" # "efficient_path" or "close_goal"
prioritize_goals_before_objects: true
parking_policy: "left_side" # "left_side" or "right_side"
forward_goal_search_length: 20.0
forward_goal_search_length: 40.0
backward_goal_search_length: 20.0
goal_search_interval: 2.0
longitudinal_margin: 3.0
max_lateral_offset: 0.5
lateral_offset_interval: 0.25
max_lateral_offset: 1.0
lateral_offset_interval: 0.5
ignore_distance_from_lane_start: 0.0
margin_from_boundary: 0.75

Expand All @@ -41,12 +41,14 @@

# pull over
pull_over:
minimum_request_length: 100.0
minimum_request_length: 0.0
pull_over_velocity: 3.0
pull_over_minimum_velocity: 1.38
decide_path_distance: 10.0
maximum_deceleration: 1.0
maximum_jerk: 1.0
path_priority: "efficient_path" # "efficient_path" or "close_goal"
efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exculde freespace parking)

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# shift parking
shift_parking:
Expand Down Expand Up @@ -116,7 +118,7 @@
path_safety_check:
# EgoPredictedPath
ego_predicted_path:
min_velocity: 0.0
min_velocity: 1.0
acceleration: 1.0
max_velocity: 1.0
time_horizon_for_front_object: 10.0
Expand Down Expand Up @@ -162,11 +164,11 @@
check_all_predicted_path: true
publish_debug_marker: false
rss_params:
rear_vehicle_reaction_time: 1.0
rear_vehicle_reaction_time: 2.0
rear_vehicle_safety_time_margin: 1.0
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 1.0
longitudinal_velocity_delta_time: 1.0
lateral_distance_max_threshold: 2.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8
# hysteresis factor to expand/shrink polygon with the value
hysteresis_factor_expand_rate: 1.0
# temporary
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -28,15 +28,28 @@

# safety check
safety_check:
expected_front_deceleration: -1.0
expected_rear_deceleration: -1.0
expected_front_deceleration_for_abort: -1.0
expected_rear_deceleration_for_abort: -2.0
rear_vehicle_reaction_time: 2.0
rear_vehicle_safety_time_margin: 1.0
lateral_distance_max_threshold: 2.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8
allow_loose_check_for_cancel: true
execution:
expected_front_deceleration: -1.0
expected_rear_deceleration: -1.0
rear_vehicle_reaction_time: 2.0
rear_vehicle_safety_time_margin: 1.0
lateral_distance_max_threshold: 2.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8
cancel:
expected_front_deceleration: -1.0
expected_rear_deceleration: -2.0
rear_vehicle_reaction_time: 1.5
rear_vehicle_safety_time_margin: 0.8
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 2.5
longitudinal_velocity_delta_time: 0.6

# lane expansion for object filtering
lane_expansion:
left_offset: 0.0 # [m]
right_offset: 0.0 # [m]

# lateral acceleration map
lateral_acceleration:
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
ros__parameters:
external_request_lane_change_left:
enable_module: false
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
Expand All @@ -14,7 +14,7 @@

external_request_lane_change_right:
enable_module: false
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
Expand All @@ -23,7 +23,7 @@

lane_change_left:
enable_module: true
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
Expand All @@ -32,7 +32,7 @@

lane_change_right:
enable_module: true
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
Expand All @@ -41,7 +41,7 @@

start_planner:
enable_module: true
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
Expand All @@ -50,7 +50,7 @@

side_shift:
enable_module: true
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
Expand All @@ -59,7 +59,7 @@

goal_planner:
enable_module: true
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: true
Expand All @@ -68,7 +68,7 @@

avoidance:
enable_module: true
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
Expand All @@ -77,7 +77,7 @@

avoidance_by_lc:
enable_module: true
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
Expand All @@ -86,7 +86,7 @@

dynamic_avoidance:
enable_module: false
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: true
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
collision_check_margin: 1.0
collision_check_distance_from_end: 1.0
th_moving_object_velocity: 1.0
th_distance_to_middle_of_the_road: 0.1
th_distance_to_middle_of_the_road: 0.5
center_line_path_interval: 1.0
# shift pull out
enable_shift_pull_out: true
Expand All @@ -21,7 +21,7 @@
maximum_curvature: 0.07
# geometric pull out
enable_geometric_pull_out: true
divide_pull_out_path: false
divide_pull_out_path: true
geometric_pull_out_velocity: 1.0
arc_path_interval: 1.0
lane_departure_margin: 0.2
Expand Down Expand Up @@ -127,11 +127,11 @@
check_all_predicted_path: true
publish_debug_marker: false
rss_params:
rear_vehicle_reaction_time: 1.0
rear_vehicle_reaction_time: 2.0
rear_vehicle_safety_time_margin: 1.0
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 1.0
longitudinal_velocity_delta_time: 1.0
lateral_distance_max_threshold: 2.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8
# hysteresis factor to expand/shrink polygon
hysteresis_factor_expand_rate: 1.0
# temporary
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -8,4 +8,4 @@
max_future_movement_time: 10.0 # [second]
threshold_yaw_diff: 0.523 # [rad]
adjacent_extend_width: 1.5 # [m]
enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
show_processing_time: false # [-] whether to show processing time
# param for input data
traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.

# param for stop position
stop_position:
Expand Down Expand Up @@ -54,7 +54,9 @@
## param for yielding
disable_stop_for_yield_cancel: false # for the crosswalk where there is a traffic signal
disable_yield_for_new_stopped_object: false # for the crosswalk where there is a traffic signal
timeout_no_intention_to_walk: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
# if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s]
timeout_ego_stop_for_yield: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not

# param for target object filtering
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -8,4 +8,4 @@
state_clear_time: 2.0
hold_stop_margin_distance: 0.0
distance_to_judge_over_stop_line: 0.5
enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
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