From 705c5896bc1e7d531bb7213817ca6ebc8a6fd3c6 Mon Sep 17 00:00:00 2001 From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Date: Thu, 19 Sep 2024 10:29:28 +0900 Subject: [PATCH 01/16] feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (#1144) change the way to declare camera num Signed-off-by: MasatoSaeki --- .../launch/components/tier4_perception_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 052b4a6429..883a5282c1 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -48,7 +48,7 @@ - + Date: Thu, 19 Sep 2024 15:20:02 +0900 Subject: [PATCH 02/16] refactor(behavior_path_planner): remove unnecessary parameters (#1172) Signed-off-by: Takayuki Murooka --- .../behavior_path_planner/behavior_path_planner.param.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index b8a772f0b5..41f8f53a8f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -24,5 +24,3 @@ enable_cog_on_centerline: false input_path_interval: 2.0 output_path_interval: 2.0 - - visualize_maximum_drivable_area: true From 96477cc5febe0eeeb266dbf784fd398a35bc1bfc Mon Sep 17 00:00:00 2001 From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com> Date: Fri, 20 Sep 2024 13:34:23 +0900 Subject: [PATCH 03/16] refactor(system_monitor/ntp_monitor): add-missing-parameters (#1174) refactor: add-missing-parameters Signed-off-by: TetsuKawa --- .../config/system/system_monitor/ntp_monitor.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml b/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml index db54f70d1c..c731865c9e 100644 --- a/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml +++ b/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml @@ -3,3 +3,4 @@ server: ntp.nict.jp offset_warn: 0.1 offset_error: 5.0 + timeout: 5 From b1a8f45bb832a56af2a2e094465f2368426354cd Mon Sep 17 00:00:00 2001 From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com> Date: Fri, 20 Sep 2024 13:34:35 +0900 Subject: [PATCH 04/16] refactor(system_monitor/net_monitor): remove-missing-patameters (#1175) refactor: remove-missing-patameters Signed-off-by: TetsuKawa --- .../config/system/system_monitor/net_monitor.param.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml index d72b8d1334..5d5c1bd7bd 100644 --- a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml +++ b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml @@ -1,7 +1,6 @@ /**: ros__parameters: devices: ["*"] - traffic_reader_port: 7636 monitor_program: "greengrass" crc_error_check_duration: 1 crc_error_count_threshold: 1 From 4cc91209d18ed45de453a47d631783c2c8e8c502 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Fri, 20 Sep 2024 14:16:49 +0900 Subject: [PATCH 05/16] feat(emergency_handler): delete package (#1173) * feat(emergency_handler): delete package Signed-off-by: veqcc --- .../emergency_handler/emergency_handler.param.yaml | 14 -------------- .../components/tier4_system_component.launch.xml | 2 -- 2 files changed, 16 deletions(-) delete mode 100644 autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml deleted file mode 100644 index 652a984ce5..0000000000 --- a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml +++ /dev/null @@ -1,14 +0,0 @@ -# Default configuration for emergency handler ---- -/**: - ros__parameters: - update_rate: 10 - timeout_hazard_status: 0.5 - timeout_takeover_request: 10.0 - use_takeover_request: false - use_parking_after_stopped: false - use_comfortable_stop: false - - # setting whether to turn hazard lamp on for each situation - turning_hazard_on: - emergency: true diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 18042ddd65..d3222506b3 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -11,7 +11,6 @@ - @@ -30,7 +29,6 @@ - From a8e335ce7176d4f6cf9f0d794c9080f48f5ac0a6 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Fri, 20 Sep 2024 17:15:39 +0900 Subject: [PATCH 06/16] fix(avoidance_by_lane_change): remove unused parameter (#1176) remove unused parameter Signed-off-by: Go Sakayori --- .../avoidance_by_lane_change.param.yaml | 8 -------- 1 file changed, 8 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml index 384ef7bd28..f6974e38a2 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml @@ -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 # [-] @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 From 4288f798476284b887209de022db8d8d722e5ace Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Fri, 20 Sep 2024 17:29:11 +0900 Subject: [PATCH 07/16] feat(lane_change): add lane change parameter (#1157) add parameter to enable/disable bound check Signed-off-by: mohammad alqudah --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 0cea2aa62b..eaa2058819 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -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 From 42409e3ed700927ceb48a13fb63f6b609a5a5aa6 Mon Sep 17 00:00:00 2001 From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Date: Fri, 20 Sep 2024 21:38:10 +0900 Subject: [PATCH 08/16] fix(perception): adopt awsim (tlr) camera topic (#1177) Signed-off-by: MasatoSaeki --- .../launch/components/tier4_perception_component.launch.xml | 3 ++- autoware_launch/launch/e2e_simulator.launch.xml | 4 ++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 883a5282c1..105b49a2d9 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -20,6 +20,7 @@ + @@ -48,7 +49,7 @@ - + - + @@ -79,7 +79,7 @@ - + From 5563b43ec39d1c6c1fab8ea437abfce954a8c549 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Fri, 20 Sep 2024 16:20:23 +0300 Subject: [PATCH 09/16] revert: feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory (#1164) (#1179) Revert "feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory (#1164)" This reverts commit 593ad1f6c2ad967d8d04b349d7970deeed3f47a1. --- autoware_launch/rviz/autoware.rviz | 57 +++++++++--------------------- 1 file changed, 16 insertions(+), 41 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index c50f13e67f..e4eb0b6e16 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -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: @@ -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 From b4f7ee5179e23661df0274d9e50f7bf16590b0d1 Mon Sep 17 00:00:00 2001 From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com> Date: Tue, 24 Sep 2024 10:59:08 +0900 Subject: [PATCH 10/16] feat(system_error_monitor): delete system error monitor (#1178) feat: delete system error monitor Signed-off-by: TetsuKawa --- .../diagnostic_aggregator/system.param.yaml | 15 ----- .../diagnostic_aggregator/vehicle.param.yaml | 11 ---- .../system_error_monitor.awsim.param.yaml | 55 ------------------ .../system_error_monitor.param.yaml | 56 ------------------- ...ror_monitor.planning_simulation.param.yaml | 54 ------------------ autoware_launch/launch/autoware.launch.xml | 1 - .../tier4_system_component.launch.xml | 5 -- .../launch/e2e_simulator.launch.xml | 6 -- 8 files changed, 203 deletions(-) delete mode 100644 autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml delete mode 100644 autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml delete mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml delete mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml delete mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml deleted file mode 100644 index 27cbe3fed2..0000000000 --- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml +++ /dev/null @@ -1,15 +0,0 @@ -/**: - ros__parameters: - system: - type: diagnostic_aggregator/AnalyzerGroup - path: system - analyzers: - debug_data_logger: - type: diagnostic_aggregator/AnalyzerGroup - path: debug_data_logger - analyzers: - storage_error: - type: diagnostic_aggregator/GenericAnalyzer - path: storage_error - contains: ["bagpacker"] - timeout: 3.0 diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml deleted file mode 100644 index e96e3b3b05..0000000000 --- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml +++ /dev/null @@ -1,11 +0,0 @@ -/**: - ros__parameters: - vehicle: - type: diagnostic_aggregator/AnalyzerGroup - path: vehicle - analyzers: - vehicle_errors: - type: diagnostic_aggregator/GenericAnalyzer - path: vehicle_errors - contains: [": vehicle_errors"] - timeout: 1.0 diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml deleted file mode 100644 index 9710e1a1e4..0000000000 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml +++ /dev/null @@ -1,55 +0,0 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. -# -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- -/**: - ros__parameters: - required_modules: - autonomous_driving: - /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default - /autoware/control/control_command_gate/node_alive_monitoring: default - - /autoware/localization/node_alive_monitoring: default - /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_error_ellipse: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_stability: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/map/node_alive_monitoring: default - - /autoware/perception/node_alive_monitoring: default - - /autoware/planning/node_alive_monitoring: default - /autoware/planning/performance_monitoring/trajectory_validation: default - - # /autoware/sensing/node_alive_monitoring: default - # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"} - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default - - external_control: - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml deleted file mode 100644 index c1821a05ab..0000000000 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml +++ /dev/null @@ -1,56 +0,0 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. -# -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- -/**: - ros__parameters: - required_modules: - autonomous_driving: - /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default - /autoware/control/control_command_gate/node_alive_monitoring: default - - /autoware/localization/node_alive_monitoring: default - /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_error_ellipse: default - /autoware/localization/performance_monitoring/localization_stability: default - /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" } - - /autoware/map/node_alive_monitoring: default - - /autoware/perception/node_alive_monitoring: default - - /autoware/planning/node_alive_monitoring: default - /autoware/planning/performance_monitoring/trajectory_validation: default - - # /autoware/sensing/node_alive_monitoring: default - # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"} - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/duplicated_node_checker: default - - /autoware/vehicle/node_alive_monitoring: default - - external_control: - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml deleted file mode 100644 index 8b76c48ac7..0000000000 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml +++ /dev/null @@ -1,54 +0,0 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. -# -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- -/**: - ros__parameters: - required_modules: - autonomous_driving: - /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default - /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default - /autoware/control/control_command_gate/node_alive_monitoring: default - - /autoware/localization/node_alive_monitoring: default - # /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/localization/performance_monitoring/localization_error_ellipse: default - # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"} - /autoware/map/node_alive_monitoring: default - - /autoware/perception/node_alive_monitoring: default - - /autoware/planning/node_alive_monitoring: default - /autoware/planning/performance_monitoring/trajectory_validation: default - - # /autoware/sensing/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/duplicated_node_checker: default - - /autoware/vehicle/node_alive_monitoring: default - - external_control: - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index f5bd2be038..d3f56eb249 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -36,7 +36,6 @@ - diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index d3222506b3..5bb8403dc2 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,6 +1,5 @@ - @@ -15,10 +14,6 @@ - - - - diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index e905b6ef06..e2fb69ca56 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -32,11 +32,6 @@ - @@ -73,7 +68,6 @@ - From f9e12a63e3224c440228dcc6e6f994216bc1c77e Mon Sep 17 00:00:00 2001 From: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Thu, 26 Sep 2024 07:35:32 +0300 Subject: [PATCH 11/16] feat(autonomous_emergency_braking): initiate speed_calculation_expansion_margin parameter (#1168) initiate speed_calculation_expansion_margin parameter Signed-off-by: ismetatabay --- .../autonomous_emergency_braking.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index d5c6356c38..75b54fe547 100644 --- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -27,6 +27,7 @@ # 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] From ebd55cc8a7d88153e20271c4626eb4a1508171fd Mon Sep 17 00:00:00 2001 From: RyuYamamoto Date: Fri, 27 Sep 2024 14:46:38 +0900 Subject: [PATCH 12/16] feat(pose_initializer): add new parameter for check error between initial pose and GNSS pose (#1180) * add pose_error_check_enabled parameter Signed-off-by: RyuYamamoto * change default value Signed-off-by: RyuYamamoto --------- Signed-off-by: RyuYamamoto --- autoware_launch/config/localization/pose_initializer.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/localization/pose_initializer.param.yaml b/autoware_launch/config/localization/pose_initializer.param.yaml index 90ec78257e..80e0b4aac1 100644 --- a/autoware_launch/config/localization/pose_initializer.param.yaml +++ b/autoware_launch/config/localization/pose_initializer.param.yaml @@ -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) From 6c0733a94a9a82cb1d1d6488656fdb7f4c0d87d5 Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim <36835765+ahmeddesokyebrahim@users.noreply.github.com> Date: Mon, 30 Sep 2024 14:29:21 +0300 Subject: [PATCH 13/16] fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios (#1166) fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios Signed-off-by: Ahmed Ebrahim --- .../obstacle_cruise_planner.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 695a3b2365..6028d7e6ae 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -12,7 +12,7 @@ idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s] min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] - safe_distance_margin : 6.0 # This is also used as a stop margin [m] + safe_distance_margin : 4.0 # This is also used as a stop margin [m] terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s] hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m] @@ -88,8 +88,8 @@ stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle # hysteresis for cruise and stop - obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] - obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] + obstacle_velocity_threshold_from_cruise_to_stop : 1.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] + obstacle_velocity_threshold_from_stop_to_cruise : 1.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] # if crossing vehicle is determined as target obstacles or not crossing_obstacle: From 6ed90f92c382140de55e44c64078a08e666fa0e4 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 1 Oct 2024 17:28:17 +0900 Subject: [PATCH 14/16] revert(obstacle_cruise): revert an awf change (#617) Revert "fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios (#1166)" --- .../obstacle_cruise_planner.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 3de8577c60..5f27fef6fb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -88,8 +88,8 @@ stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle # hysteresis for cruise and stop - obstacle_velocity_threshold_from_cruise_to_stop : 1.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] - obstacle_velocity_threshold_from_stop_to_cruise : 1.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] + obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] + obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] # if crossing vehicle is determined as target obstacles or not crossing_obstacle: From 56fdc6087a2278b30cf86feb810cd971ed9056a9 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Wed, 2 Oct 2024 17:53:47 +0900 Subject: [PATCH 15/16] feat(autonomous_emergency_braking): set max imu path length (#1183) * set param for max imu path distance Signed-off-by: Daniel Sanchez * change param Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index 75b54fe547..f7548536be 100644 --- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -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 From cf9840b14d136d48e3e2ba8529163cff16ab1fa5 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 2 Oct 2024 18:17:00 +0900 Subject: [PATCH 16/16] chore(crop_box_filter): add missing default parameter (#1155) fix: add missing parameter after crop_box_filter rework Signed-off-by: badai-nguyen --- .../clustering/voxel_grid_based_euclidean_cluster.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml index 26b027f007..15f03fb959 100644 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml @@ -15,3 +15,4 @@ min_y: -200.0 max_z: 2.0 min_z: -10.0 + negative: false