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Merge pull request autowarefoundation#212 from tier4/sync-awf-upstream
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chore: sync awf/autoware_launch
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tier4-autoware-public-bot[bot] authored Jul 25, 2023
2 parents 0b8d047 + 28c86e6 commit ff4790f
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15 changes: 15 additions & 0 deletions ..._launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml
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/**:
ros__parameters:
class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
point_feature_size: 4
max_voxel_size: 40000
point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
voxel_size: [0.32, 0.32, 10.0]
downsample_factor: 1
encoder_in_feature_size: 9
# post-process params
circle_nms_dist_threshold: 0.5
iou_nms_target_class_names: ["CAR"]
iou_nms_search_distance_2d: 10.0
iou_nms_threshold: 0.1
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
15 changes: 15 additions & 0 deletions ...ch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml
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/**:
ros__parameters:
class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
point_feature_size: 4
max_voxel_size: 40000
point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
voxel_size: [0.32, 0.32, 10.0]
downsample_factor: 2
encoder_in_feature_size: 9
# post-process params
circle_nms_dist_threshold: 0.5
iou_nms_target_class_names: ["CAR"]
iou_nms_search_distance_2d: 10.0
iou_nms_threshold: 0.1
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
38 changes: 38 additions & 0 deletions ...g/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml
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/**:
ros__parameters:
allow_remapping_by_area_matrix:
# NOTE(kl): We turn all vehicles into trailers if they go over 3x12 [m^2].
# NOTE(kl): We turn cars into trucks if they have an area between 2.2 x 5.5 and 3.0 * 12.0 [m^2]
# row: original class. column: class to remap to
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
0, 0, 1, 0, 1, 0, 0, 0, #CAR
0, 0, 0, 0, 1, 0, 0, 0, #TRUCK
0, 0, 0, 0, 1, 0, 0, 0, #BUS
0, 0, 0, 0, 0, 0, 0, 0, #TRAILER
0, 0, 0, 0, 0, 0, 0, 0, #MOTORBIKE
0, 0, 0, 0, 0, 0, 0, 0, #BICYCLE
0, 0, 0, 0, 0, 0, 0, 0] #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
0.000, 0.000, 12.100, 0.000, 36.000, 0.000, 0.000, 0.000, #CAR
0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #TRUCK
0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #BUS
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN


max_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
0.000, 0.000, 36.000, 0.000, inf, 0.000, 0.000, 0.000, #CAR
0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #TRUCK
0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #BUS
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN
17 changes: 17 additions & 0 deletions ...aunch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
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/**:
ros__parameters:
class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
point_feature_size: 9 # x, y, z, time-lag and car, pedestrian, bicycle
max_voxel_size: 40000
point_cloud_range: [-102.4, -102.4, -4.0, 102.4, 102.4, 6.0]
voxel_size: [0.32, 0.32, 10.0]
downsample_factor: 1
encoder_in_feature_size: 14
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
# post-process params
circle_nms_dist_threshold: 0.5
iou_nms_target_class_names: ["CAR"]
iou_nms_search_distance_2d: 10.0
iou_nms_threshold: 0.1
# omp params
omp_num_threads: 1
3 changes: 3 additions & 0 deletions ...erception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
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Expand Up @@ -9,6 +9,9 @@
# distance threshold for compare compare
distance_threshold: 0.5

# ratio to reduce voxel_leaf_size and neighbor points distance threshold in z axis
downsize_ratio_z_axis: 0.6

# publish voxelized map pointcloud for debug
publish_debug_pcd: False

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66 changes: 66 additions & 0 deletions ...ption/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml
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/**:
ros__parameters:
can_assign_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN <-Measurement
[1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN <-Tracker
0, 1, 1, 1, 1, 0, 0, 0, #CAR
0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
0, 1, 1, 1, 1, 0, 0, 0, #BUS
0, 1, 1, 1, 1, 0, 0, 0, #TRAILER
0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE
0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE
0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN

max_dist_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[4.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN
4.0, 4.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR
4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK
4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS
4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER
3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #MOTORBIKE
3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #BICYCLE
2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN
max_area_matrix:
# NOTE: The size of truck is 12 m length x 3 m width.
# NOTE: The size of trailer is 20 m length x 3 m width.
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, #UNKNOWN
12.10, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #CAR
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
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
3.600, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #CAR
6.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRUCK
10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #BUS
10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRAILER
0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, #MOTORBIKE
0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, #BICYCLE
0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100] #PEDESTRIAN
max_rad_matrix: # If value is greater than pi, it will be ignored.
#UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
[3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN

min_iou_matrix: # If value is negative, it will be ignored.
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN
0.1, -0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001] #PEDESTRIAN
9 changes: 9 additions & 0 deletions ...ig/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml
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/**:
ros__parameters:
car_tracker: "linear_motion_tracker"
truck_tracker: "linear_motion_tracker"
bus_tracker: "linear_motion_tracker"
trailer_tracker: "linear_motion_tracker"
pedestrian_tracker: "linear_motion_tracker"
bicycle_tracker: "linear_motion_tracker"
motorcycle_tracker: "linear_motion_tracker"
8 changes: 8 additions & 0 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Expand Up @@ -32,6 +32,7 @@
target_object:
car:
is_target: true # [-]
execute_num: 1 # [-]
moving_speed_threshold: 1.0 # [m/s]
moving_time_threshold: 1.0 # [s]
max_expand_ratio: 0.0 # [-]
Expand All @@ -41,6 +42,7 @@
safety_buffer_longitudinal: 0.0 # [m]
truck:
is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
Expand All @@ -50,6 +52,7 @@
safety_buffer_longitudinal: 0.0
bus:
is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
Expand All @@ -59,6 +62,7 @@
safety_buffer_longitudinal: 0.0
trailer:
is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
Expand All @@ -68,6 +72,7 @@
safety_buffer_longitudinal: 0.0
unknown:
is_target: true
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
Expand All @@ -77,6 +82,7 @@
safety_buffer_longitudinal: 0.0
bicycle:
is_target: true
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
Expand All @@ -86,6 +92,7 @@
safety_buffer_longitudinal: 1.0
motorcycle:
is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
Expand All @@ -95,6 +102,7 @@
safety_buffer_longitudinal: 1.0
pedestrian:
is_target: true
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
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82 changes: 79 additions & 3 deletions ...riving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
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/**:
ros__parameters:
avoidance_by_lane_change:
execute_object_num: 1
execute_object_longitudinal_margin: 0.0
execute_only_when_lane_change_finish_before_object: true
execute_object_longitudinal_margin: 80.0
execute_only_when_lane_change_finish_before_object: false

# avoidance is performed for the object type with true
target_object:
car:
is_target: true # [-]
execute_num: 2 # [-]
moving_speed_threshold: 1.0 # [m/s]
moving_time_threshold: 1.0 # [s]
max_expand_ratio: 0.0 # [-]
envelope_buffer_margin: 0.3 # [m]
avoid_margin_lateral: 0.0 # [m]
safety_buffer_lateral: 0.0 # [m]
truck:
is_target: true
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
bus:
is_target: true
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
trailer:
is_target: true
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
unknown:
is_target: true
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
bicycle:
is_target: false
execute_num: 2
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
avoid_margin_lateral: 0.0
safety_buffer_lateral: 1.0
motorcycle:
is_target: false
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
avoid_margin_lateral: 0.0
safety_buffer_lateral: 1.0
pedestrian:
is_target: false
execute_num: 2
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
avoid_margin_lateral: 0.0
safety_buffer_lateral: 1.0
lower_distance_for_polygon_expansion: 0.0 # [m]
upper_distance_for_polygon_expansion: 1.0 # [m]
3 changes: 1 addition & 2 deletions ...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
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Expand Up @@ -67,9 +67,8 @@
priority: 5
max_module_size: 1

# NOTE: This module is unstable. Deprecated for now.
avoidance_by_lc:
enable_module: false
enable_module: true
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
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4 changes: 4 additions & 0 deletions ...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
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Expand Up @@ -11,6 +11,8 @@
- "lane_change_right"
- "avoidance_left"
- "avoidance_right"
- "avoidance_by_lane_change_left"
- "avoidance_by_lane_change_right"
- "goal_planner"
- "start_planner"
- "intersection_occlusion"
Expand All @@ -26,6 +28,8 @@
- "lane_change_right"
- "avoidance_left"
- "avoidance_right"
- "avoidance_by_lane_change_left"
- "avoidance_by_lane_change_right"
- "goal_planner"
- "start_planner"
- "intersection_occlusion"
2 changes: 1 addition & 1 deletion ...nning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml
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Expand Up @@ -16,7 +16,7 @@
max_curvature: 0.1 # [m⁻¹] maximum curvature of a sampled path
min_curvature: -0.1 # [m⁻¹] minimum curvature of a sampled path
soft:
lateral_deviation_weight: 0.1 # cost weight for lateral deviation between the end of a sampled path and the reference path
lateral_deviation_weight: 1.0 # cost weight for lateral deviation between the end of a sampled path and the reference path
length_weight: 1.0 # cost weight for the length of a sampled path
curvature_weight: 1.0 # cost weight for the curvature of a sampled path
sampling:
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9 changes: 9 additions & 0 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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Expand Up @@ -55,10 +55,19 @@
name="object_recognition_detection_object_merger_distance_threshold_list_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
/>
<arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
<arg
name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
/>
<arg
name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml"
/>
<arg
name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml"
/>

<!-- obstacle segmentation -->
<arg
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