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Merge pull request autowarefoundation#212 from tier4/sync-awf-upstream
chore: sync awf/autoware_launch
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15
..._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
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...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
38
...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 | ||
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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 | ||
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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 |
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17
...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 |
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66 changes: 66 additions & 0 deletions
66
...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 | ||
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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 | ||
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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
9
...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" |
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82 changes: 79 additions & 3 deletions
82
...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 | ||
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# 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] |
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