Merge pull request #364 from tier4/sync-awf-latest

chore: sync awf-latest

autoware_launch/config/localization/pose_initializer.param.yaml

@@ -1,5 +1,9 @@
 /**:
   ros__parameters:
+    user_defined_initial_pose:
+      enable: $(var user_defined_initial_pose/enable)
+      pose: $(var user_defined_initial_pose/pose)
+
     gnss_pose_timeout: 3.0 # [sec]
     stop_check_duration: 3.0 # [sec]
     ekf_enabled: $(var ekf_enabled)

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml

@@ -27,6 +27,7 @@
       shift_collision_check_distance_from_end: -10.0
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0
+      maximum_longitudinal_deviation: 1.0 # Note, should be the same or less than planning validator's "longitudinal_distance_deviation"
       lateral_jerk: 0.5
       lateral_acceleration_sampling_num: 3
       minimum_lateral_acc: 0.15

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml

@@ -3,6 +3,7 @@
     run_out:
       detection_method: "Object"  # [-] candidate: Object, ObjectWithoutPath, Points
       target_obstacle_types: ["PEDESTRIAN", "BICYCLE", "MOTORCYCLE"] # [-] Obstacle types considered by this module
+      exclude_obstacles_already_in_path: true # If the obstacle is already on the ego's path footprint, ignore it.
       use_partition_lanelet: true # [-] whether to use partition lanelet map data
       suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet
       use_ego_cut_line: true      # [-] filter obstacles that pass the backside of ego: if a dynamic obstacle's predicted path intersects this line, it is ignored
@@ -14,6 +15,8 @@
       detection_span: 1.0         # [m] calculate collision with this span to reduce calculation time
       min_vel_ego_kmph: 3.6       # [km/h] min velocity to calculate time to collision
       ego_cut_line_length: 3.0    # The width of the ego's cut line
+      ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path
+      keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path.
 
       # Parameter to create abstracted dynamic obstacles
       dynamic_obstacle:

autoware_launch/launch/components/tier4_localization_component.launch.xml

@@ -5,6 +5,7 @@
   <arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
   <arg name="input_pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the localization util module"/>
   <arg name="localization_pointcloud_container_name" default="/pointcloud_container" description="The target container to which pointcloud preprocessing nodes in localization be attached"/>
+  <arg name="initial_pose" default="[]" description="initial pose (x, y, z, quat_x, quat_y, quat_z, quat_w)"/>
 
   <group>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
@@ -13,6 +14,7 @@
       <arg name="system_run_mode" value="$(var system_run_mode)"/>
       <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
       <arg name="localization_pointcloud_container_name" value="$(var localization_pointcloud_container_name)"/>
+      <arg name="initial_pose" value="$(var initial_pose)"/>
 
       <!-- parameter paths for common -->
       <arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>