Merge pull request #681 from tier4/chore/enable-aeb-v0.36

enable AEB
tier4 · Nov 21, 2024 · b880dc8 · b880dc8
2 parents 8256561 + 772e69f
commit b880dc8
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Showing 2 changed files with 19 additions and 14 deletions.
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -5,7 +5,7 @@
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
   <arg name="use_aeb_autoware_state_check" default="true"/>
-  <arg name="enable_autonomous_emergency_braking" default="false"/>
+  <arg name="enable_autonomous_emergency_braking" default="true"/>
   <arg name="enable_predicted_path_checker" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -2450,6 +2450,22 @@ Visualization Manager:
             Offset: 0
             Radius: 0.10000000149011612
             Value: true
+        - Class: rviz_common/Group
+          Displays:
+            - Class: rviz_default_plugins/MarkerArray
+              Enabled: true
+              Name: VirtualWall (AEB)
+              Namespaces:
+                {}
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /control/autonomous_emergency_braking/virtual_wall
+              Value: true
+          Enabled: true
+          Name: VirtualWall
         - Class: rviz_default_plugins/Marker
           Enabled: false
           Name: Stop Reason
@@ -2500,19 +2516,6 @@ Visualization Manager:
             Reliability Policy: Reliable
             Value: /control/autonomous_emergency_braking/debug/markers
           Value: false
-        - Class: rviz_default_plugins/MarkerArray
-          Enabled: true
-          Name: Info/AEB
-          Namespaces:
-            stop_factor_text: true
-            stop_virtual_wall: true
-          Topic:
-            Depth: 5
-            Durability Policy: Volatile
-            History Policy: Keep Last
-            Reliability Policy: Reliable
-            Value: /control/autonomous_emergency_braking/info/markers
-          Value: true
       Enabled: true
       Name: Control
     - Class: rviz_common/Group
@@ -2542,6 +2545,8 @@ Visualization Manager:
                   Debug/MPC: true
                   Debug/PurePursuit: true
                   Predicted Trajectory: true
+                  VirtualWall:
+                    VirtualWall (AEB): true
                   Value: false
                 Debug:
                   Control: true