From 2b6e6d61cc73fbcf28953bf36ea816d45991b97e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 6 Mar 2024 21:54:18 +0900 Subject: [PATCH 01/26] feat: set the max velocity to 15km/h (#763) Signed-off-by: Takayuki Murooka --- .../config/planning/scenario_planning/common/common.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index face8610c7..5e8809cd36 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - max_vel: 11.1 # max velocity limit [m/s] + max_velocity: 4.17 # max velocity limit [m/s] # constraints param for normal driving normal: From 46c08e2975f4e27aa7adf58dc6d63ec3218daf98 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 6 Mar 2024 22:13:20 +0900 Subject: [PATCH 02/26] feat: enable autonomous emergency braking (#764) Signed-off-by: Takayuki Murooka --- .../launch/components/tier4_control_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index d15e050d7a..5c3cf06ad0 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -4,7 +4,7 @@ - + From b9858d9fb06355dd18b6d819895b655b2ad8b386 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 6 Mar 2024 22:13:40 +0900 Subject: [PATCH 03/26] feat: switch to obstacle_cruise_planner (#765) Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 69328a9b79..674b3e07e7 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -100,7 +100,7 @@ launch: - arg: name: motion_stop_planner_type - default: obstacle_stop_planner + default: obstacle_cruise_planner # option: obstacle_stop_planner # obstacle_cruise_planner # none From e14eabeab94f088fc5d6a4b12c005ee6feb501fa Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 6 Mar 2024 22:38:23 +0900 Subject: [PATCH 04/26] fix: the parameter name of max_vel (#907) Signed-off-by: Takayuki Murooka --- .../config/planning/scenario_planning/common/common.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 5e8809cd36..0dba945718 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - max_velocity: 4.17 # max velocity limit [m/s] + max_vel: 4.17 # max velocity limit [m/s] # constraints param for normal driving normal: From 45bb96c523138405c90f533b007f22968994c7af Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 6 Mar 2024 22:47:49 +0900 Subject: [PATCH 05/26] feat: disable AEB and set the maximum velocity to 40km/h Signed-off-by: Takayuki Murooka --- .../config/planning/scenario_planning/common/common.param.yaml | 2 +- .../launch/components/tier4_control_component.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 0dba945718..face8610c7 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - max_vel: 4.17 # max velocity limit [m/s] + max_vel: 11.1 # max velocity limit [m/s] # constraints param for normal driving normal: diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 5c3cf06ad0..d15e050d7a 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -4,7 +4,7 @@ - + From 5180eddd5dcdd79592b62a3ef5179e4168a374f2 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 7 Mar 2024 07:51:19 +0900 Subject: [PATCH 06/26] chore: change max_z of cropbox filter to vehicle_height (#906) chore: change max_z of cropbox filter to vehicle_heigh Signed-off-by: badai-nguyen --- .../ground_segmentation/ground_segmentation.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index 4c58c066ed..f2be6aeb8b 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -11,8 +11,8 @@ max_x: 150.0 min_y: -70.0 max_y: 70.0 - max_z: 2.5 - min_z: -2.5 # recommended 0.0 for non elevation_grid_mode + margin_max_z: 0.0 # to extend the crop box max_z from vehicle_height + margin_min_z: -2.5 # to extend the crop box min_z from ground negative: False common_ground_filter: From 1821686dc7df687273716e39c897b018e307a1a6 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 7 Mar 2024 10:17:50 +0900 Subject: [PATCH 07/26] feat(avoidance): change lateral margin based on if it's parked vehicle (#894) * feat(avoidance): change lateral margin based on if it's parked vehicle Signed-off-by: satoshi-ota * fix(AbLC): update values Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 48 ++++++++++++------- .../avoidance_by_lane_change.param.yaml | 48 ++++++++++++------- 2 files changed, 64 insertions(+), 32 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index ac7873a994..6650df56e1 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -29,80 +29,96 @@ execute_num: 1 # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 2.0 # [s] + lateral_margin: + soft_margin: 0.7 # [m] + hard_margin: 0.3 # [m] + hard_margin_for_parked_vehicle: 0.3 # [m] max_expand_ratio: 0.0 # [-] envelope_buffer_margin: 0.5 # [m] - avoid_margin_lateral: 0.7 # [m] - safety_buffer_lateral: 0.3 # [m] safety_buffer_longitudinal: 0.0 # [m] use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 + lateral_margin: + soft_margin: 0.9 # [m] + hard_margin: 0.1 # [m] + hard_margin_for_parked_vehicle: 0.1 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - avoid_margin_lateral: 0.9 - safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bus: execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 + lateral_margin: + soft_margin: 0.9 # [m] + hard_margin: 0.1 # [m] + hard_margin_for_parked_vehicle: 0.1 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - avoid_margin_lateral: 0.9 - safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true trailer: execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 + lateral_margin: + soft_margin: 0.9 # [m] + hard_margin: 0.1 # [m] + hard_margin_for_parked_vehicle: 0.1 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - avoid_margin_lateral: 0.9 - safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true unknown: execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 + lateral_margin: + soft_margin: 0.7 # [m] + hard_margin: -0.2 # [m] + hard_margin_for_parked_vehicle: -0.2 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 - avoid_margin_lateral: 0.7 - safety_buffer_lateral: -0.2 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bicycle: execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 + lateral_margin: + soft_margin: 0.7 # [m] + hard_margin: 0.5 # [m] + hard_margin_for_parked_vehicle: 0.5 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - avoid_margin_lateral: 0.7 - safety_buffer_lateral: 0.5 safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true motorcycle: execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 + lateral_margin: + soft_margin: 0.7 # [m] + hard_margin: 0.3 # [m] + hard_margin_for_parked_vehicle: 0.3 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - avoid_margin_lateral: 0.7 - safety_buffer_lateral: 0.3 safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true pedestrian: execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 + lateral_margin: + soft_margin: 0.7 # [m] + hard_margin: 0.5 # [m] + hard_margin_for_parked_vehicle: 0.5 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - avoid_margin_lateral: 0.7 - safety_buffer_lateral: 0.5 safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true lower_distance_for_polygon_expansion: 30.0 # [m] 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 74c6112c0e..ce0ba25700 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 @@ -12,64 +12,80 @@ 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] + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] truck: 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 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] bus: 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 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] trailer: 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 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] unknown: 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 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] bicycle: 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 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] motorcycle: 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 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] pedestrian: 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 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] lower_distance_for_polygon_expansion: 0.0 # [m] upper_distance_for_polygon_expansion: 1.0 # [m] From 1c9530bfb260f0b71755d311a12cd1c590618004 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 7 Mar 2024 17:09:44 +0900 Subject: [PATCH 08/26] feat(start_planner): prevent hindering rear vehicles (#905) Add params to add extra margin to rear vehicle width Signed-off-by: Daniel Sanchez --- .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 2d50f39d72..41e4f90bbc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -7,6 +7,7 @@ th_stopped_time: 1.0 collision_check_margins: [2.0, 1.0, 0.5, 0.1] collision_check_margin_from_front_object: 5.0 + extra_width_margin_for_rear_obstacle: 0.5 th_moving_object_velocity: 1.0 object_types_to_check_for_path_generation: check_car: true From d6bb3687e4fa050dd1113b209ddb1161e2f8a903 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Thu, 7 Mar 2024 12:26:21 +0300 Subject: [PATCH 09/26] fix(raw_vehicle_cmd_converter): csv paths are resolved in param.yaml (#884) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../raw_vehicle_cmd_converter.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml index f6676bdbe7..aa76152e57 100644 --- a/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml +++ b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml @@ -1,5 +1,8 @@ /**: ros__parameters: + csv_path_accel_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv + csv_path_brake_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv + csv_path_steer_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv convert_accel_cmd: true convert_brake_cmd: true convert_steer_cmd: false From d83dcae4026bac12522db765fdceb2f78117c4f6 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 8 Mar 2024 05:25:37 +0900 Subject: [PATCH 10/26] feat(planning_simulator): default use_sim_time arg to scenario_simulation (#903) Signed-off-by: Maxime CLEMENT --- autoware_launch/launch/planning_simulator.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index bb7f1b66f1..bc53dfa834 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -34,6 +34,8 @@ + + From c642e2db333fd665206b790b93461ffd60b56e40 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 8 Mar 2024 09:14:16 +0900 Subject: [PATCH 11/26] feat(out_of_lane): add cut_beyond_red_traffic_lights parameter (#885) Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/out_of_lane.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml index b55c3b21de..689775ab91 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml @@ -18,6 +18,7 @@ # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in. predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value. distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane + cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights overlap: minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered From efae4831cff8ee29e0007923871f49a54ccce0a3 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Fri, 8 Mar 2024 22:27:02 +0900 Subject: [PATCH 12/26] fix(component_state_monitor): change pose_estimator_pose rate (#910) Signed-off-by: Yamato Ando --- .../config/system/component_state_monitor/topics.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index f8c6f9685f..f056892849 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -59,7 +59,7 @@ topic_type: geometry_msgs/msg/PoseWithCovarianceStamped best_effort: false transient_local: false - warn_rate: 5.0 + warn_rate: 2.0 error_rate: 1.0 timeout: 1.0 From df4d43596c9e3e3eca468f29468446d39110f22b Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 11 Mar 2024 16:52:37 +0900 Subject: [PATCH 13/26] fix(avoidance): tune lateral margin params (#913) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 24 +++++++++---------- 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 6650df56e1..c72033dd7c 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -30,9 +30,9 @@ moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 2.0 # [s] lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: 0.3 # [m] - hard_margin_for_parked_vehicle: 0.3 # [m] + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 # [-] envelope_buffer_margin: 0.5 # [m] safety_buffer_longitudinal: 0.0 # [m] @@ -42,9 +42,9 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 lateral_margin: - soft_margin: 0.9 # [m] - hard_margin: 0.1 # [m] - hard_margin_for_parked_vehicle: 0.1 # [m] + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 safety_buffer_longitudinal: 0.0 @@ -54,9 +54,9 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 lateral_margin: - soft_margin: 0.9 # [m] - hard_margin: 0.1 # [m] - hard_margin_for_parked_vehicle: 0.1 # [m] + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 safety_buffer_longitudinal: 0.0 @@ -66,9 +66,9 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 lateral_margin: - soft_margin: 0.9 # [m] - hard_margin: 0.1 # [m] - hard_margin_for_parked_vehicle: 0.1 # [m] + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 safety_buffer_longitudinal: 0.0 From 8ac10451f10c7a15164624c34c62448cd87a7ff6 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 12 Mar 2024 08:47:06 +0900 Subject: [PATCH 14/26] fix(avoidance): tune safety check params (#914) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index c72033dd7c..5fbbfb21f2 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -192,7 +192,7 @@ check_all_predicted_path: false # [-] safety_check_backward_distance: 100.0 # [m] hysteresis_factor_expand_rate: 1.5 # [-] - hysteresis_factor_safe_count: 10 # [-] + hysteresis_factor_safe_count: 3 # [-] # predicted path parameters min_velocity: 1.38 # [m/s] max_velocity: 50.0 # [m/s] @@ -208,7 +208,7 @@ rear_vehicle_safety_time_margin: 1.0 # [s] lateral_distance_max_threshold: 2.0 # [m] longitudinal_distance_min_threshold: 3.0 # [m] - longitudinal_velocity_delta_time: 0.8 # [s] + longitudinal_velocity_delta_time: 0.0 # [s] # For avoidance maneuver avoidance: From 7635c5150df5d372720c4a23ed72a3a1f7a75ab3 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Tue, 12 Mar 2024 15:21:30 +0900 Subject: [PATCH 15/26] feat(obstacle_cruise_planner): enable obstacle cruise's yield function by default (#917) enable obstacle cruise's yield function by default Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 2ff87e9b01..e9156441a4 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 @@ -96,7 +96,7 @@ ego_obstacle_overlap_time_threshold : 2.0 # time threshold to decide cut-in obstacle for cruise or stop [s] max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego yield: - enable_yield: false + enable_yield: true lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding max_lat_dist_between_obstacles: 2.5 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it max_obstacles_collision_time: 10.0 # how far the blocking obstacle From 7c57ef7b7156ab6387e2320276af5d4a010b0f30 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 12 Mar 2024 17:56:51 +0900 Subject: [PATCH 16/26] feat(ndt_scan_matcher): added a parameter of sensor points (#908) * Added parameters of sensor points Signed-off-by: Shintaro SAKODA * Added unit Signed-off-by: Shintaro SAKODA --------- Signed-off-by: Shintaro SAKODA --- .../ndt_scan_matcher/ndt_scan_matcher.param.yaml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml index 144449ce75..241892e67b 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml @@ -11,6 +11,12 @@ map_frame: "map" + sensor_points: + # Required distance of input sensor points. [m] + # If the max distance of input sensor points is lower than this value, the scan matching will not be performed. + required_distance: 10.0 + + ndt: # The maximum difference between two consecutive # transformations in order to consider convergence From 5aced52b8d7e491fe446e4fa583762e24c43aad3 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 13 Mar 2024 14:02:53 +0900 Subject: [PATCH 17/26] chore: change default of low_height_crop filter use (#918) Signed-off-by: badai-nguyen --- .../launch/components/tier4_perception_component.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 3b0f8eca46..d4d941da4e 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -19,6 +19,7 @@ + Date: Wed, 13 Mar 2024 17:47:21 +0900 Subject: [PATCH 18/26] feat(pointcloud_preprocessor, probabilistic_occupancy_grid_map): enable multi lidar occupancy grid map creation pipeline (#740) * add multi lidar pointcloud based ogm creation Signed-off-by: yoshiri * enable sensing launch to control concatenate node Signed-off-by: yoshiri * style(pre-commit): autofix * refactor : change concatenate node parameter name Signed-off-by: yoshiri * chore: set single lidar ogm to be default Signed-off-by: yoshiri * feat: update multi_lidar_ogm param file Signed-off-by: yoshiri * chore: remove sensing launch changes because it does not needed Signed-off-by: yoshiri * chore: fix multi lidar settings for sample sensor kit Signed-off-by: yoshiri --------- Signed-off-by: yoshiri Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- ...tcloud_based_occupancy_grid_map.param.yaml | 53 +++++++++++++++++++ ...nchronized_grid_map_fusion_node.param.yaml | 20 +++++++ .../tier4_perception_component.launch.xml | 6 ++- 3 files changed, 78 insertions(+), 1 deletion(-) create mode 100644 autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml create mode 100644 autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml diff --git a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml new file mode 100644 index 0000000000..f9a1c4f930 --- /dev/null +++ b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml @@ -0,0 +1,53 @@ +# sample grid map fusion parameters for sample sensor kit +/**: + ros__parameters: + # shared parameters + shared_config: + map_frame: "map" + base_link_frame: "base_link" + # center of the grid map + gridmap_origin_frame: "base_link" + + map_resolution: 0.5 # [m] + map_length_x: 150.0 # [m] + map_length_y: 150.0 # [m] + + # each grid map parameters + ogm_creation_config: + height_filter: + use_height_filter: true + min_height: -1.0 + max_height: 2.0 + enable_single_frame_mode: true + # use sensor pointcloud to filter obstacle pointcloud + filter_obstacle_pointcloud_by_raw_pointcloud: true + + grid_map_type: "OccupancyGridMapFixedBlindSpot" + OccupancyGridMapFixedBlindSpot: + distance_margin: 1.0 + OccupancyGridMapProjectiveBlindSpot: + projection_dz_threshold: 0.01 # [m] for avoiding null division + obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length + pub_debug_grid: false + + # parameter settings for ogm fusion + fusion_config: + # following parameters are shared: map_frame, base_link_frame, gridmap_origin_frame, map_resolution, map_length + # Setting1: tune ogm creation parameters + raw_pointcloud_topics: # put each sensor's pointcloud topic + - "/sensing/lidar/top/pointcloud" + - "/sensing/lidar/left/pointcloud" + - "/sensing/lidar/right/pointcloud" + fusion_input_ogm_topics: + - "/perception/occupancy_grid_map/top_lidar/map" + - "/perception/occupancy_grid_map/left_lidar/map" + - "/perception/occupancy_grid_map/right_lidar/map" + # reliability of each sensor (0.0 ~ 1.0) only work with "log-odds" and "dempster-shafer" + input_ogm_reliabilities: + - 1.0 + - 0.6 + - 0.6 + + # Setting2: tune ogm fusion parameters + ## choose fusion method from ["overwrite", "log-odds", "dempster-shafer"] + fusion_method: "overwrite" diff --git a/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml new file mode 100644 index 0000000000..f8a2dc2fbc --- /dev/null +++ b/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml @@ -0,0 +1,20 @@ +/**: + ros__parameters: + # 1. fusion parameters + fusion_input_ogm_topics: ["topic1", "topic2"] + input_ogm_reliabilities: [0.8, 0.2] + fusion_method: "overwrite" # choose from ["overwrite", "log-odds", "dempster-shafer"] + + # 2. synchronization settings + match_threshold_sec: 0.01 # 10ms + timeout_sec: 0.1 # 100ms + input_offset_sec: [0.0, 0.0] # no offset + + # 3. settings for fused fusion map + # remember resolution and map size should be same with input maps + map_frame_: "map" + base_link_frame_: "base_link" + grid_map_origin_frame_: "base_link" + fusion_map_length_x: 100.0 + fusion_map_length_y: 100.0 + fusion_map_resolution: 0.5 diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index d4d941da4e..8418afabdf 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -1,6 +1,10 @@ - + Date: Wed, 13 Mar 2024 18:50:04 +0900 Subject: [PATCH 19/26] chore(duplicated_node_checker): print duplication name (#888) Signed-off-by: Mamoru Sobue --- .../duplicated_node_checker/duplicated_node_checker.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml index 54b4f691b6..96dce7eb36 100644 --- a/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml +++ b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml @@ -1,4 +1,4 @@ /**: ros__parameters: update_rate: 10.0 - add_duplicated_node_names_to_msg: false # if true, duplicated node names are added to msg + add_duplicated_node_names_to_msg: true # if true, duplicated node names are added to msg From b37411114f38cf54b8800de297cc39c7c1e1034d Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 14 Mar 2024 00:18:02 +0900 Subject: [PATCH 20/26] feat: add marker for control's stop reason, false by default (#912) Signed-off-by: Takayuki Murooka --- autoware_launch/rviz/autoware.rviz | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 9b998dc29b..8b305e3e46 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2374,6 +2374,19 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Stop Reason + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/longitudinal/stop_reason + Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/MPC From f4778f96f820d0fd2ee7b90f107dfb9aff048a09 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 14 Mar 2024 13:04:23 +0900 Subject: [PATCH 21/26] feat(crosswalk): increase minimum occlusion size that causes slowdown to 1m (#909) Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/crosswalk.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 87140169b4..ac18c935dd 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -75,7 +75,7 @@ occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space slow_down_velocity: 1.0 # [m/s] time_buffer: 0.5 # [s] consecutive time with/without an occlusion to add/remove the slowdown - min_size: 0.5 # [m] minimum size of an occlusion (square side size) + min_size: 1.0 # [m] minimum size of an occlusion (square side size) free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid ignore_with_red_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored From 948d3bad60c53a07c3b03fe28a777dca93e26461 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 15 Mar 2024 11:01:02 +0900 Subject: [PATCH 22/26] refactor(avoidance): rename param (#923) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 5fbbfb21f2..3cde099bf9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -154,7 +154,7 @@ backward_distance: 10.0 # [m] # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. - force_avoidance: + avoidance_for_ambiguous_vehicle: enable: true # [-] time_threshold: 3.0 # [s] distance_threshold: 1.0 # [m] From 6b32fd682f610051b2f1b02cd81baca658cf1f0f Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 18 Mar 2024 17:22:49 +0900 Subject: [PATCH 23/26] refactor(obstacle_cruise_planner): move slow down params to a clear location (#926) move slow down params to a clear location Signed-off-by: Daniel Sanchez --- .../planning/scenario_planning/common/common.param.yaml | 4 ---- .../obstacle_cruise_planner.param.yaml | 2 ++ 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 0dba945718..4edbbf2d35 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -9,10 +9,6 @@ min_jerk: -1.0 # min jerk [m/sss] max_jerk: 1.0 # max jerk [m/sss] - slow_down: - min_acc: -1.0 # min deceleration [m/ss] - min_jerk: -1.0 # min jerk [m/sss] - # constraints to be observed limit: min_acc: -2.5 # min deceleration limit [m/ss] 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 e9156441a4..d88e10cc44 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 @@ -16,6 +16,8 @@ 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] + slow_down_min_acc: -1.0 # slow down min deceleration [m/ss] + slow_down_min_jerk: -1.0 # slow down min jerk [m/sss] nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index From 262d2537a4b179316d636fb1ff38b79f2d0153df Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 19 Mar 2024 08:13:15 +0900 Subject: [PATCH 24/26] fix(avoidance): wait and see objects (#925) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 3cde099bf9..619539be0d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -156,8 +156,10 @@ # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. avoidance_for_ambiguous_vehicle: enable: true # [-] - time_threshold: 3.0 # [s] - distance_threshold: 1.0 # [m] + closest_distance_to_wait_and_see: 10.0 # [m] + condition: + time_threshold: 3.0 # [s] + distance_threshold: 1.0 # [m] ignore_area: traffic_light: front_distance: 100.0 # [m] From d80331b20d80328c20cc5f0f22f8ee3772fa0f63 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 19 Mar 2024 16:06:27 +0900 Subject: [PATCH 25/26] feat(dynamic_obstacle_stop): add parameter to ignore unavoidable collisions (#916) Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/dynamic_obstacle_stop.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml index 14483093e8..c18de5bd53 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml @@ -8,3 +8,4 @@ hysteresis: 1.0 # [m] once a collision has been detected, this hysteresis is used on the collision detection decision_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being cancelled minimum_object_distance_from_ego_path: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision + ignore_unavoidable_collisions : true # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight) From 72cc44da6ec00da10e0967929731534d2cb263a5 Mon Sep 17 00:00:00 2001 From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com> Date: Tue, 19 Mar 2024 21:20:05 +0900 Subject: [PATCH 26/26] feat: add a param file of a mrm handler node (#927) Signed-off-by: TetsuKawa --- .../system/mrm_handler/mrm_handler.param.yaml | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) create mode 100644 autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml diff --git a/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml new file mode 100644 index 0000000000..e82ee36a78 --- /dev/null +++ b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml @@ -0,0 +1,17 @@ +# Default configuration for mrm handler +--- +/**: + ros__parameters: + update_rate: 10 + timeout_operation_mode_availability: 0.5 + timeout_call_mrm_behavior: 0.01 + timeout_cancel_mrm_behavior: 0.01 + use_emergency_holding: false + timeout_emergency_recovery: 5.0 + use_parking_after_stopped: false + use_pull_over: false + use_comfortable_stop: false + + # setting whether to turn hazard lamp on for each situation + turning_hazard_on: + emergency: true