From dbd69d8674a84fd2a6aa12185b20d75d43b6d4eb Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 18 Jul 2024 11:18:38 +0900 Subject: [PATCH 01/22] feat(control_validator)!: add velocity check (#1050) add param Signed-off-by: Yuki Takagi --- .../control/control_validator/control_validator.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml index ffd259e5e5..945a37ca58 100644 --- a/autoware_launch/config/control/control_validator/control_validator.param.yaml +++ b/autoware_launch/config/control/control_validator/control_validator.param.yaml @@ -1,6 +1,5 @@ /**: ros__parameters: - # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR. # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if # the next predicted_path is valid.) @@ -10,3 +9,5 @@ thresholds: max_distance_deviation: 1.0 + max_reverse_velocity: 0.2 + max_over_velocity_ratio: 0.1 From 14946c04dc8f3eb5867a12802db568c2e6f98117 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 18 Jul 2024 17:35:11 +0900 Subject: [PATCH 02/22] feat(api): set launch_deprecated_api true (#496) feat(api): launch_deprecated_api=true Signed-off-by: kosuke55 --- .../components/tier4_autoware_api_component.launch.xml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index 1c7b520108..bc582fbb9a 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -1,7 +1,8 @@ - - + + + From 1b046040129bc661ffa1993888cbe8e6b114ade8 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 19 Jul 2024 14:00:39 +0900 Subject: [PATCH 03/22] fix(api): disable rosbridge to fix duplicated node (#497) Signed-off-by: kosuke55 --- .../launch/components/tier4_autoware_api_component.launch.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index bc582fbb9a..2b6083bed6 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -2,7 +2,5 @@ - - From a8bc43e7c0218b1b7c851131c58a64b5c5c47a78 Mon Sep 17 00:00:00 2001 From: Giovanni Muhammad Raditya Date: Fri, 19 Jul 2024 16:30:46 +0900 Subject: [PATCH 04/22] feat(e2e_simulator.launch): renamed carla interface package in e2e_launch (#1075) renamed carla package to autoware_carla_interface --- autoware_launch/launch/e2e_simulator.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index d05d0acb62..1372d04e7c 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -41,7 +41,7 @@ - + From e07760ef4e6a1534a09c805fd6609e8497f6dcf0 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 19 Jul 2024 17:02:45 +0900 Subject: [PATCH 05/22] feat(simple_planning_simulator): add actuation command simulator (#1078) Signed-off-by: kosuke55 --- .../launch/components/tier4_simulator_component.launch.xml | 2 ++ autoware_launch/launch/planning_simulator.launch.xml | 1 + 2 files changed, 3 insertions(+) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index a0eb99c7a7..817d5d9d97 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -12,6 +12,7 @@ + @@ -27,6 +28,7 @@ + + From 4e229642895515dec7fc1a95d8fc5a48fe9a177b Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Fri, 19 Jul 2024 17:18:23 +0900 Subject: [PATCH 06/22] feat(ndt_scan_matcher): add scale_factor to covariance_estimation (#1081) Added scale_factor to ndt_scan_matcher.covariance_estimation Signed-off-by: Shintaro Sakoda --- .../localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml | 3 +++ 1 file changed, 3 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 616cb108ba..9e2cacab4d 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 @@ -119,6 +119,9 @@ # In MULTI_NDT_SCORE, the parameter that adjusts the estimated 2D covariance temperature: 0.1 + # Scale value for adjusting the estimated covariance by a constant multiplication + scale_factor: 1.0 + dynamic_map_loading: # Dynamic map loading distance From 244285f5f7999f4390c2f65f36a112c233b61143 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 19 Jul 2024 17:34:16 +0900 Subject: [PATCH 07/22] chore: add p/c maintainers (#1079) * Add codeowner Signed-off-by: Daniel Sanchez * chore: update CODEOWNERS file with kyoichi sugahara as code owner Signed-off-by: kyoichi-sugahara * Add zulfaqar-azmi-t4 as codeowner for both planning and control Signed-off-by: Muhammad Zulfaqar Azmi * add go-sakayori as code owner Signed-off-by: Go Sakayori * Update config Signed-off-by: Daniel Sanchez * add kosuke.takeuchi Signed-off-by: kosuke55 * add mkquda as code owner Signed-off-by: mohammad alqudah * Add maxime * Add hisaki * Update CODEOWNERS * Add hisaki --------- Signed-off-by: Daniel Sanchez Signed-off-by: kyoichi-sugahara Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Go Sakayori Signed-off-by: kosuke55 Signed-off-by: mohammad alqudah Co-authored-by: kyoichi-sugahara Co-authored-by: Muhammad Zulfaqar Azmi Co-authored-by: Go Sakayori Co-authored-by: kosuke55 Co-authored-by: mohammad alqudah Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Co-authored-by: Mamoru Sobue --- .github/CODEOWNERS | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 850bf04df9..3e2397e427 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -5,20 +5,20 @@ autoware_launch/** mfc@leodrive.ai ryohsuke.mitsudome@tier4.jp yukihiro.saito@ti # /** # .github/** autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodrive.ai -autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp +autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp alqudah.mohammad@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp -autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp +autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp alqudah.mohammad@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/config/system/** fumihito.ito@tier4.jp isamu.takagi@tier4.jp -autoware_launch/config/vehicle/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp +autoware_launch/config/vehicle/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp mamoru.sobue@tier4.jp autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.takagi@tier4.jp -autoware_launch/launch/components/tier4_control_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp +autoware_launch/launch/components/tier4_control_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp alqudah.mohammad@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp autoware_launch/launch/components/tier4_localization_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/launch/components/tier4_map_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp -autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp +autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp alqudah.mohammad@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp autoware_launch/launch/components/tier4_simulator_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp From b12fdff11e4248c458b47e8fd5a80839c9ba4354 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:21:16 +0900 Subject: [PATCH 08/22] feat(vehicle_cmd_gate): change param to relax pedal rate limit when the vehicle velocity is slow enough (#1077) * change param Signed-off-by: Yuki Takagi --- .../vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 54c87f45b6..74affea696 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -16,14 +16,14 @@ stop_check_duration: 1.0 nominal: vel_lim: 25.0 - reference_speed_points: [20.0, 30.0] - steer_lim: [1.0, 0.8] - steer_rate_lim: [1.0, 0.8] - lon_acc_lim: [5.0, 4.0] - lon_jerk_lim: [5.0, 4.0] - lat_acc_lim: [5.0, 4.0] - lat_jerk_lim: [7.0, 6.0] - actual_steer_diff_lim: [1.0, 0.8] + reference_speed_points: [0.1, 0.3, 20.0, 30.0] + steer_lim: [1.0, 1.0, 1.0, 0.8] + steer_rate_lim: [1.0, 1.0, 1.0, 0.8] + lon_acc_lim: [5.0, 5.0, 5.0, 4.0] + lon_jerk_lim: [80.0, 5.0, 5.0, 4.0] # The first element is required for quick pedal changes when stopping and starting. + lat_acc_lim: [5.0, 5.0, 5.0, 4.0] + lat_jerk_lim: [7.0, 7.0, 7.0, 6.0] + actual_steer_diff_lim: [1.0, 1.0, 1.0, 0.8] on_transition: vel_lim: 50.0 reference_speed_points: [20.0, 30.0] From f208ab256c6362f7ed8ae7f8b0af3b0a9e375a49 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 22 Jul 2024 17:30:19 +0900 Subject: [PATCH 09/22] feat(start_planner): add end_pose_curvature_threshold (#1059) Signed-off-by: kosuke55 --- .../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 13c43cd4d4..1e8d104e8d 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 @@ -32,6 +32,7 @@ minimum_lateral_acc: 0.15 maximum_lateral_acc: 0.5 maximum_curvature: 0.07 + end_pose_curvature_threshold: 0.01 # geometric pull out enable_geometric_pull_out: true geometric_collision_check_distance_from_end: 0.0 From f3e4c8be6cf4acd9a27dd7b791d872bd68fe719d Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 22 Jul 2024 17:53:42 +0900 Subject: [PATCH 10/22] feat(out_of_lane): add parameter to ignore objects behind ego (#1062) Signed-off-by: Maxime CLEMENT --- .../motion_velocity_planner/out_of_lane.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml index b13df72409..0646cd07d7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml @@ -20,6 +20,7 @@ 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 + ignore_behind_ego: false # if true, objects behind the ego vehicle are ignored overlap: minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered From 679fa87c55f83e0c57e986f6d0bcc8e72a120750 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 23 Jul 2024 10:11:43 +0900 Subject: [PATCH 11/22] feat(start_planner): set end_pose_curvature_threshold 0.1 (#1088) Signed-off-by: kosuke55 --- .../start_planner/start_planner.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/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 1e8d104e8d..a901a9f29a 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 @@ -32,7 +32,7 @@ minimum_lateral_acc: 0.15 maximum_lateral_acc: 0.5 maximum_curvature: 0.07 - end_pose_curvature_threshold: 0.01 + end_pose_curvature_threshold: 0.1 # geometric pull out enable_geometric_pull_out: true geometric_collision_check_distance_from_end: 0.0 From b99303cfb4835a622806b0204a5707971591d37e Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Wed, 24 Jul 2024 13:53:32 +0900 Subject: [PATCH 12/22] feat(pid_longitudinal_controller): re-organize diff limit structure (#1052) * rearange params Signed-off-by: Yuki Takagi --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index 5f023e1685..97a1d64ed8 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -53,12 +53,11 @@ # stopped state stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 + stopped_acc: -3.4 # denotes pedal position # emergency state emergency_vel: 0.0 - emergency_acc: -5.0 + emergency_acc: -5.0 # denotes acceleration emergency_jerk: -3.0 # acceleration limit @@ -68,6 +67,7 @@ # jerk limit max_jerk: 2.0 min_jerk: -5.0 + max_acc_cmd_diff: 50.0 # [m/s^2 * s^-1] # slope compensation lpf_pitch_gain: 0.95 From 9a9acaa7c0e6a440747533e50d877506585af7cd Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 26 Jul 2024 07:46:07 +0900 Subject: [PATCH 13/22] feat(dynamic_drivable_area_expansion): min_bound_interval parameter (#1092) Signed-off-by: Maxime CLEMENT --- .../behavior_path_planner/drivable_area_expansion.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index f3393ff5a4..2e4984afe7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -10,6 +10,7 @@ enabled: true print_runtime: false max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) + min_bound_interval: 1.0 # [m] minimum interval between two consecutive bound points (before expansion) smoothing: curvature_average_window: 3 # window size used for smoothing the curvatures using a moving window average max_bound_rate: 1.0 # [m/m] maximum rate of change of the bound lateral distance over its arc length From bf6e342fa5a934719c02e2728c0b28d066ebadfc Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Mon, 29 Jul 2024 15:25:52 +0900 Subject: [PATCH 14/22] feat(freespace_planning_algorithm): update freespace planner params (#1080) * update freespace planner params Signed-off-by: mohammad alqudah * update goal planner params Signed-off-by: mohammad alqudah * update start planner params Signed-off-by: mohammad alqudah * rename parameter Signed-off-by: mohammad alqudah * change parameter value Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah --- .../common/costmap_generator.param.yaml | 2 +- .../goal_planner/goal_planner.param.yaml | 21 +++++++++++------- .../start_planner/start_planner.param.yaml | 21 +++++++++++------- .../freespace_planner.param.yaml | 22 ++++++++++--------- 4 files changed, 39 insertions(+), 27 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml index cf4f73dc79..d23e2e9676 100644 --- a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml @@ -7,7 +7,7 @@ activate_by_scenario: False grid_min_value: 0.0 grid_max_value: 1.0 - grid_resolution: 0.2 + grid_resolution: 0.3 grid_length_x: 70.0 grid_length_y: 70.0 grid_position_x: 0.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 67708f3386..5cee76de9b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -91,25 +91,30 @@ velocity: 1.0 vehicle_shape_margin: 1.0 time_limit: 3000.0 - minimum_turning_radius: 5.0 - maximum_turning_radius: 5.0 - turning_radius_size: 1 + max_turning_ratio: 0.5 + turning_steps: 1 # search configs search_configs: - theta_size: 144 + theta_size: 120 angle_goal_range: 6.0 - curve_weight: 1.2 - reverse_weight: 1.0 lateral_goal_range: 0.5 longitudinal_goal_range: 2.0 + curve_weight: 0.5 + reverse_weight: 1.0 + direction_change_weight: 1.5 # costmap configs costmap_configs: obstacle_threshold: 30 # -- A* search Configurations -- astar: + search_method: "forward" # options: forward, backward only_behind_solutions: false - use_back: false - distance_heuristic_weight: 1.0 + use_back: true + adapt_expansion_distance: true + expansion_distance: 0.5 + distance_heuristic_weight: 2.0 + smoothness_weight: 0.5 + obstacle_distance_weight: 1.75 # -- RRT* search Configurations -- rrtstar: enable_update: true 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 a901a9f29a..8cfae9e9ad 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 @@ -62,25 +62,30 @@ velocity: 1.0 vehicle_shape_margin: 1.0 time_limit: 3000.0 - minimum_turning_radius: 5.0 - maximum_turning_radius: 5.0 - turning_radius_size: 1 + max_turning_ratio: 0.7 + turning_steps: 1 # search configs search_configs: - theta_size: 144 + theta_size: 120 angle_goal_range: 6.0 - curve_weight: 1.2 - reverse_weight: 1.0 lateral_goal_range: 0.5 longitudinal_goal_range: 2.0 + curve_weight: 0.5 + reverse_weight: 1.0 + direction_change_weight: 1.5 # costmap configs costmap_configs: obstacle_threshold: 30 # -- A* search Configurations -- astar: + search_method: "forward" # options: forward, backward only_behind_solutions: false - use_back: false - distance_heuristic_weight: 1.0 + use_back: true + adapt_expansion_distance: true + expansion_distance: 0.5 + distance_heuristic_weight: 2.0 + smoothness_weight: 0.5 + obstacle_distance_weight: 1.75 # -- RRT* search Configurations -- rrtstar: enable_update: true diff --git a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml index ffd99df533..e695fc58ed 100644 --- a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml @@ -16,27 +16,29 @@ # base configs time_limit: 30000.0 # robot configs # TODO replace by vehicle_info - robot_length: 4.5 - robot_width: 1.75 - robot_base2back: 1.0 - minimum_turning_radius: 9.0 - maximum_turning_radius: 9.0 - turning_radius_size: 1 + max_turning_ratio: 0.5 # ratio of actual turning limit of vehicle + turning_steps: 1 # search configs - theta_size: 144 + theta_size: 120 angle_goal_range: 6.0 - curve_weight: 1.2 - reverse_weight: 2.0 lateral_goal_range: 0.5 longitudinal_goal_range: 2.0 + curve_weight: 0.5 + reverse_weight: 1.0 + direction_change_weight: 1.5 # costmap configs obstacle_threshold: 100 # -- A* search Configurations -- astar: + search_method: "forward" # options: forward, backward only_behind_solutions: false use_back: true - distance_heuristic_weight: 1.0 + adapt_expansion_distance: true + expansion_distance: 0.5 + distance_heuristic_weight: 2.0 + smoothness_weight: 0.5 + obstacle_distance_weight: 1.75 # -- RRT* search Configurations -- rrtstar: From 1854a7563e9b66e252295d061e9915406cd78907 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 30 Jul 2024 15:23:30 +0900 Subject: [PATCH 15/22] feat(out_of_lane): add lateral buffer between the lane and stop pose (#1098) Signed-off-by: Maxime CLEMENT --- .../motion_velocity_planner/out_of_lane.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml index 0646cd07d7..97cf050f18 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml @@ -29,7 +29,8 @@ action: # action to insert in the path if an object causes a conflict at an overlap skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed precision: 0.1 # [m] precision when inserting a stop pose in the path - distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane + longitudinal_distance_buffer: 1.5 # [m] safety distance buffer to keep in front of the ego vehicle + lateral_distance_buffer: 1.0 # [m] safety distance buffer to keep on the side of the ego vehicle min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled slowdown: distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap From 765ace655c48befdd516d48524efdabd3366f8f4 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 30 Jul 2024 17:29:32 +0900 Subject: [PATCH 16/22] perf(ndt_scan_matcher): change the temperature of multi_ndt_score to 0.05 (#1096) Changed the temperature of multi_ndt_score Signed-off-by: Shintaro Sakoda --- .../localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 9e2cacab4d..5d6b8d7344 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 @@ -117,7 +117,7 @@ initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] # In MULTI_NDT_SCORE, the parameter that adjusts the estimated 2D covariance - temperature: 0.1 + temperature: 0.05 # Scale value for adjusting the estimated covariance by a constant multiplication scale_factor: 1.0 From edb95580791a65456f26d672cfc85af4d695c1eb Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 30 Jul 2024 19:52:15 +0900 Subject: [PATCH 17/22] feat(crosswalk): more conservative when the ego pass first (#1085) * feat: use obstacle_cruise_planner and change safe_distance_margin Signed-off-by: Takayuki Murooka * feat: set max_vel to 40km/h Signed-off-by: Takayuki Murooka * feat: enable surround_obstacle_checker Signed-off-by: Takayuki Murooka * feat: enable surround_obstacle_checker Signed-off-by: Takayuki Murooka * feat: enable dynamic_avoidance and disable outside_drivable_area_stop Signed-off-by: Takayuki Murooka * feat: disable AEB and set the maximum velocity to 40km/h Signed-off-by: Takayuki Murooka * enable intersection_occlusion detection Signed-off-by: Mamoru Sobue * chore(planning_launch): update motion module name (#1014) Signed-off-by: satoshi-ota * disable AEB diag check Signed-off-by: Daniel Sanchez * feat(diagnostic_graph_utils): launch logging node for diagnostic_graph Signed-off-by: Takamasa Horibe * feat(api): set launch_deprecated_api true (#496) feat(api): launch_deprecated_api=true Signed-off-by: kosuke55 * fix(api): disable rosbridge to fix duplicated node (#497) Signed-off-by: kosuke55 * feat(crosswalk): more conservative when the ego pass first Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka Signed-off-by: Mamoru Sobue Signed-off-by: satoshi-ota Signed-off-by: Daniel Sanchez Signed-off-by: Takamasa Horibe Signed-off-by: kosuke55 Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: Mamoru Sobue Co-authored-by: Mamoru Sobue Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Daniel Sanchez Co-authored-by: danielsanchezaran Co-authored-by: Takamasa Horibe Co-authored-by: Kosuke Takeuchi --- .../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 f7cf23e015..ca1d211d1d 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 @@ -38,7 +38,7 @@ # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles pass_judge: ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) - ego_pass_first_margin_y: [3.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) + ego_pass_first_margin_y: [4.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) ego_pass_later_margin_y: [13.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) From a84f014e249e82b0ffa871e3118a01c2654c3044 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 30 Jul 2024 22:09:31 +0900 Subject: [PATCH 18/22] feat(dynamic_obstacle_avoidance): shorter predicted path for pedestrians (#1084) --- .../dynamic_obstacle_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/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml index c1f4646ef7..32d0caffd8 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml @@ -58,7 +58,7 @@ lat_offset_from_obstacle: 1.0 # [m] margin_distance_around_pedestrian: 2.0 # [m] predicted_path: - end_time_to_consider: 3.0 # [s] + end_time_to_consider: 2.0 # [s] threshold_confidence: 0.0 # [] not probability max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s] From 86c262efc728a1b89a4b0129468a9b2a915a88bc Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Wed, 31 Jul 2024 10:16:22 +0900 Subject: [PATCH 19/22] perf(freespace_planning_algorithms): tune freespace planner parameters (#1097) * reduce longitudinal goal range Signed-off-by: mohammad alqudah * tune parameters Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah --- .../parking/freespace_planner/freespace_planner.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml index e695fc58ed..a3e65a89f0 100644 --- a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml @@ -22,10 +22,10 @@ theta_size: 120 angle_goal_range: 6.0 lateral_goal_range: 0.5 - longitudinal_goal_range: 2.0 + longitudinal_goal_range: 1.0 curve_weight: 0.5 - reverse_weight: 1.0 - direction_change_weight: 1.5 + reverse_weight: 0.7 + direction_change_weight: 2.0 # costmap configs obstacle_threshold: 100 From 473e7e9ed0a14a326c75937c121018da1730d5e2 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Wed, 31 Jul 2024 19:45:17 +0900 Subject: [PATCH 20/22] feat(static_obstacle_avoidance): add force deactivation duration time (#1101) add force cancel duration time Signed-off-by: Go Sakayori --- .../static_obstacle_avoidance.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index 4776884734..ef113f6ff2 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -243,6 +243,8 @@ # For cancel maneuver cancel: enable: true # [-] + force: + duration_time: 2.0 # [s] # For yield maneuver yield: From b947098423af3d3d299fb7723e7ea8fce55c145e Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Wed, 31 Jul 2024 20:45:37 +0900 Subject: [PATCH 21/22] feat(autonomous_emergency_braking): enable AEB stop in vehicle_cmd_gate and diag_graph_agg (#1099) * enable emergency handling for AEB stop Signed-off-by: Daniel Sanchez * update AEB params to work better at 30 kmph Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking.param.yaml | 6 +++--- .../control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 2 +- .../mrm_emergency_stop_operator.param.yaml | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index 49ed6ee171..0d86229b1d 100644 --- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -2,14 +2,14 @@ ros__parameters: # Ego path calculation use_predicted_trajectory: true - use_imu_path: false + use_imu_path: true use_pointcloud_data: true use_predicted_object_data: false use_object_velocity_calculation: true min_generated_path_length: 0.5 imu_prediction_time_horizon: 1.5 imu_prediction_time_interval: 0.1 - mpc_prediction_time_horizon: 1.5 + mpc_prediction_time_horizon: 4.5 mpc_prediction_time_interval: 0.1 # Debug @@ -29,7 +29,7 @@ # Point cloud clustering cluster_tolerance: 0.15 #[m] - cluster_minimum_height: 0.0 + cluster_minimum_height: 0.1 minimum_cluster_size: 10 maximum_cluster_size: 10000 diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 74affea696..dd99e6d160 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -2,7 +2,7 @@ ros__parameters: update_rate: 10.0 system_emergency_heartbeat_timeout: 0.5 - use_emergency_handling: false + use_emergency_handling: true check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat) use_start_request: false enable_cmd_limit_filter: true diff --git a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml index 1ee2699a23..4d576457f2 100644 --- a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml +++ b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: update_rate: 30 - target_acceleration: -2.5 - target_jerk: -1.5 + target_acceleration: -3.0 + target_jerk: -3.0 From 6e6cfdbf80062132a402c804e13c07a278e8b97f Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Thu, 1 Aug 2024 11:15:08 +0900 Subject: [PATCH 22/22] Revert "fix(api): disable rosbridge to fix duplicated node (#497)" This reverts commit 1b046040129bc661ffa1993888cbe8e6b114ade8. --- .../launch/components/tier4_autoware_api_component.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index 2b6083bed6..bc582fbb9a 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -2,5 +2,7 @@ + +