Merge pull request #614 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.35 with tier4/main

Author: tier4-autoware-public-bot[bot]

.github/CODEOWNERS

@@ -9,7 +9,7 @@ autoware_launch/config/control/** [email protected] fumiya.watanabe@tier
 autoware_launch/config/localization/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/map/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/perception/** [email protected] [email protected] [email protected]
-autoware_launch/config/planning/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/planning/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/simulator/** [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/system/** [email protected] [email protected]
 autoware_launch/config/vehicle/** [email protected] [email protected] [email protected] [email protected] [email protected]

.github/CODEOWNERS-manual

@@ -4,7 +4,7 @@ autoware_launch/** [email protected] [email protected] mfc@leodr
 autoware_launch/config/control/** [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/localization/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/map/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-autoware_launch/config/perception/** [email protected] [email protected] [email protected]
+autoware_launch/config/perception/** [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/planning/** [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/simulator/** [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/system/** [email protected] [email protected]
@@ -13,7 +13,7 @@ autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.
 autoware_launch/launch/components/tier4_control_component.launch.xml [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_localization_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_map_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-autoware_launch/launch/components/tier4_perception_component.launch.xml [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_perception_component.launch.xml [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_planning_component.launch.xml [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_sensing_component.launch.xml [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_simulator_component.launch.xml [email protected] [email protected] [email protected] [email protected]

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -5,6 +5,7 @@
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
     admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
+    use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory
 
     # -- path smoothing --
     enable_path_smoothing: false   # flag for path smoothing
@@ -75,4 +76,4 @@
       average_num: 1000
       steering_offset_limit: 0.02
 
-    debug_publish_predicted_trajectory: true  # publish debug predicted trajectory in Frenet coordinate
+    publish_debug_trajectories: true # flag to publish predicted trajectory and resampled reference trajectory for debug purpose

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -34,3 +34,6 @@
         low_priority_region_x: -20.0
         center_pcl_shift: 0.0
         radial_divider_angle_deg: 1.0
+
+        # debug parameters
+        publish_processing_time_detail: false

autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml

@@ -10,3 +10,6 @@
     cost_threshold: 45
     use_radius_search_2d_filter: true
     enable_debugger: false
+
+    # debug parameters
+    publish_processing_time_detail: False

autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml

@@ -16,3 +16,6 @@
     map_length: 150.0
     map_width: 150.0
     map_resolution: 0.5
+
+    # debug parameters
+    publish_processing_time_detail: false

autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml

@@ -12,6 +12,9 @@
         map_length_x: 150.0 # [m]
         map_length_y: 150.0 # [m]
 
+        # debug parameters
+        publish_processing_time_detail: false
+
       # downsample input pointcloud
       downsample_input_pointcloud: true
       downsample_voxel_size: 0.25 # [m]

autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml

@@ -32,3 +32,6 @@
       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
+
+    # debug parameters
+    publish_processing_time_detail: false

autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml

@@ -18,3 +18,6 @@
     fusion_map_length_x: 100.0
     fusion_map_length_y: 100.0
     fusion_map_resolution: 0.5
+
+    # debug parameters
+    publish_processing_time_detail: false

autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml

@@ -10,3 +10,4 @@
     minimum_reroute_length: 30.0
     consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not.
     check_footprint_inside_lanes: true
+    allow_reroute_in_autonomous_mode: true