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chore: sync tier4/autoware_launch:awf-latest #619

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merged 29 commits into from
Oct 3, 2024
Merged

chore: sync tier4/autoware_launch:awf-latest #619

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705c589
feat(tier4_perception_launch): enable to use multi camera on traffic …
MasatoSaeki Sep 19, 2024
afbcb77
Merge pull request #601 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Sep 19, 2024
895731f
refactor(behavior_path_planner): remove unnecessary parameters (#1172)
takayuki5168 Sep 19, 2024
24bb9e7
Merge pull request #602 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Sep 19, 2024
96477cc
refactor(system_monitor/ntp_monitor): add-missing-parameters (#1174)
TetsuKawa Sep 20, 2024
b1a8f45
refactor(system_monitor/net_monitor): remove-missing-patameters (#1175)
TetsuKawa Sep 20, 2024
b7b8169
Merge pull request #604 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Sep 20, 2024
4cc9120
feat(emergency_handler): delete package (#1173)
veqcc Sep 20, 2024
d7aedeb
Merge pull request #605 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Sep 20, 2024
a8e335c
fix(avoidance_by_lane_change): remove unused parameter (#1176)
go-sakayori Sep 20, 2024
4288f79
feat(lane_change): add lane change parameter (#1157)
mkquda Sep 20, 2024
2a89eea
Merge pull request #606 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Sep 20, 2024
42409e3
fix(perception): adopt awsim (tlr) camera topic (#1177)
MasatoSaeki Sep 20, 2024
8486871
Merge pull request #608 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Sep 20, 2024
5563b43
revert: feat: change visualization of localization results from PoseH…
xmfcx Sep 20, 2024
f9f7ff3
Merge pull request #609 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Sep 20, 2024
b4f7ee5
feat(system_error_monitor): delete system error monitor (#1178)
TetsuKawa Sep 24, 2024
963a958
Merge pull request #612 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Sep 24, 2024
f9e12a6
feat(autonomous_emergency_braking): initiate speed_calculation_expans…
ismetatabay Sep 26, 2024
6c0c74f
Merge pull request #613 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Sep 26, 2024
ebd55cc
feat(pose_initializer): add new parameter for check error between ini…
RyuYamamoto Sep 27, 2024
953d4a8
Merge pull request #615 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Sep 27, 2024
6c0733a
fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruisi…
ahmeddesokyebrahim Sep 30, 2024
41475ad
Merge branch 'awf-latest' into sync-awf-latest
takayuki5168 Sep 30, 2024
f567a9c
Merge pull request #616 from tier4/sync-awf-latest
takayuki5168 Sep 30, 2024
6ed90f9
revert(obstacle_cruise): revert an awf change (#617)
yuki-takagi-66 Oct 1, 2024
56fdc60
feat(autonomous_emergency_braking): set max imu path length (#1183)
danielsanchezaran Oct 2, 2024
cf9840b
chore(crop_box_filter): add missing default parameter (#1155)
badai-nguyen Oct 2, 2024
4e3a88b
Merge pull request #618 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Oct 2, 2024
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4 changes: 3 additions & 1 deletion ...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
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Expand Up @@ -7,7 +7,8 @@
use_predicted_object_data: false
use_object_velocity_calculation: true
check_autoware_state: true
min_generated_path_length: 0.5
min_generated_imu_path_length: 0.5
max_generated_imu_path_length: 10.0
imu_prediction_time_horizon: 1.5
imu_prediction_time_interval: 0.1
mpc_prediction_time_horizon: 4.5
Expand All @@ -27,6 +28,7 @@
# Point cloud cropping
expand_width: 0.1
path_footprint_extra_margin: 4.0
speed_calculation_expansion_margin: 0.5

# Point cloud clustering
cluster_tolerance: 0.15 #[m]
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2 changes: 2 additions & 0 deletions autoware_launch/config/localization/pose_initializer.param.yaml
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Expand Up @@ -6,6 +6,8 @@

gnss_pose_timeout: 3.0 # [sec]
stop_check_duration: 3.0 # [sec]
pose_error_threshold: 5.0 # [m]
pose_error_check_enabled: false
ekf_enabled: $(var ekf_enabled)
gnss_enabled: $(var gnss_enabled)
yabloc_enabled: $(var yabloc_enabled)
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1 change: 1 addition & 0 deletions ...ion/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
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Expand Up @@ -15,3 +15,4 @@
min_y: -200.0
max_z: 2.0
min_z: -10.0
negative: false
8 changes: 0 additions & 8 deletions ...anning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml
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Expand Up @@ -7,7 +7,6 @@
# avoidance is performed for the object type with true
target_object:
car:
execute_num: 2 # [-]
th_moving_speed: 1.0 # [m/s]
th_moving_time: 1.0 # [s]
max_expand_ratio: 0.0 # [-]
Expand All @@ -17,7 +16,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
truck:
execute_num: 2
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -27,7 +25,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
bus:
execute_num: 2
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -37,7 +34,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
trailer:
execute_num: 2
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -47,7 +43,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
unknown:
execute_num: 1
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -57,7 +52,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
bicycle:
execute_num: 2
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -67,7 +61,6 @@
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
motorcycle:
execute_num: 2
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -77,7 +70,6 @@
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
pedestrian:
execute_num: 2
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
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2 changes: 0 additions & 2 deletions ...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
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Expand Up @@ -24,5 +24,3 @@
enable_cog_on_centerline: false
input_path_interval: 2.0
output_path_interval: 2.0

visualize_maximum_drivable_area: true
1 change: 1 addition & 0 deletions ...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
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Expand Up @@ -34,6 +34,7 @@
# safety check
safety_check:
allow_loose_check_for_cancel: true
enable_target_lane_bound_check: true
collision_check_yaw_diff_threshold: 3.1416
execution:
expected_front_deceleration: -1.0
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14 changes: 0 additions & 14 deletions autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
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15 changes: 0 additions & 15 deletions autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml
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11 changes: 0 additions & 11 deletions autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml
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55 changes: 0 additions & 55 deletions autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
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56 changes: 0 additions & 56 deletions autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
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54 changes: 0 additions & 54 deletions ...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
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1 change: 0 additions & 1 deletion autoware_launch/config/system/system_monitor/net_monitor.param.yaml
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@@ -1,7 +1,6 @@
/**:
ros__parameters:
devices: ["*"]
traffic_reader_port: 7636
monitor_program: "greengrass"
crc_error_check_duration: 1
crc_error_count_threshold: 1
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1 change: 1 addition & 0 deletions autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml
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Expand Up @@ -3,3 +3,4 @@
server: ntp.nict.jp
offset_warn: 0.1
offset_error: 5.0
timeout: 5
1 change: 0 additions & 1 deletion autoware_launch/launch/autoware.launch.xml
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Expand Up @@ -36,7 +36,6 @@
<arg name="system_run_mode" default="online" description="run mode in system"/>
<arg name="launch_system_monitor" default="true" description="launch system monitor"/>
<arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
<arg name="system_error_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"/>
<arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml" description="diagnostic graph config"/>
<!-- Tools -->
<arg name="rviz" default="true" description="launch rviz"/>
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3 changes: 2 additions & 1 deletion autoware_launch/launch/components/tier4_perception_component.launch.xml
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Expand Up @@ -20,6 +20,7 @@
<arg name="detected_objects_validation_method" default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (must be used with laserscan_based_occupancy_grid_map)"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>

<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
<!-- Options to Switch Launch Function/Module -->
Expand Down Expand Up @@ -48,7 +49,7 @@
<arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
<arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
<arg name="traffic_light_recognition/fusion_only" value="false"/>
<arg name="traffic_light_image_number" value="2"/>
<arg name="all_traffic_light_camera" value="$(var all_traffic_light_camera)"/>

<!-- object recognition parameters -->
<arg
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7 changes: 0 additions & 7 deletions autoware_launch/launch/components/tier4_system_component.launch.xml
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@@ -1,6 +1,5 @@
<?xml version="1.0"?>
<launch>
<arg name="system_error_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"/>
<arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
<arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>

Expand All @@ -11,15 +10,10 @@
<arg name="sensor_model" value="$(var sensor_model)"/>

<arg name="component_state_monitor_topic_path" value="$(find-pkg-share autoware_launch)/config/system/component_state_monitor/topics.yaml"/>
<arg name="emergency_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/emergency_handler/emergency_handler.param.yaml"/>
<arg name="duplicated_node_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml"/>
<arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
<arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
<arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
<arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
<arg name="system_error_monitor_planning_simulator_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml"/>
<arg name="diagnostic_aggregator_vehicle_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml"/>
<arg name="diagnostic_aggregator_system_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml"/>
<arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml"/>
<arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
<arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>
Expand All @@ -30,7 +24,6 @@
<arg name="system_monitor_process_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/process_monitor.param.yaml"/>
<arg name="system_monitor_voltage_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/voltage_monitor.param.yaml"/>

<arg name="use_emergency_handler" value="false"/>
<arg name="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.param.yaml"/>
<arg name="diagnostic_graph_aggregator_param_path" value="$(var diagnostic_graph_aggregator_param_path)"/>
<arg name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path)"/>
Expand Down
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