chore: sync beta branch beta/v0.39 with tier4/main

.prettierignore

@@ -1,2 +1,3 @@
 *.param.yaml
 *.rviz
+**/diagnostic_graph_aggregator/

autoware_launch/config/control/autoware_collision_detector/collision_detector.param.yaml

@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    use_pointcloud: false # use pointcloud as obstacle check
+    use_dynamic_object: true # use dynamic object as obstacle check
+    collision_distance: 0.1 # Distance at which an object is determined to have collided with ego [m]
+    nearby_filter_radius: 5.0 # Radius to filter nearby objects [m]
+    keep_ignoring_time: 10.0 # Time to keep filtering objects that first appeared in the vicinity
+    nearby_object_type_filters: # Classes subject to filtering for objects first appearing in the vicinity
+      filter_car: false
+      filter_truck: false
+      filter_bus: false
+      filter_trailer: false
+      filter_bicycle: false
+      filter_motorcycle: false
+      filter_pedestrian: false
+      filter_unknown: true

autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

@@ -11,7 +11,7 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.5
+    stopping_state_stop_dist: 0.49
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -5,7 +5,6 @@
       enable_yaw_bias_estimation: true
       predict_frequency: 50.0
       tf_rate: 50.0
-      publish_tf: true
       extend_state_step: 50
 
     pose_measurement:

autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml

@@ -4,6 +4,7 @@
     timeout_ms: 70.0
     match_threshold_ms: 50.0
     image_buffer_size: 15
+    point_project_to_unrectified_image: false
     debug_mode: false
     filter_scope_min_x: -100.0
     filter_scope_min_y: -100.0

autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml

@@ -12,8 +12,8 @@
     grid_length_y: 70.0
     grid_position_x: 0.0
     grid_position_y: 0.0
-    maximum_lidar_height_thres: 0.3
-    minimum_lidar_height_thres: -2.2
+    maximum_lidar_height_thres: 2.5  # [m] when use_points is true, ignore points with a z value above this (in the vehicle_frame)
+    minimum_lidar_height_thres: 0.0  # [m] when use_points is true, ignore points with a z value bellow this (in the vehicle_frame)
     use_wayarea: true
     use_parkinglot: true
     use_objects: true

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml

@@ -59,7 +59,7 @@
         maximum_jerk: 1.0
         path_priority: "efficient_path" # "efficient_path" or "close_goal"
         efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking)
-        lane_departure_check_expansion_margin: 0.0
+        lane_departure_check_expansion_margin: 0.2
 
         # shift parking
         shift_parking:

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml

@@ -6,6 +6,7 @@
 
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       backward_length_buffer_for_blocking_object: 3.0 # [m]
+      backward_length_from_intersection: 5.0 # [m]
 
       lane_changing_lateral_jerk: 0.5              # [m/s3]
 

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml

@@ -9,3 +9,4 @@
       hold_stop_margin_distance: 0.0
       distance_to_judge_over_stop_line: 0.5
       enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
+      suppress_pass_judge_when_stopping: false

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml

@@ -42,13 +42,13 @@
 
         outside:
           unknown: false
-          car: true
-          truck: true
-          bus: true
-          trailer: true
-          motorcycle: true
-          bicycle: true
-          pedestrian: true
+          car: false
+          truck: false
+          bus: false
+          trailer: false
+          motorcycle: false
+          bicycle: false
+          pedestrian: false
 
       cruise_obstacle_type:
         inside:

autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml

@@ -1,6 +1,5 @@
 files:
-  - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml }
+  - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml }
 
 edits:
   - { type: remove, path: /autoware/system/duplicated_node_checker }
-  - { type: remove, path: /autoware/control/emergency_braking }

autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml

@@ -1,5 +1,2 @@
 files:
-  - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml }
-
-edits:
-  - { type: remove, path: /autoware/control/emergency_braking }
+  - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml }

autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml

@@ -1,2 +1,2 @@
 files:
-  - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml }
+  - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-psim.yaml }

autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml

@@ -0,0 +1,70 @@
+files:
+  - { path: $(dirname)/map.yaml }
+  - { path: $(dirname)/localization.yaml }
+  - { path: $(dirname)/planning.yaml }
+  - { path: $(dirname)/perception.yaml }
+  - { path: $(dirname)/control.yaml }
+  - { path: $(dirname)/vehicle.yaml }
+  - { path: $(dirname)/system.yaml }
+
+units:
+  - path: /autoware/modes/stop
+    type: ok
+
+  - path: /autoware/modes/autonomous
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
+  - path: /autoware/modes/local
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/control/local }
+
+  - path: /autoware/modes/remote
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/control/remote }
+
+  - path: /autoware/modes/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
+  - path: /autoware/modes/comfortable_stop
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
+  - path: /autoware/modes/pull_over
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
+  - path: /autoware/debug/tools
+    type: and
+    list:
+      - { type: link, link: /autoware/system/service_log_checker }

autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml

@@ -0,0 +1,10 @@
+files:
+  - { path: $(dirname)/autoware-main.yaml }
+
+edits:
+  - { type: remove, path: /autoware/map/topic_rate_check/pointcloud_map }
+  - { type: remove, path: /autoware/localization/scan_matching_status }
+  - { type: remove, path: /autoware/localization/accuracy }
+  - { type: remove, path: /autoware/localization/sensor_fusion_status }
+  - { type: remove, path: /autoware/localization/topic_rate_check/pose_twist_fusion }
+  - { type: remove, path: /autoware/perception/topic_rate_check/pointcloud }

autoware_launch/config/system/system_diagnostic_monitor/control.yaml

@@ -0,0 +1,74 @@
+units:
+  - path: /autoware/control
+    type: and
+    list:
+      - { type: link, link: /autoware/control/topic_rate_check/trajectory_follower }
+      - { type: link, link: /autoware/control/topic_rate_check/control_command }
+      - { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate }
+      - { type: link, link: /autoware/control/emergency_braking }
+      - { type: link, link: /autoware/control/performance_monitoring/lane_departure }
+      - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
+      - { type: link, link: /autoware/control/performance_monitoring/control_state }
+      - { type: link, link: /autoware/control/collision_detector }
+
+  - path: /autoware/control/local
+    type: and
+    list:
+      - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
+      - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
+
+  - path: /autoware/control/remote
+    type: and
+    list:
+      - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
+      - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
+
+  - path: /autoware/control/topic_rate_check/trajectory_follower
+    type: diag
+    node: topic_state_monitor_trajectory_follower_control_cmd
+    name: control_topic_status
+
+  - path: /autoware/control/topic_rate_check/control_command
+    type: diag
+    node: topic_state_monitor_control_command_control_cmd
+    name: control_topic_status
+
+  - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate
+    type: diag
+    node: vehicle_cmd_gate
+    name: heartbeat
+
+  - path: /autoware/control/emergency_braking
+    type: diag
+    node: autonomous_emergency_braking
+    name: aeb_emergency_stop
+
+  - path: /autoware/control/performance_monitoring/lane_departure
+    type: diag
+    node: lane_departure_checker_node
+    name: lane_departure
+
+  - path: /autoware/control/performance_monitoring/trajectory_deviation
+    type: diag
+    node: lane_departure_checker_node
+    name: trajectory_deviation
+
+  - path: /autoware/control/performance_monitoring/control_state
+    type: diag
+    node: controller_node_exe
+    name: control_state
+
+  - path: /autoware/control/topic_rate_check/external_cmd_selector
+    type: diag
+    node: external_cmd_selector
+    name: heartbeat
+
+  - path: /autoware/control/topic_rate_check/external_cmd_converter
+    type: diag
+    node: external_cmd_converter
+    name: remote_control_topic_status
+
+  - path: /autoware/control/collision_detector
+    type: diag
+    node: collision_detector
+    name: collision_detect

autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml

@@ -0,0 +1,121 @@
+# TODO(Takagi, Isamu): This file is under construction.
+units:
+  - path: /autoware/system/resources/clock/offset
+    diag: ": NTP Offset"
+    timeout: 10.0
+
+  - path: /autoware/system/resources/cpu/offset
+    diag: ": CPU Temperature"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/cpu/usage
+    diag: ": CPU Usage"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/cpu/thermal_throttling
+    diag: ": CPU Thermal Throttling"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/cpu/frequency
+    diag: ": CPU Frequency"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/cpu/load_average
+    diag: ": CPU Load Average"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/gpu/temperature
+    diag: ": GPU Temperature"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/gpu/usage
+    diag: ": GPU Usage"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/gpu/memory_usage
+    diag: ": GPU Memory Usage"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/gpu/thermal_throttling
+    diag: ": GPU Thermal Throttling"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/gpu/frequency
+    diag: ": GPU Frequency"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/memory/usage
+    diag: ": Memory Usage"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/network/usage
+    diag: ": Network Usage"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/network/traffic
+    diag: ": Network Traffic"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/network/crc
+    diag: ": Network CRC Error"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/network/packet_reassembles
+    diag: ": IP Packet Reassembles Failed"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/storage/temperature
+    diag: ": HDD Temperature"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/storage/recovered_error
+    diag: ": HDD RecoveredError"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/storage/read_data_rate
+    diag: ": HDD ReadDataRate"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/storage/write_data_rate
+    diag: ": HDD WriteDataRate"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/storage/read_iops
+    diag: ": HDD ReadIOPS"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/storage/write_iops
+    diag: ": HDD WriteIOPS"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/storage/usage
+    diag: ": HDD Usage"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/storage/power_on_hours
+    diag: ": HDD PowerOnHours"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/storage/total_data_written
+    diag: ": HDD TotalDataWritten"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/storage/connection
+    diag: ": HDD Connection"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/process/high_load
+    diag: ": High-load"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/process/high_mem
+    diag: ": High-mem"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/process/tasks_summary
+    diag: ": Tasks Summary"
+    timeout: 3.0
+
+  - path: /autoware/system/resources/voltage/battery
+    diag: ": CMOS Battery Status"
+    timeout: 3.0