feat(auto_parking): automated valet parking implementation

autoware_launch/config/planning/preset/default_preset.yaml

@@ -121,3 +121,9 @@ launch:
   - arg:
       name: launch_parking_module
       default: "true"
+
+  # auto parking module, needs launch_parking_module
+  - arg:
+      name: launch_avp_module
+      default: "true"
+

autoware_launch/config/planning/scenario_planning/parking/auto_parking/auto_parking.param.yaml

@@ -0,0 +1,31 @@
+/**:
+  ros__parameters:
+    # -- Auto Park Node Configurations --
+    th_arrived_distance_m: 1.0
+    th_parking_space_distance_m: 10.0
+    update_rate: 5.0
+    vehicle_shape_margin_m: 0.2
+
+    # -- Configurations common to the all planners --
+    # base configs
+    time_limit: 30000.0
+    minimum_turning_radius: 5.0
+    maximum_turning_radius: 9.0
+    turning_radius_size: 3
+    # search configs
+    theta_size: 144
+    angle_goal_range: 6.0
+    curve_weight: 1.2
+    reverse_weight: 2.0
+    lateral_goal_range: 0.5
+    longitudinal_goal_range: 2.0
+    # costmap configs
+    obstacle_threshold: 100
+
+    # -- A* search Configurations --
+    astar:
+      only_behind_solutions: false
+      use_back: true
+      use_curve_weight: false
+      use_complete_astar: true
+      distance_heuristic_weight: 1.0

autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml

@@ -8,7 +8,7 @@
     th_stopped_time_sec: 1.0
     th_stopped_velocity_mps: 0.01
     th_course_out_distance_m: 1.0
-    vehicle_shape_margin_m: 1.0
+    vehicle_shape_margin_m: 0.5
     replan_when_obstacle_found: true
     replan_when_course_out: true
 
@@ -19,9 +19,9 @@
     robot_length: 4.5
     robot_width: 1.75
     robot_base2back: 1.0
-    minimum_turning_radius: 9.0
+    minimum_turning_radius: 5.0
     maximum_turning_radius: 9.0
-    turning_radius_size: 1
+    turning_radius_size: 3
     # search configs
     theta_size: 144
     angle_goal_range: 6.0
@@ -47,3 +47,4 @@
       max_planning_time: 150.0
       neighbor_radius: 8.0
       margin: 0.1
+

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -59,6 +59,9 @@
     <!-- parking -->
     <arg name="freespace_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/>
 
+    <!-- auto parking -->
+    <arg name="auto_parking_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/parking/auto_parking/auto_parking.param.yaml"/>
+
     <!-- motion -->
     <arg name="motion_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning"/>
     <arg name="elastic_band_smoother_param_path" value="$(var motion_config_path)/path_smoother/elastic_band_smoother.param.yaml"/>