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feat(auto_parking): automated valet parking implementation #949

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feat(auto_parking): automated valet parking implementation #949

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41f40d4
perf(freespace_planning_algorithms): update the astar search algorithm
4swinv Mar 8, 2024
4b82c87
feat(auto_parking): automated valet parking implementation
4swinv Apr 9, 2024
7b534e3
style(pre-commit): autofix
pre-commit-ci[bot] Apr 9, 2024
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5 changes: 5 additions & 0 deletions autoware_launch/config/planning/preset/default_preset.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -121,3 +121,8 @@ launch:
- arg:
name: launch_parking_module
default: "true"

# auto parking module, needs launch_parking_module
- arg:
name: launch_avp_module
default: "true"
2 changes: 2 additions & 0 deletions ...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
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Expand Up @@ -108,6 +108,8 @@
astar:
only_behind_solutions: false
use_back: false
use_curve_weight: true
use_complete_astar: true
distance_heuristic_weight: 1.0
# -- RRT* search Configurations --
rrtstar:
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2 changes: 2 additions & 0 deletions ...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
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Expand Up @@ -82,6 +82,8 @@
astar:
only_behind_solutions: false
use_back: false
use_curve_weight: true
use_complete_astar: true
distance_heuristic_weight: 1.0
# -- RRT* search Configurations --
rrtstar:
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31 changes: 31 additions & 0 deletions ...are_launch/config/planning/scenario_planning/parking/auto_parking/auto_parking.param.yaml
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@@ -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
8 changes: 5 additions & 3 deletions .../config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
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Expand Up @@ -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

Expand All @@ -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
Expand All @@ -36,6 +36,8 @@
astar:
only_behind_solutions: false
use_back: true
use_curve_weight: true
use_complete_astar: true
distance_heuristic_weight: 1.0

# -- RRT* search Configurations --
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3 changes: 3 additions & 0 deletions autoware_launch/launch/components/tier4_planning_component.launch.xml
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Expand Up @@ -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"/>
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