Merge pull request #337 from tier4/sync-awf-latest

chore: sync awf-latest

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

@@ -11,8 +11,8 @@
         max_x: 150.0
         min_y: -70.0
         max_y: 70.0
-        max_z: 2.5
-        min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        margin_max_z: 0.0  # to extend the crop box max_z from vehicle_height
+        margin_min_z: -2.5 # to extend the crop box min_z from ground
         negative: False
 
     common_ground_filter:

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

@@ -29,80 +29,96 @@
           execute_num: 1                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 2.0                   # [s]
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: 0.3                           # [m]
+            hard_margin_for_parked_vehicle: 0.3        # [m]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.5                  # [m]
-          avoid_margin_lateral: 0.7                    # [m]
-          safety_buffer_lateral: 0.3                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
           use_conservative_buffer_longitudinal: true   # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
         truck:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
+          lateral_margin:
+            soft_margin: 0.9                           # [m]
+            hard_margin: 0.1                           # [m]
+            hard_margin_for_parked_vehicle: 0.1        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.9
-          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bus:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
+          lateral_margin:
+            soft_margin: 0.9                           # [m]
+            hard_margin: 0.1                           # [m]
+            hard_margin_for_parked_vehicle: 0.1        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.9
-          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         trailer:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
+          lateral_margin:
+            soft_margin: 0.9                           # [m]
+            hard_margin: 0.1                           # [m]
+            hard_margin_for_parked_vehicle: 0.1        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.9
-          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         unknown:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: -0.2                          # [m]
+            hard_margin_for_parked_vehicle: -0.2       # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: -0.2
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bicycle:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: 0.5                           # [m]
+            hard_margin_for_parked_vehicle: 0.5        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: 0.5
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         motorcycle:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: 0.3                           # [m]
+            hard_margin_for_parked_vehicle: 0.3        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: 0.3
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         pedestrian:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: 0.5                           # [m]
+            hard_margin_for_parked_vehicle: 0.5        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: 0.5
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         lower_distance_for_polygon_expansion: 30.0      # [m]

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

@@ -12,64 +12,80 @@
           moving_time_threshold: 1.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.3                  # [m]
-          avoid_margin_lateral: 0.0                    # [m]
-          safety_buffer_lateral: 0.0                   # [m]
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         truck:
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 0.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         bus:
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 0.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         trailer:
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 0.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         unknown:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 0.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         bicycle:
           execute_num: 2
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 1.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         motorcycle:
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 1.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         pedestrian:
           execute_num: 2
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 1.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         lower_distance_for_polygon_expansion: 0.0      # [m]
         upper_distance_for_polygon_expansion: 1.0      # [m]
 

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

@@ -7,6 +7,7 @@
       th_stopped_time: 1.0
       collision_check_margins: [2.0, 1.0, 0.5, 0.1]
       collision_check_margin_from_front_object: 5.0
+      extra_width_margin_for_rear_obstacle: 0.5
       th_moving_object_velocity: 1.0
       object_types_to_check_for_path_generation:
         check_car: true

autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml

@@ -1,5 +1,8 @@
 /**:
   ros__parameters:
+    csv_path_accel_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv
+    csv_path_brake_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv
+    csv_path_steer_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv
     convert_accel_cmd: true
     convert_brake_cmd: true
     convert_steer_cmd: false