chore: sync awf-latest-xx1

.pre-commit-config.yaml

@@ -18,18 +18,18 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.33.0
+    rev: v0.34.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v3.0.0-alpha.6
+    rev: v3.0.0-alpha.9-for-vscode
     hooks:
       - id: prettier
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.30.0
+    rev: v1.32.0
     hooks:
       - id: yamllint
 
@@ -44,7 +44,7 @@ repos:
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.9.0.2
+    rev: v0.9.0.5
     hooks:
       - id: shellcheck
 

CODE_OF_CONDUCT.md

@@ -60,7 +60,7 @@ representative at an online or offline event.
 
 Instances of abusive, harassing, or otherwise unacceptable behavior may be
 reported to the community leaders responsible for enforcement at
-[email protected].
+<[email protected]>.
 All complaints will be reviewed and investigated promptly and fairly.
 
 All community leaders are obligated to respect the privacy and security of the

autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml

@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    publish_debug_pointcloud: false
     use_predicted_trajectory: true
     use_imu_path: true
     voxel_grid_x: 0.05
@@ -11,6 +12,9 @@
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0
-    prediction_time_horizon: 1.5
-    prediction_time_interval: 0.1
+    imu_prediction_time_horizon: 1.5
+    imu_prediction_time_interval: 0.1
+    mpc_prediction_time_horizon: 1.5
+    mpc_prediction_time_interval: 0.1
+    collision_keeping_sec: 0.0
     aeb_hz: 10.0

autoware_launch/config/control/control_validator/control_validator.param.yaml

@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+
+    # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.
+    # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if
+    #  the next predicted_path is valid.)
+    diag_error_count_threshold: 0
+
+    display_on_terminal: false # show error msg on terminal
+
+    thresholds:
+      max_distance_deviation: 1.0

autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml

@@ -1,12 +1,18 @@
 /**:
   ros__parameters:
+    # Enable feature
+    will_out_of_lane_checker: false
+    out_of_lane_checker: false
+    boundary_departure_checker: true
+
     # Node
     update_rate: 10.0
     visualize_lanelet: false
     include_right_lanes: false
     include_left_lanes: false
     include_opposite_lanes: false
     include_conflicting_lanes: false
+    boundary_types_to_detect: [curbstone]
 
     # Core
     footprint_margin_scale: 1.0

autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml

@@ -2,6 +2,10 @@
   ros__parameters:
     transition_timeout: 10.0
     frequency_hz: 10.0
+
+    # set true if you want to engage the autonomous driving mode while the vehicle is driving. If set to false, it will deny Engage in any situation where the vehicle speed is not zero. Note that if you use this feature without adjusting the parameters, it may cause issues like sudden deceleration. Before using, please ensure the engage condition and the vehicle_cmd_gate transition filter are appropriately adjusted.
+    enable_engage_on_driving: false
+
     check_engage_condition: false # set false if you do not want to care about the engage condition.
     nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
     nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index

autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml

@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    # Node
+    update_rate: 10.0
+    delay_time: 0.17
+    max_deceleration: 1.5
+    resample_interval: 0.5
+    stop_margin: 0.5 # [m]
+    ego_nearest_dist_threshold: 3.0 # [m]
+    ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]
+    min_trajectory_check_length: 1.5 # [m]
+    trajectory_check_time: 3.0
+    distinct_point_distance_threshold: 0.3
+    distinct_point_yaw_threshold: 5.0 # [deg]
+    filtering_distance_threshold: 1.5 # [m]
+    use_object_prediction: true
+
+    collision_checker_params:
+      width_margin: 0.2
+      chattering_threshold: 0.2
+      z_axis_filtering_buffer: 0.3
+      enable_z_axis_obstacle_filtering: false

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -13,7 +13,7 @@
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
 
     # -- trajectory extending --
-    extend_trajectory_for_end_yaw_control: true  # flag of trajectory extending for terminal yaw control
+    extend_trajectory_for_end_yaw_control: false  # flag of trajectory extending for terminal yaw control
 
     # -- mpc optimization --
     qp_solver_type: "osqp"                       # optimization solver option (unconstraint_fast or osqp)
@@ -47,7 +47,10 @@
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.24                # steering input delay time for delay compensation
     vehicle_model_steer_tau: 0.3     # steering dynamics time constant (1d approximation) [s]
-    steer_rate_lim_dps: 40.0         # steering angle rate limit [deg/s]
+    steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0]            # steering angle rate limit list depending on curvature [deg/s]
+    curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
+    steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0]             # steering angle rate limit list depending on velocity [deg/s]
+    velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0]                  # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 2.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]
 
@@ -71,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate

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

@@ -32,7 +32,9 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     current_vel_threshold_pid_integration: 0.5
+    time_threshold_before_pid_integration: 2.0
     enable_brake_keeping_before_stop: false
     brake_keeping_acc: -0.2
 
@@ -67,8 +69,9 @@
     max_jerk: 2.0
     min_jerk: -5.0
 
-    # pitch
-    use_trajectory_for_pitch_calculation: false
+    # slope compensation
     lpf_pitch_gain: 0.95
+    slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
+    adaptive_trajectory_velocity_th: 1.0
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1

autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -3,23 +3,34 @@
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
     use_emergency_handling: false
+    check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
     use_start_request: false
+    enable_cmd_limit_filter: true
+    filter_activated_count_threshold: 5
+    filter_activated_velocity_threshold: 1.0
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4
     moderate_stop_service_acceleration: -1.5
     stopped_state_entry_duration_time: 0.1
+    stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0
-      lon_acc_lim: 5.0
-      lon_jerk_lim: 5.0
-      lat_acc_lim: 5.0
-      lat_jerk_lim: 5.0
-      actual_steer_diff_lim: 1.0
+      reference_speed_points: [20.0, 30.0]
+      steer_lim: [1.0, 0.8]
+      steer_rate_lim: [1.0, 0.8]
+      lon_acc_lim: [5.0, 4.0]
+      lon_jerk_lim: [5.0, 4.0]
+      lat_acc_lim: [5.0, 4.0]
+      lat_jerk_lim: [7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 0.8]
     on_transition:
       vel_lim: 50.0
-      lon_acc_lim: 1.0
-      lon_jerk_lim: 0.5
-      lat_acc_lim: 2.0
-      lat_jerk_lim: 7.0
-      actual_steer_diff_lim: 1.0
+      reference_speed_points: [20.0, 30.0]
+      steer_lim: [1.0, 0.8]
+      steer_rate_lim: [1.0, 0.8]
+      lon_acc_lim: [1.0, 0.9]
+      lon_jerk_lim: [0.5, 0.4]
+      lat_acc_lim: [2.0, 1.8]
+      lat_jerk_lim: [7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 0.8]

autoware_launch/config/localization/ar_tag_based_localizer.param.yaml

@@ -0,0 +1,40 @@
+/**:
+  ros__parameters:
+    # marker_size
+    marker_size: 0.6
+
+    # target_tag_ids
+    target_tag_ids: ['0','1','2','3','4','5','6']
+
+    # base_covariance
+    #   This value is dynamically scaled according to the distance at which AR tags are detected.
+    base_covariance: [0.2, 0.0, 0.0, 0.0,  0.0,  0.0,
+                      0.0, 0.2, 0.0, 0.0,  0.0,  0.0,
+                      0.0, 0.0, 0.2, 0.0,  0.0,  0.0,
+                      0.0, 0.0, 0.0, 0.02, 0.0,  0.0,
+                      0.0, 0.0, 0.0, 0.0,  0.02, 0.0,
+                      0.0, 0.0, 0.0, 0.0,  0.0,  0.02]
+
+    # Detect AR-Tags within this range and publish the pose of ego vehicle
+    distance_threshold: 13.0  # [m]
+
+    # consider_orientation
+    consider_orientation: false
+
+    # Detector parameters
+    # See https://github.com/pal-robotics/aruco_ros/blob/7787a6794d30c248bc546d1582e65dd47bc40c12/aruco/include/aruco/markerdetector.h#L106-L126
+    detection_mode: "DM_NORMAL"  # select from [DM_NORMAL, DM_FAST, DM_VIDEO_FAST]
+    min_marker_size: 0.02
+
+    # Parameters for comparison with EKF Pose
+    # If the difference between the EKF pose and the current pose is within the range of values set below, the current pose is published.
+    # [How to determine the value]
+    # * ekf_time_tolerance: Since it is abnormal if the data comes too old from EKF, the tentative tolerance value is set at 5 seconds.
+    #                       This value is assumed to be unaffected even if it is increased or decreased by some amount.
+    # * ekf_position_tolerance: Since it is possible that multiple AR tags with the same ID could be placed, the tolerance should be as small as possible.
+    #                           And if the vehicle is running only on odometry in a section without AR tags,
+    #                           it is possible that self-position estimation could be off by a few meters.
+    #                           it should be fixed by AR tag detection, so tolerance should not be smaller than 10 meters.
+    #                           Therefore, the tolerance is set at 10 meters.
+    ekf_time_tolerance: 5.0 # [s]
+    ekf_position_tolerance: 10.0 # [m]

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -1,23 +1,46 @@
 /**:
   ros__parameters:
-    show_debug_info: false
-    enable_yaw_bias_estimation: True
-    predict_frequency: 50.0
-    tf_rate: 50.0
-    extend_state_step: 50
+    node:
+      show_debug_info: false
+      enable_yaw_bias_estimation: true
+      predict_frequency: 50.0
+      tf_rate: 50.0
+      publish_tf: true
+      extend_state_step: 50
 
-    # for Pose measurement
-    pose_additional_delay: 0.0
-    pose_measure_uncertainty_time: 0.01
-    pose_smoothing_steps: 5
-    pose_gate_dist: 10000.0
+    pose_measurement:
+      # for Pose measurement
+      pose_additional_delay: 0.0
+      pose_measure_uncertainty_time: 0.01
+      pose_smoothing_steps: 5
+      pose_gate_dist: 10000.0
 
-    # for twist measurement
-    twist_additional_delay: 0.0
-    twist_smoothing_steps: 2
-    twist_gate_dist: 10000.0
+    twist_measurement:
+      # for twist measurement
+      twist_additional_delay: 0.0
+      twist_smoothing_steps: 2
+      twist_gate_dist: 10000.0
 
-    # for process model
-    proc_stddev_yaw_c: 0.005
-    proc_stddev_vx_c: 10.0
-    proc_stddev_wz_c: 5.0
+    process_noise:
+      # for process model
+      proc_stddev_yaw_c: 0.005
+      proc_stddev_vx_c: 10.0
+      proc_stddev_wz_c: 5.0
+
+    simple_1d_filter_parameters:
+      #Simple1DFilter parameters
+      z_filter_proc_dev: 1.0
+      roll_filter_proc_dev: 0.01
+      pitch_filter_proc_dev: 0.01
+
+    diagnostics:
+      # for diagnostics
+      pose_no_update_count_threshold_warn: 50
+      pose_no_update_count_threshold_error: 100
+      twist_no_update_count_threshold_warn: 50
+      twist_no_update_count_threshold_error: 100
+
+    misc:
+      # for velocity measurement limitation (Set 0.0 if you want to ignore)
+      threshold_observable_velocity_mps: 0.0 # [m/s]
+      pose_frame_id: "map"

autoware_launch/config/localization/localization_error_monitor.param.yaml

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     scale: 3.0
-    error_ellipse_size: 1.0
-    warn_ellipse_size: 0.8
+    error_ellipse_size: 1.5
+    warn_ellipse_size: 1.2
     error_ellipse_size_lateral_direction: 0.3
-    warn_ellipse_size_lateral_direction: 0.2
+    warn_ellipse_size_lateral_direction: 0.25