From 445a73dfc9f28bbc5ed0a3d2d00c271dd139cecb Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 18 Jul 2023 11:25:49 +0900 Subject: [PATCH 1/4] refactor(avoidance): update parameter names (#453) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index c937ebc65b..5f5e211492 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -11,16 +11,18 @@ # avoidance module common setting enable_bound_clipping: false - enable_avoidance_over_same_direction: true - enable_avoidance_over_opposite_direction: true enable_update_path_when_object_is_gone: false enable_force_avoidance_for_stopped_vehicle: false enable_safety_check: true enable_yield_maneuver: true enable_yield_maneuver_during_shifting: false disable_path_update: false - use_hatched_road_markings: true + + # drivable area setting + use_adjacent_lane: true + use_opposite_lane: true use_intersection_areas: true + use_hatched_road_markings: true # for debug publish_debug_marker: false From 39c52f832b022c731b5016be9ab98a6d424f16a7 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 18 Jul 2023 17:49:01 +0900 Subject: [PATCH 2/4] fix(occlusion_spot): add lacking param (#452) Signed-off-by: satoshi-ota --- .../behavior_velocity_planner/occlusion_spot.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml index 0b93ea5308..089180aa66 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml @@ -13,9 +13,12 @@ is_show_cv_window: false # [-] whether to show open_cv debug window is_show_processing_time: false # [-] whether to show processing time threshold: + detection_area_offset: 30.0 detection_area_length: 100.0 # [m] the length of path to consider perception range stuck_vehicle_vel: 1.0 # [m/s] velocity below this value is assumed to stop lateral_distance: 1.5 # [m] maximum lateral distance to consider hidden collision + search_dist: 10.0 + search_angle: 0.63 # [rad] PI/5.0 motion: safety_ratio: 0.8 # [-] jerk/acceleration ratio for safety max_slow_down_jerk: -0.3 # [m/s^3] minimum jerk deceleration for safe brake. From 860c1cffe9542550893192b405002b383f28255b Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 18 Jul 2023 20:27:14 +0900 Subject: [PATCH 3/4] feat(intersection): add behavior for arrow signal (#456) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index e54282739d..b430bfad4f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -25,8 +25,12 @@ state_transit_margin_time: 1.0 min_predicted_path_confidence: 0.05 minimum_ego_predicted_velocity: 1.388 # [m/s] - collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object - collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object + normal: + collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object + collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object + relaxed: + collision_start_margin_time: 2.0 + collision_end_margin_time: 0.0 keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr occlusion: From 4daf918125090d656dea95405fad4b8c8b21bd18 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 19 Jul 2023 09:01:07 +0900 Subject: [PATCH 4/4] feat: use `pose_source` and `twist_source` for selecting localization methods (#442) * feat: add pose and twist sources args for localization Signed-off-by: kminoda * removed unnecessary params Signed-off-by: kminoda * allow only one source Signed-off-by: kminoda * Move configs to tier4_localization_component.launch.xml Signed-off-by: kminoda * Remove unnecessary line Signed-off-by: kminoda * fix comment Signed-off-by: kminoda --------- Signed-off-by: kminoda --- ...tializer.logging_simulator.gnss.param.yaml | 7 --- ...ializer.logging_simulator.lidar.param.yaml | 7 --- .../localization/pose_initializer.param.yaml | 29 +++++++++--- ..._initializer.planning_simulator.param.yaml | 7 --- .../pose_initializer_common.param.yaml | 26 ----------- ...alizer.logging_simulator.yabloc.param.yaml | 7 --- .../yabloc/pose_initializer.yabloc.param.yaml | 7 --- autoware_launch/launch/autoware.launch.xml | 3 -- .../map4_localization_component.launch.xml | 45 ------------------- .../tier4_localization_component.launch.xml | 26 +++++------ .../tier4_simulator_component.launch.xml | 3 +- 11 files changed, 36 insertions(+), 131 deletions(-) delete mode 100644 autoware_launch/config/localization/pose_initializer.logging_simulator.gnss.param.yaml delete mode 100644 autoware_launch/config/localization/pose_initializer.logging_simulator.lidar.param.yaml delete mode 100644 autoware_launch/config/localization/pose_initializer.planning_simulator.param.yaml delete mode 100644 autoware_launch/config/localization/pose_initializer_common.param.yaml delete mode 100644 autoware_launch/config/localization/yabloc/pose_initializer.logging_simulator.yabloc.param.yaml delete mode 100644 autoware_launch/config/localization/yabloc/pose_initializer.yabloc.param.yaml delete mode 100644 autoware_launch/launch/components/map4_localization_component.launch.xml diff --git a/autoware_launch/config/localization/pose_initializer.logging_simulator.gnss.param.yaml b/autoware_launch/config/localization/pose_initializer.logging_simulator.gnss.param.yaml deleted file mode 100644 index 4a1e4da885..0000000000 --- a/autoware_launch/config/localization/pose_initializer.logging_simulator.gnss.param.yaml +++ /dev/null @@ -1,7 +0,0 @@ -/**: - ros__parameters: - gnss_enabled: true - ndt_enabled: false - ekf_enabled: true - yabloc_enabled: false - stop_check_enabled: false diff --git a/autoware_launch/config/localization/pose_initializer.logging_simulator.lidar.param.yaml b/autoware_launch/config/localization/pose_initializer.logging_simulator.lidar.param.yaml deleted file mode 100644 index 1f3b37cb65..0000000000 --- a/autoware_launch/config/localization/pose_initializer.logging_simulator.lidar.param.yaml +++ /dev/null @@ -1,7 +0,0 @@ -/**: - ros__parameters: - gnss_enabled: true - ndt_enabled: true - ekf_enabled: true - yabloc_enabled: false - stop_check_enabled: false diff --git a/autoware_launch/config/localization/pose_initializer.param.yaml b/autoware_launch/config/localization/pose_initializer.param.yaml index 16c7252fc0..a05cc7c35c 100644 --- a/autoware_launch/config/localization/pose_initializer.param.yaml +++ b/autoware_launch/config/localization/pose_initializer.param.yaml @@ -1,7 +1,26 @@ /**: ros__parameters: - gnss_enabled: true - ndt_enabled: true - ekf_enabled: true - yabloc_enabled: false - stop_check_enabled: true + gnss_pose_timeout: 3.0 # [sec] + stop_check_duration: 3.0 # [sec] + + # from gnss + gnss_particle_covariance: + [ + 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, + ] + + # output + output_pose_covariance: + [ + 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.2, + ] diff --git a/autoware_launch/config/localization/pose_initializer.planning_simulator.param.yaml b/autoware_launch/config/localization/pose_initializer.planning_simulator.param.yaml deleted file mode 100644 index cf0760d99f..0000000000 --- a/autoware_launch/config/localization/pose_initializer.planning_simulator.param.yaml +++ /dev/null @@ -1,7 +0,0 @@ -/**: - ros__parameters: - gnss_enabled: false - ndt_enabled: false - ekf_enabled: false - yabloc_enabled: false - stop_check_enabled: false diff --git a/autoware_launch/config/localization/pose_initializer_common.param.yaml b/autoware_launch/config/localization/pose_initializer_common.param.yaml deleted file mode 100644 index a05cc7c35c..0000000000 --- a/autoware_launch/config/localization/pose_initializer_common.param.yaml +++ /dev/null @@ -1,26 +0,0 @@ -/**: - ros__parameters: - gnss_pose_timeout: 3.0 # [sec] - stop_check_duration: 3.0 # [sec] - - # from gnss - gnss_particle_covariance: - [ - 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, - ] - - # output - output_pose_covariance: - [ - 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.2, - ] diff --git a/autoware_launch/config/localization/yabloc/pose_initializer.logging_simulator.yabloc.param.yaml b/autoware_launch/config/localization/yabloc/pose_initializer.logging_simulator.yabloc.param.yaml deleted file mode 100644 index a9aa7a3928..0000000000 --- a/autoware_launch/config/localization/yabloc/pose_initializer.logging_simulator.yabloc.param.yaml +++ /dev/null @@ -1,7 +0,0 @@ -/**: - ros__parameters: - gnss_enabled: true - ndt_enabled: false - ekf_enabled: true - yabloc_enabled: true - stop_check_enabled: false diff --git a/autoware_launch/config/localization/yabloc/pose_initializer.yabloc.param.yaml b/autoware_launch/config/localization/yabloc/pose_initializer.yabloc.param.yaml deleted file mode 100644 index b4334307d7..0000000000 --- a/autoware_launch/config/localization/yabloc/pose_initializer.yabloc.param.yaml +++ /dev/null @@ -1,7 +0,0 @@ -/**: - ros__parameters: - gnss_enabled: true - ndt_enabled: false - ekf_enabled: true - yabloc_enabled: true - stop_check_enabled: true diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 3d972188e1..f702747ec9 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -38,8 +38,6 @@ - - @@ -86,7 +84,6 @@ - diff --git a/autoware_launch/launch/components/map4_localization_component.launch.xml b/autoware_launch/launch/components/map4_localization_component.launch.xml deleted file mode 100644 index 4fd0fdf8bd..0000000000 --- a/autoware_launch/launch/components/map4_localization_component.launch.xml +++ /dev/null @@ -1,45 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index ba815398a1..e167dd91ec 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -1,24 +1,16 @@ - - - - - - - - - - - - + + - + + + @@ -26,10 +18,11 @@ - - + + + @@ -40,6 +33,9 @@ + + + diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index 7b21a43e50..7af618ef71 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -35,8 +35,7 @@ name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml" /> - - +