chore: sync awf/autoware_launch

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml

@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+    point_feature_size: 4
+    max_voxel_size: 40000
+    point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+    voxel_size: [0.32, 0.32, 10.0]
+    downsample_factor: 1
+    encoder_in_feature_size: 9
+    # post-process params
+    circle_nms_dist_threshold: 0.5
+    iou_nms_target_class_names: ["CAR"]
+    iou_nms_search_distance_2d: 10.0
+    iou_nms_threshold: 0.1
+    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml

@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+    point_feature_size: 4
+    max_voxel_size: 40000
+    point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+    voxel_size: [0.32, 0.32, 10.0]
+    downsample_factor: 2
+    encoder_in_feature_size: 9
+    # post-process params
+    circle_nms_dist_threshold: 0.5
+    iou_nms_target_class_names: ["CAR"]
+    iou_nms_search_distance_2d: 10.0
+    iou_nms_threshold: 0.1
+    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]

autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml

@@ -0,0 +1,38 @@
+/**:
+  ros__parameters:
+    allow_remapping_by_area_matrix:
+      # NOTE(kl): We turn all vehicles into trailers if they go over 3x12 [m^2].
+      # NOTE(kl): We turn cars into trucks if they have an area between 2.2 x 5.5 and 3.0 * 12.0 [m^2]
+      # row: original class. column: class to remap to
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
+      [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+       0,       0,   1,     0,    1,       0,         0,      0,         #CAR
+       0,       0,   0,     0,    1,       0,         0,      0,         #TRUCK
+       0,       0,   0,     0,    1,       0,         0,      0,         #BUS
+       0,       0,   0,     0,    0,       0,         0,      0,         #TRAILER
+       0,       0,   0,     0,    0,       0,         0,      0,         #MOTORBIKE
+       0,       0,   0,     0,    0,       0,         0,      0,         #BICYCLE
+       0,       0,   0,     0,    0,       0,         0,      0]         #PEDESTRIAN
+
+    min_area_matrix:
+      #UNKNOWN, CAR,   TRUCK,   BUS,   TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
+      [ 0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #UNKNOWN
+        0.000,  0.000, 12.100,  0.000, 36.000,   0.000,     0.000,   0.000,      #CAR
+        0.000,  0.000,  0.000,  0.000, 36.000,   0.000,     0.000,   0.000,      #TRUCK
+        0.000,  0.000,  0.000,  0.000, 36.000,   0.000,     0.000,   0.000,      #BUS
+        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #TRAILER
+        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #MOTORBIKE
+        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #BICYCLE
+        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000]      #PEDESTRIAN
+
+
+    max_area_matrix:
+      #UNKNOWN, CAR,   TRUCK,  BUS,    TRAILER,   MOTORBIKE, BICYCLE, PEDESTRIAN
+      [ 0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #UNKNOWN
+        0.000,  0.000, 36.000,  0.000,     inf,   0.000,     0.000,   0.000,      #CAR
+        0.000,  0.000,  0.000,  0.000,     inf,   0.000,     0.000,   0.000,      #TRUCK
+        0.000,  0.000,  0.000,  0.000,     inf,   0.000,     0.000,   0.000,      #BUS
+        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #TRAILER
+        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #MOTORBIKE
+        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #BICYCLE
+        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000]      #PEDESTRIAN

autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml

@@ -0,0 +1,17 @@
+/**:
+  ros__parameters:
+    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+    point_feature_size: 9  # x, y, z, time-lag and car, pedestrian, bicycle
+    max_voxel_size: 40000
+    point_cloud_range: [-102.4, -102.4, -4.0, 102.4, 102.4, 6.0]
+    voxel_size: [0.32, 0.32, 10.0]
+    downsample_factor: 1
+    encoder_in_feature_size: 14
+    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    # post-process params
+    circle_nms_dist_threshold: 0.5
+    iou_nms_target_class_names: ["CAR"]
+    iou_nms_search_distance_2d: 10.0
+    iou_nms_threshold: 0.1
+    # omp params
+    omp_num_threads: 1

autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml

@@ -9,6 +9,9 @@
     # distance threshold for compare compare
     distance_threshold: 0.5
 
+    # ratio to reduce voxel_leaf_size and neighbor points distance threshold in z axis
+    downsize_ratio_z_axis: 0.6
+
     # publish voxelized map pointcloud for debug
     publish_debug_pcd: False
 

autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml

@@ -0,0 +1,66 @@
+/**:
+  ros__parameters:
+    can_assign_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN <-Measurement
+      [1,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN <-Tracker
+       0,       1,   1,     1,    1,       0,         0,      0,         #CAR
+       0,       1,   1,     1,    1,       0,         0,      0,         #TRUCK
+       0,       1,   1,     1,    1,       0,         0,      0,         #BUS
+       0,       1,   1,     1,    1,       0,         0,      0,         #TRAILER
+       0,       0,   0,     0,    0,       1,         1,      1,         #MOTORBIKE
+       0,       0,   0,     0,    0,       1,         1,      1,         #BICYCLE
+       0,       0,   0,     0,    0,       1,         1,      1]         #PEDESTRIAN
+
+    max_dist_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+      [4.0,     1.0, 1.0,   1.0,  1.0,     1.0,       1.0,     1.0,       #UNKNOWN
+       4.0,     4.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #CAR
+       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRUCK
+       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #BUS
+       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRAILER
+       3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #MOTORBIKE
+       3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #BICYCLE
+       2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0]       #PEDESTRIAN
+    max_area_matrix:
+      # NOTE: The size of truck is 12 m length x 3 m width.
+      # NOTE: The size of trailer is 20 m length x 3 m width.
+      #UNKNOWN,  CAR,      TRUCK,    BUS,      TRAILER,   MOTORBIKE, BICYCLE,  PEDESTRIAN
+        [100.00,   100.00,   100.00,   100.00,   100.00,    100.00,    100.00,   100.00,   #UNKNOWN
+          12.10,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #CAR
+          36.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #TRUCK
+          60.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #BUS
+          60.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #TRAILER
+           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #MOTORBIKE
+           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #BICYCLE
+           2.00, 10000.00, 10000.00, 10000.00, 10000.00,      1.50,      1.50,     1.00]   #PEDESTRIAN
+    min_area_matrix:
+      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
+      [ 0.000,  0.000, 0.000,  0.000, 0.000,    0.000,     0.000,   0.000,      #UNKNOWN
+        3.600,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #CAR
+        6.000,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #TRUCK
+       10.000,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #BUS
+       10.000,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #TRAILER
+        0.001,  0.000, 0.000,  0.000, 0.000,    0.100,     0.100,   0.100,      #MOTORBIKE
+        0.001,  0.000, 0.000,  0.000, 0.000,    0.100,     0.100,   0.100,      #BICYCLE
+        0.001,  0.000, 0.000,  0.000, 0.000,    0.100,     0.100,   0.100]      #PEDESTRIAN
+    max_rad_matrix: # If value is greater than pi, it will be ignored.
+      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
+      [3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150,      #UNKNOWN
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #CAR
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #TRUCK
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #BUS
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #TRAILER
+       3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150,      #MOTORBIKE
+       3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150,      #BICYCLE
+       3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150]      #PEDESTRIAN
+
+    min_iou_matrix: # If value is negative, it will be ignored.
+      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
+      [0.0001,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #UNKNOWN
+          0.1,  -0.1,   0.2,   0.2,    0.2,      0.1,       0.1,     0.1,       #CAR
+          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRUCK
+          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #BUS
+          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRAILER
+          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #MOTORBIKE
+          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #BICYCLE
+          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,  0.0001]       #PEDESTRIAN

autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml

@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    car_tracker: "linear_motion_tracker"
+    truck_tracker: "linear_motion_tracker"
+    bus_tracker: "linear_motion_tracker"
+    trailer_tracker: "linear_motion_tracker"
+    pedestrian_tracker: "linear_motion_tracker"
+    bicycle_tracker: "linear_motion_tracker"
+    motorcycle_tracker: "linear_motion_tracker"

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

@@ -32,6 +32,7 @@
       target_object:
         car:
           is_target: true                              # [-]
+          execute_num: 1                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 1.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
@@ -41,6 +42,7 @@
           safety_buffer_longitudinal: 0.0              # [m]
         truck:
           is_target: true
+          execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -50,6 +52,7 @@
           safety_buffer_longitudinal: 0.0
         bus:
           is_target: true
+          execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -59,6 +62,7 @@
           safety_buffer_longitudinal: 0.0
         trailer:
           is_target: true
+          execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -68,6 +72,7 @@
           safety_buffer_longitudinal: 0.0
         unknown:
           is_target: true
+          execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -77,6 +82,7 @@
           safety_buffer_longitudinal: 0.0
         bicycle:
           is_target: true
+          execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -86,6 +92,7 @@
           safety_buffer_longitudinal: 1.0
         motorcycle:
           is_target: true
+          execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -95,6 +102,7 @@
           safety_buffer_longitudinal: 1.0
         pedestrian:
           is_target: true
+          execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0

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

@@ -1,6 +1,82 @@
 /**:
   ros__parameters:
     avoidance_by_lane_change:
-      execute_object_num: 1
-      execute_object_longitudinal_margin: 0.0
-      execute_only_when_lane_change_finish_before_object: true
+      execute_object_longitudinal_margin: 80.0
+      execute_only_when_lane_change_finish_before_object: false
+
+      # avoidance is performed for the object type with true
+      target_object:
+        car:
+          is_target: true                              # [-]
+          execute_num: 2                               # [-]
+          moving_speed_threshold: 1.0                  # [m/s]
+          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]
+        truck:
+          is_target: true
+          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
+        bus:
+          is_target: true
+          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
+        trailer:
+          is_target: true
+          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
+        unknown:
+          is_target: true
+          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
+        bicycle:
+          is_target: false
+          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
+        motorcycle:
+          is_target: false
+          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
+        pedestrian:
+          is_target: false
+          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
+        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/scene_module_manager.param.yaml

@@ -67,9 +67,8 @@
       priority: 5
       max_module_size: 1
 
-    # NOTE: This module is unstable. Deprecated for now.
     avoidance_by_lc:
-      enable_module: false
+      enable_module: true
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml

@@ -11,6 +11,8 @@
       - "lane_change_right"
       - "avoidance_left"
       - "avoidance_right"
+      - "avoidance_by_lane_change_left"
+      - "avoidance_by_lane_change_right"
       - "goal_planner"
       - "start_planner"
       - "intersection_occlusion"
@@ -26,6 +28,8 @@
       - "lane_change_right"
       - "avoidance_left"
       - "avoidance_right"
+      - "avoidance_by_lane_change_left"
+      - "avoidance_by_lane_change_right"
       - "goal_planner"
       - "start_planner"
       - "intersection_occlusion"

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml

@@ -16,7 +16,7 @@
         max_curvature: 0.1  # [m⁻¹] maximum curvature of a sampled path
         min_curvature: -0.1  # [m⁻¹] minimum curvature of a sampled path
       soft:
-        lateral_deviation_weight: 0.1  # cost weight for lateral deviation between the end of a sampled path and the reference path
+        lateral_deviation_weight: 1.0  # cost weight for lateral deviation between the end of a sampled path and the reference path
         length_weight: 1.0  # cost weight for the length of a sampled path
         curvature_weight: 1.0  # cost weight for the curvature of a sampled path
     sampling:

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -55,10 +55,19 @@
       name="object_recognition_detection_object_merger_distance_threshold_list_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
     />
+    <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
     />
+    <arg
+      name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml"
+    />
+    <arg
+      name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml"
+    />
 
     <!-- obstacle segmentation -->
     <arg