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chore: sync awf/autoware_launch #220

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merged 4 commits into from
Aug 7, 2023
Merged

chore: sync awf/autoware_launch #220

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301cf49
feat(start_planner): use stop objects in pull out lanes for collision…
kosuke55 Aug 4, 2023
3003325
feat(rviz): add acceleration meter for debugging which is disabled by…
Owen-Liuyuxuan Aug 4, 2023
230a913
feat(autoware_launch): add successive_num_to_exit_dynamic_avoidance_c…
takayuki5168 Aug 5, 2023
ec2fd76
feat(lane_change): remove an unused parameter (#501)
purewater0901 Aug 6, 2023
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1 change: 1 addition & 0 deletions ...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
min_obstacle_vel: 0.0 # [m/s]

successive_num_to_entry_dynamic_avoidance_condition: 5
successive_num_to_exit_dynamic_avoidance_condition: 1

min_obj_lat_offset_to_ego_path: 0.0 # [m]
max_obj_lat_offset_to_ego_path: 1.0 # [m]
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1 change: 0 additions & 1 deletion ...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
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Expand Up @@ -8,7 +8,6 @@
lane_change_finish_judge_buffer: 2.0 # [m]

lane_changing_lateral_jerk: 0.5 # [m/s3]
lateral_acc_switching_velocity: 4.0 #[m/s]

minimum_lane_changing_velocity: 2.78 # [m/s]
prediction_time_resolution: 0.5 # [s]
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1 change: 1 addition & 0 deletions ...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
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Expand Up @@ -6,6 +6,7 @@
th_stopped_time: 1.0
collision_check_margin: 1.0
collision_check_distance_from_end: 1.0
th_moving_object_velocity: 1.0
# shift pull out
enable_shift_pull_out: true
check_shift_path_lane_departure: false
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9 changes: 9 additions & 0 deletions autoware_launch/rviz/autoware.rviz
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Expand Up @@ -86,6 +86,15 @@ Visualization Manager:
Value: /vehicle/status/velocity_status
Value: true
Value height offset: 0
- Class: rviz_plugins/AccelerationMeter
Enabled: false
Name: AccelerationMeter
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/acceleration
- Alpha: 0.999
Class: rviz_plugins/VelocityHistory
Color Border Vel Max: 3
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