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chore: sync awf/autoware_launch #221

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merged 3 commits into from
Aug 8, 2023
Merged

chore: sync awf/autoware_launch #221

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a3e28d1
feat(autoware_launch): add cut out parameters for dynamic avoidance (…
takayuki5168 Aug 7, 2023
75eb848
refactor(autoware_launch): add an option for filtering and validation…
ismetatabay Aug 7, 2023
e0c4af6
feat(routing_no_drivable_lane_when_module_enabled): add solution for …
ahmeddesokyebrahim Aug 7, 2023
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1 change: 1 addition & 0 deletions autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
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Expand Up @@ -8,3 +8,4 @@
enable_correct_goal_pose: false
reroute_time_threshold: 10.0
minimum_reroute_length: 30.0
consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not.
4 changes: 4 additions & 0 deletions ...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
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Expand Up @@ -27,6 +27,10 @@
min_time_to_start_cut_in: 1.0 # [s]
min_lon_offset_ego_to_object: 0.0 # [m]

cut_out_object:
max_time_from_outside_ego_path: 0.5 # [s]
min_object_lat_vel: 0.3 # [m/s]

crossing_object:
min_object_vel: 1.0
max_object_angle: 1.05
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8 changes: 8 additions & 0 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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Expand Up @@ -2,6 +2,12 @@
<launch>
<arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
<arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
<arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
<arg
name="detected_objects_validation_method"
default="obstacle_pointcloud"
description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
/>

<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
<arg name="mode" value="$(var perception_mode)"/>
Expand All @@ -11,6 +17,8 @@
<arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
<arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
<arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
<arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>

<!-- object recognition -->
<arg name="object_recognition_detection_compare_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/compare_map.param.yaml"/>
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