From 11fdbccbd2b85b35718c6f1b3db893f585b27c39 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri, 18 Aug 2023 11:49:56 +0900 Subject: [PATCH 1/2] fix(ekf_localizer): fix parameter first capital letter (#519) Signed-off-by: kminoda --- autoware_launch/config/localization/ekf_localizer.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 322325d239..4d3f5b9643 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: show_debug_info: false - enable_yaw_bias_estimation: True + enable_yaw_bias_estimation: true predict_frequency: 50.0 tf_rate: 50.0 extend_state_step: 50 From 3cf0e5539869d3d80e4f3470dd92c468f6850f30 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Sun, 20 Aug 2023 10:30:40 +0900 Subject: [PATCH 2/2] feat(start_planner): support freespace pull out (#514) Signed-off-by: kosuke55 --- .../start_planner/start_planner.param.yaml | 36 +++++++++++++++++++ 1 file changed, 36 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 60f2927440..bea78664c6 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -36,3 +36,39 @@ th_turn_signal_on_lateral_offset: 1.0 intersection_search_length: 30.0 length_ratio_for_turn_signal_deactivation_near_intersection: 0.5 + # freespace planner + freespace_planner: + enable_freespace_planner: true + end_pose_search_start_distance: 20.0 + end_pose_search_end_distance: 30.0 + end_pose_search_interval: 2.0 + freespace_planner_algorithm: "astar" # options: astar, rrtstar + velocity: 1.0 + vehicle_shape_margin: 1.0 + time_limit: 3000.0 + minimum_turning_radius: 5.0 + maximum_turning_radius: 5.0 + turning_radius_size: 1 + # search configs + search_configs: + theta_size: 144 + angle_goal_range: 6.0 + curve_weight: 1.2 + reverse_weight: 1.0 + lateral_goal_range: 0.5 + longitudinal_goal_range: 2.0 + # costmap configs + costmap_configs: + obstacle_threshold: 30 + # -- A* search Configurations -- + astar: + only_behind_solutions: false + use_back: false + distance_heuristic_weight: 1.0 + # -- RRT* search Configurations -- + rrtstar: + enable_update: true + use_informed_sampling: true + max_planning_time: 150.0 + neighbor_radius: 8.0 + margin: 1.0