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chore: sync awf-latest #337

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merged 4 commits into from
Mar 7, 2024
Merged

chore: sync awf-latest #337

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5180edd
chore: change max_z of cropbox filter to vehicle_height (#906)
badai-nguyen Mar 6, 2024
1821686
feat(avoidance): change lateral margin based on if it's parked vehicl…
satoshi-ota Mar 7, 2024
1c9530b
feat(start_planner): prevent hindering rear vehicles (#905)
danielsanchezaran Mar 7, 2024
d6bb368
fix(raw_vehicle_cmd_converter): csv paths are resolved in param.yaml …
xmfcx Mar 7, 2024
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4 changes: 2 additions & 2 deletions ...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
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Expand Up @@ -11,8 +11,8 @@
max_x: 150.0
min_y: -70.0
max_y: 70.0
max_z: 2.5
min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
margin_max_z: 0.0 # to extend the crop box max_z from vehicle_height
margin_min_z: -2.5 # to extend the crop box min_z from ground
negative: False

common_ground_filter:
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48 changes: 32 additions & 16 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Expand Up @@ -29,80 +29,96 @@
execute_num: 1 # [-]
moving_speed_threshold: 1.0 # [m/s]
moving_time_threshold: 2.0 # [s]
lateral_margin:
soft_margin: 0.7 # [m]
hard_margin: 0.3 # [m]
hard_margin_for_parked_vehicle: 0.3 # [m]
max_expand_ratio: 0.0 # [-]
envelope_buffer_margin: 0.5 # [m]
avoid_margin_lateral: 0.7 # [m]
safety_buffer_lateral: 0.3 # [m]
safety_buffer_longitudinal: 0.0 # [m]
use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
truck:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 2.0
lateral_margin:
soft_margin: 0.9 # [m]
hard_margin: 0.1 # [m]
hard_margin_for_parked_vehicle: 0.1 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.9
safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
bus:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 2.0
lateral_margin:
soft_margin: 0.9 # [m]
hard_margin: 0.1 # [m]
hard_margin_for_parked_vehicle: 0.1 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.9
safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
trailer:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 2.0
lateral_margin:
soft_margin: 0.9 # [m]
hard_margin: 0.1 # [m]
hard_margin_for_parked_vehicle: 0.1 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.9
safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
unknown:
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 0.7 # [m]
hard_margin: -0.2 # [m]
hard_margin_for_parked_vehicle: -0.2 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.1
avoid_margin_lateral: 0.7
safety_buffer_lateral: -0.2
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
bicycle:
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 0.7 # [m]
hard_margin: 0.5 # [m]
hard_margin_for_parked_vehicle: 0.5 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.7
safety_buffer_lateral: 0.5
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
motorcycle:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 0.7 # [m]
hard_margin: 0.3 # [m]
hard_margin_for_parked_vehicle: 0.3 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.7
safety_buffer_lateral: 0.3
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
pedestrian:
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 0.7 # [m]
hard_margin: 0.5 # [m]
hard_margin_for_parked_vehicle: 0.5 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.7
safety_buffer_lateral: 0.5
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
lower_distance_for_polygon_expansion: 30.0 # [m]
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48 changes: 32 additions & 16 deletions ...anning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml
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Expand Up @@ -12,64 +12,80 @@
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]
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
truck:
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
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
bus:
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
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
trailer:
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
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
unknown:
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
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
bicycle:
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
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
motorcycle:
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
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
pedestrian:
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
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
lower_distance_for_polygon_expansion: 0.0 # [m]
upper_distance_for_polygon_expansion: 1.0 # [m]

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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 @@ -7,6 +7,7 @@
th_stopped_time: 1.0
collision_check_margins: [2.0, 1.0, 0.5, 0.1]
collision_check_margin_from_front_object: 5.0
extra_width_margin_for_rear_obstacle: 0.5
th_moving_object_velocity: 1.0
object_types_to_check_for_path_generation:
check_car: true
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3 changes: 3 additions & 0 deletions ...ware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml
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@@ -1,5 +1,8 @@
/**:
ros__parameters:
csv_path_accel_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv
csv_path_brake_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv
csv_path_steer_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv
convert_accel_cmd: true
convert_brake_cmd: true
convert_steer_cmd: false
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