Merge pull request #457 from tier4/sync-awf-latest

chore: sync awf-latest
autowarefoundation · Sep 8, 2022 · 6eb9ec9 · 6eb9ec9
2 parents 4abaedc + 60801be
commit 6eb9ec9
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Showing 19 changed files with 323 additions and 95 deletions.
diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
@@ -19,3 +19,4 @@
   files:
     - source: .github/workflows/build-and-test.yaml
     - source: .github/workflows/build-and-test-differential.yaml
+    - source: .github/workflows/cancel-previous-workflows.yaml
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
@@ -21,9 +21,6 @@ jobs:
             container: ros:humble
             build-depends-repos: build_depends.repos
     steps:
-      - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.10.0
-
       - name: Check out repository
         uses: actions/checkout@v3
         with:
@@ -64,7 +61,7 @@ jobs:
 
   clang-tidy-differential:
     runs-on: ubuntu-latest
-    container: ros:galactic
+    container: ros:humble
     needs: build-and-test-differential
     steps:
       - name: Check out repository
@@ -79,11 +76,20 @@ jobs:
         id: get-modified-packages
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
 
+      - name: Get modified files
+        id: get-modified-files
+        uses: tj-actions/changed-files@v28
+        with:
+          files: |
+            **/*.cpp
+            **/*.hpp
+
       - name: Run clang-tidy
-        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
         uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
         with:
-          rosdistro: galactic
+          rosdistro: humble
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
           clang-tidy-config-url: https://github.com/autowarefoundation/autoware/main/.clang-tidy
           build-depends-repos: build_depends.repos
diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml
@@ -0,0 +1,14 @@
+name: cancel-previous-workflows
+
+on:
+  pull_request_target:
+
+jobs:
+  cancel-previous-workflows:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Cancel previous runs
+        uses: styfle/cancel-workflow-action@0.10.0
+        with:
+          workflow_id: all
+          all_but_latest: true
diff --git a/.yamllint.yaml b/.yamllint.yaml
@@ -1,7 +1,6 @@
 extends: default
 
 ignore: |
-  .clang-tidy
   *.param.yaml
 
 rules:

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1001,7 +1001,7 @@ Visualization Manager:
                       View Path:
                         Alpha: 0.30000001192092896
                         Color: 115; 210; 22
-                        Constant Color: true
+                        Constant Color: false
                         Value: true
                         Width: 2
                       View Velocity:
@@ -1307,15 +1307,75 @@ Visualization Manager:
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
-                          Name: BehaviorPath
+                          Name: Avoidance
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance
+                          Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: LaneChange
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lanechange
+                          Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: LaneFollowing
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lanefollowing
+                          Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: PullOver
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/pullover
+                          Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: PullOut
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/pullout
+                          Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: SideShift
                           Namespaces:
                             {}
                           Topic:
                             Depth: 5
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/markers
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/sideshift
                           Value: false
                         - Class: rviz_common/Group
                           Displays:

diff --git a/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml
@@ -6,7 +6,7 @@
     enable_overshoot_emergency: true
     enable_large_tracking_error_emergency: true
     enable_slope_compensation: true
-    enable_keep_stopped_until_steer_convergence: false
+    enable_keep_stopped_until_steer_convergence: true
 
     # state transition
     drive_state_stop_dist: 0.5

diff --git a/control_launch/config/trajectory_follower/mpc_follower.param.yaml b/control_launch/config/trajectory_follower/mpc_follower.param.yaml
@@ -56,7 +56,7 @@
     stop_state_entry_ego_speed: 0.001
     stop_state_entry_target_speed: 0.001
     converged_steer_rad: 0.1
-    keep_steer_control_until_converged: false
+    keep_steer_control_until_converged: true
     new_traj_duration_time: 1.0
     new_traj_end_dist: 0.3
 

diff --git a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
@@ -4,7 +4,7 @@
   <include file="$(find-pkg-share ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
     <arg name="input_map_points_topic" value="/map/pointcloud_map"/>
     <arg name="input/pointcloud" value="/localization/util/downsample/pointcloud"/>
-    <arg name="input_initial_pose_topic" value="/localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias"/>
+    <arg name="input_initial_pose_topic" value="/localization/pose_twist_fusion_filter/biased_pose_with_covariance"/>
 
 
     <arg name="output_pose_topic" value="/localization/pose_estimator/pose"/>

diff --git a/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
@@ -11,8 +11,8 @@
     <arg name="output_odom_name" value="kinematic_state"/>
     <arg name="output_pose_name" value="pose"/>
     <arg name="output_pose_with_covariance_name" value="/localization/pose_with_covariance"/>
-    <arg name="output_pose_without_yawbias_name" value="pose_without_yawbias"/>
-    <arg name="output_pose_with_covariance_without_yawbias_name" value="pose_with_covariance_without_yawbias"/>
+    <arg name="output_biased_pose_name" value="biased_pose"/>
+    <arg name="output_biased_pose_with_covariance_name" value="biased_pose_with_covariance"/>
     <arg name="output_twist_name" value="twist"/>
     <arg name="output_twist_with_covariance_name" value="twist_with_covariance"/>
 

diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -20,3 +20,10 @@
     path_interval: 2.0
 
     visualize_drivable_area_for_shared_linestrings_lanelet: true
+
+    lateral_distance_max_threshold: 5.0
+    longitudinal_distance_min_threshold: 3.0
+    expected_front_deceleration: -1.0
+    expected_rear_deceleration: -1.0
+    rear_vehicle_reaction_time: 2.0
+    rear_vehicle_safety_time_margin: 2.0
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -1,19 +1,19 @@
 /**:
   ros__parameters:
     lane_change:
-      min_stop_distance: 5.0
-      stop_time: 2.0
-      hysteresis_buffer_distance: 2.0
-      lane_change_prepare_duration: 4.0
-      lane_changing_duration: 8.0
-      lane_change_finish_judge_buffer: 3.0
-      minimum_lane_change_velocity: 5.6
-      prediction_duration: 8.0
-      prediction_time_resolution: 0.5
-      static_obstacle_velocity_thresh: 1.5
-      maximum_deceleration: 1.0
+      lane_change_prepare_duration: 4.0         # [s]
+      lane_changing_duration: 8.0               # [s]
+      minimum_lane_change_prepare_distance: 4.0 # [m]
+      lane_change_finish_judge_buffer: 3.0      # [m]
+      minimum_lane_change_velocity: 5.6         # [m/s]
+      prediction_time_resolution: 0.5           # [s]
+      maximum_deceleration: 1.0                 # [m/s2]
+      lane_change_sampling_num: 10
+      abort_lane_change_velocity_thresh: 0.5
+      abort_lane_change_angle_thresh: 10.0      # [deg]
+      abort_lane_change_distance_thresh: 0.3    # [m]
       enable_abort_lane_change: true
       enable_collision_check_at_prepare_phase: true
       use_predicted_path_outside_lanelet: true
       use_all_predicted_path: true
-      enable_blocked_by_obstacle: false
+      publish_debug_marker: false
diff --git a/...lanning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/...lanning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
@@ -1,25 +1,30 @@
 /**:
   ros__parameters:
     pull_out:
-      min_stop_distance: 2.0
-      stop_time: 0.0
-      hysteresis_buffer_distance: 1.0
-      pull_out_prepare_duration: 4.0
-      pull_out_duration: 2.0
+      th_arrived_distance: 1.0
+      th_stopped_velocity: 0.01
+      th_stopped_time: 1.0
+      collision_check_margin: 1.0
       pull_out_finish_judge_buffer: 1.0
-      minimum_pull_out_velocity: 2.0
-      prediction_duration: 30.0
-      prediction_time_resolution: 0.5
-      static_obstacle_velocity_thresh: 1.5
-      maximum_deceleration: 1.0
-      enable_collision_check_at_prepare_phase: false
-      use_predicted_path_outside_lanelet: false
-      use_all_predicted_path: false
-      use_dynamic_object: true
-      enable_blocked_by_obstacle: false
-      pull_out_search_distance: 30.0
-      before_pull_out_straight_distance: 5.0
-      after_pull_out_straight_distance: 5.0
+      # shift pull out
+      enable_shift_pull_out: true
+      shift_pull_out_velocity: 2.0
+      pull_out_sampling_num: 4
+      before_pull_out_straight_distance: 0.0
+      minimum_shift_pull_out_distance: 20.0
       maximum_lateral_jerk: 2.0
       minimum_lateral_jerk: 0.5
       deceleration_interval: 15.0
+      # geometric pull out
+      enable_geometric_pull_out: true
+      geometric_pull_out_velocity: 1.0
+      arc_path_interval: 1.0
+      lane_departure_margin: 0.2
+      backward_velocity: -1.0
+      pull_out_max_steer_angle: 0.26  # 15deg
+      # search start pose backward
+      enable_back: true
+      search_priority: "efficient_path"  # "efficient_path" or "short_back_distance"
+      max_back_distance: 15.0
+      backward_search_resolution: 2.0
+      backward_path_update_duration: 3.0
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -1,44 +1,50 @@
 /**:
   ros__parameters:
     pull_over:
-      request_length: 100.0
-      th_arrived_distance_m: 1.0
-      th_stopped_velocity_mps: 0.01
-      th_stopped_time_sec: 2.0  # It must be greater than the state_machine's.
+      request_length: 200.0
+      th_arrived_distance: 1.0
+      th_stopped_velocity: 0.01
+      th_stopped_time: 2.0  # It must be greater than the state_machine's.
       pull_over_velocity: 3.0
       pull_over_minimum_velocity: 0.3
       margin_from_boundary: 0.5
       decide_path_distance: 10.0
-      min_acc: -0.5
-      enable_shift_parking: true
-      enable_arc_forward_parking: true
-      enable_arc_backward_parking: false
+      maximum_deceleration: 1.0
       # goal research
-      search_priority: "efficient_path" # "efficient_path" or "close_goal"
       enable_goal_research: true
+      search_priority: "efficient_path" # "efficient_path" or "close_goal"
       forward_goal_search_length: 20.0
       backward_goal_search_length: 20.0
       goal_search_interval: 1.0
-      goal_to_obj_margin: 2.0
+      goal_to_obstacle_margin: 2.0
       # occupancy grid map
-      collision_check_margin: 0.5
+      use_occupancy_grid: true
+      occupancy_grid_collision_check_margin: 0.0
       theta_size: 360
       obstacle_threshold: 60
+      # object recognition
+      use_object_recognition: true
+      object_recognition_collision_check_margin: 1.0
       # shift path
+      enable_shift_parking: true
       pull_over_sampling_num: 4
       maximum_lateral_jerk: 2.0
       minimum_lateral_jerk: 0.5
       deceleration_interval: 15.0
-      maximum_deceleration: 1.0
       after_pull_over_straight_distance: 5.0
       before_pull_over_straight_distance: 5.0
       # parallel parking path
+      enable_arc_forward_parking: true
+      enable_arc_backward_parking: true
       after_forward_parking_straight_distance: 2.0
       after_backward_parking_straight_distance: 2.0
       forward_parking_velocity: 0.3
       backward_parking_velocity: -0.3
+      forward_parking_lane_departure_margin: 0.0
+      backward_parking_lane_departure_margin: 0.0
       arc_path_interval: 1.0
-      # hazard. Not used now.
+      pull_over_max_steer_angle: 0.35  # 20deg
+      # hazard on when parked
       hazard_on_threshold_dis: 1.0
       hazard_on_threshold_vel: 0.5
       # check safety with dynamic objects. Not used now.

diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -3,6 +3,8 @@
     intersection:
       state_transit_margin_time: 0.5
       stop_line_margin: 3.0
+      keep_detection_line_margin: 1.0 # distance (toward path end) from generated stop line. keep detection if ego is before this line and ego.vel < keep_detection_vel_thr
+      keep_detection_vel_thr: 0.833 # == 3.0km/h
       stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
       stuck_vehicle_ignore_dist: 7.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)
       stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h

diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -58,7 +58,7 @@
       option:
         steer_limit_constraint: true
         fix_points_around_ego: true
-        plan_from_ego: false
+        plan_from_ego: true
         max_plan_from_ego_length: 10.0
         visualize_sampling_num: 1
         enable_manual_warm_start: true