From aaea3c7dd8c1b4bdd5f4a0746aa5ff1ceab40236 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 29 Aug 2022 15:35:14 +0900 Subject: [PATCH 01/18] feat(obstacle_avoidance_planne): enable plan_from_ego by default (#452) Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../obstacle_avoidance_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index f31003da09..78abda6861 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_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 From aec72d2ff6de18f5b39990ac337198e0c281c91e Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 29 Aug 2022 15:37:15 +0900 Subject: [PATCH 02/18] feat(behavior_path_planner): enable pull_over backward_parking by default (#448) Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../behavior_path_planner/pull_over/pull_over.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index fd3c904bb8..777a7cf471 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml @@ -12,7 +12,7 @@ min_acc: -0.5 enable_shift_parking: true enable_arc_forward_parking: true - enable_arc_backward_parking: false + enable_arc_backward_parking: true # goal research search_priority: "efficient_path" # "efficient_path" or "close_goal" enable_goal_research: true From d0b004d6b2de3c97eec93f3810eae6e95374920c Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 29 Aug 2022 17:19:23 +0900 Subject: [PATCH 03/18] feat(trajectory_follower): keep stop until the steering control is done (#451) Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../trajectory_follower/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/mpc_follower.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml index 8ef60c0ef6..bc3213081d 100644 --- 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 index e8e87e4955..4085f7025b 100644 --- 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 From 9cfb34d46d2febcc9db5c35af7b0da560a5ddd9b Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 30 Aug 2022 00:05:43 +0900 Subject: [PATCH 04/18] feat(planning_simulator): new parameters for lane change module (#355) * feat(planning_simulator): new parameters for lane change module Signed-off-by: Muhammad Zulfaqar Azmi * added publish debug marker Signed-off-by: Muhammad Zulfaqar Azmi * reorganize collision check Signed-off-by: Muhammad Zulfaqar Azmi * increase reaction time Signed-off-by: Muhammad Zulfaqar Azmi * Add longitudinal minimum threshold Signed-off-by: Muhammad Zulfaqar Azmi * Set constant color of path candidate to false Signed-off-by: Muhammad Zulfaqar Azmi * Remove parameters from lane_change.param.yaml Signed-off-by: Muhammad Zulfaqar Azmi * include abort parameters Signed-off-by: Muhammad Zulfaqar Azmi * set debug marker publisher to false Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Muhammad Zulfaqar Azmi --- autoware_launch/rviz/autoware.rviz | 2 +- .../behavior_path_planner.param.yaml | 7 ++++++ .../lane_change/lane_change.param.yaml | 24 +++++++++---------- 3 files changed, 20 insertions(+), 13 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 9461bfe678..462c81151b 100644 --- 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: diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 8ba90fd624..55b531e997 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/planning_launch/config/scenario_planning/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/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 1a66bc09d0..a1ad81b61e 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/planning_launch/config/scenario_planning/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 From 3d618f9c1b115c639dc039e6150232e2abb338d6 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 30 Aug 2022 14:35:37 +0900 Subject: [PATCH 05/18] feat(behavior_path_palnner): update geometric parallel parking (#431) Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../pull_over/pull_over.param.yaml | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index 777a7cf471..5da3e199cf 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml @@ -9,13 +9,10 @@ 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: true + maximum_deceleration: 0.5 # 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 @@ -25,20 +22,25 @@ theta_size: 360 obstacle_threshold: 60 # 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. + max_steer_rad: 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. From 33820f5ba657722ed6908ebc6799838af63b450c Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 31 Aug 2022 00:40:07 +0900 Subject: [PATCH 06/18] feat(intersection): continue detection after pass judge (#456) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index 2f8ebad3ba..f4948901ed 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/planning_launch/config/scenario_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 From ba3d9fff0f46b951a95ca0c7dfa9b266dd35ce41 Mon Sep 17 00:00:00 2001 From: "tier4-autoware-public-bot[bot]" <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Date: Wed, 31 Aug 2022 15:37:29 +0900 Subject: [PATCH 07/18] chore: sync files (#429) * chore: sync files Signed-off-by: GitHub * Update sync-files.yaml Signed-off-by: GitHub Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- .github/sync-files.yaml | 1 + .github/workflows/build-and-test-differential.yaml | 7 ++----- .yamllint.yaml | 1 - 3 files changed, 3 insertions(+), 6 deletions(-) diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index 181be61423..dd291a8235 100644 --- 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 index 746d6bd3ba..9dbdf7b77f 100644 --- 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 @@ -83,7 +80,7 @@ jobs: if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} uses: autowarefoundation/autoware-github-actions/clang-tidy@v1 with: - rosdistro: galactic + rosdistro: humble target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy build-depends-repos: build_depends.repos diff --git a/.yamllint.yaml b/.yamllint.yaml index 6228c70f02..2c7bd088e2 100644 --- a/.yamllint.yaml +++ b/.yamllint.yaml @@ -1,7 +1,6 @@ extends: default ignore: | - .clang-tidy *.param.yaml rules: From dfafa9cf11e7c939f359862af1928ebc1b247c10 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 1 Sep 2022 02:26:13 +0900 Subject: [PATCH 08/18] refactor(behavior_path_planner): rename pull_over params (#460) Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../behavior_path_planner/pull_over/pull_over.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index 5da3e199cf..d11ed1f0db 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml @@ -2,9 +2,9 @@ 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. + 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 @@ -39,7 +39,7 @@ forward_parking_lane_departure_margin: 0.0 backward_parking_lane_departure_margin: 0.0 arc_path_interval: 1.0 - max_steer_rad: 0.35 # 20deg + pull_over_max_steer_angle: 0.35 # 20deg # hazard on when parked hazard_on_threshold_dis: 1.0 hazard_on_threshold_vel: 0.5 From 6d85263c3fc840897a3c6e94e11ee74bb499fff0 Mon Sep 17 00:00:00 2001 From: "tier4-autoware-public-bot[bot]" <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Date: Thu, 1 Sep 2022 09:33:05 +0900 Subject: [PATCH 09/18] chore: sync files (#461) Signed-off-by: GitHub Signed-off-by: GitHub Co-authored-by: kenji-miyake --- .github/workflows/cancel-previous-workflows.yaml | 14 ++++++++++++++ 1 file changed, 14 insertions(+) create mode 100644 .github/workflows/cancel-previous-workflows.yaml diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml new file mode 100644 index 0000000000..aeb34c6a03 --- /dev/null +++ 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 From 21a4dbe4cbe5f810765d1a26447588a1423bcf13 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 1 Sep 2022 13:24:41 +0900 Subject: [PATCH 10/18] feat(rviz): add behavior path debug markers (#462) Signed-off-by: satoshi-ota Signed-off-by: satoshi-ota --- autoware_launch/rviz/autoware.rviz | 64 +++++++++++++++++++++++++++++- 1 file changed, 62 insertions(+), 2 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 462c81151b..6e00b81365 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1307,7 +1307,7 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: BehaviorPath + Name: Avoidance Namespaces: {} Topic: @@ -1315,7 +1315,67 @@ Visualization Manager: 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/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/sideshift Value: false - Class: rviz_common/Group Displays: From 04158441add9bca21ff143dbd3e7c1d71625eeeb Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 2 Sep 2022 19:00:41 +0900 Subject: [PATCH 11/18] feat(behavior_path_planner): update pull out (#439) * feat(behavior_path_planner): update pull out Signed-off-by: kosuke55 * rename params Signed-off-by: kosuke55 * add search priority Signed-off-by: kosuke55 * change before_pull_out_straight_distance to 0.0 Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../pull_out/pull_out.param.yaml | 41 +++++++++++-------- 1 file changed, 23 insertions(+), 18 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml index 434545674d..7a9a63f805 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml +++ b/planning_launch/config/scenario_planning/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 From 4f9ce80b0a2f1c5e7a1cb221eb688d2a44c08b18 Mon Sep 17 00:00:00 2001 From: "tier4-autoware-public-bot[bot]" <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Date: Sun, 4 Sep 2022 12:54:26 +0900 Subject: [PATCH 12/18] chore: sync files (#463) Signed-off-by: GitHub Signed-off-by: GitHub Co-authored-by: kenji-miyake --- .github/workflows/build-and-test-differential.yaml | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 9dbdf7b77f..b322f4f19a 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -76,11 +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: 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://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy build-depends-repos: build_depends.repos From ffcb2a638348e4df01ce5258a9bacb04cd57d0b8 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 5 Sep 2022 18:09:10 +0900 Subject: [PATCH 13/18] feat(behavior_path_planner): use object recognition for pull_over (#464) Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../behavior_path_planner/pull_over/pull_over.param.yaml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index d11ed1f0db..baa35d2a88 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml @@ -18,9 +18,13 @@ goal_search_interval: 1.0 goal_to_obj_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 From dcea545834c96a3d2d8e42285c8dc2f2bbf31cf6 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 6 Sep 2022 15:13:31 +0900 Subject: [PATCH 14/18] fix(behavior_path_planner): fix pull_over request_length and maximum_deceleration (#468) fix(behavior_path_planner): fix request_length and maximum_deceleration Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../behavior_path_planner/pull_over/pull_over.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index baa35d2a88..8aba3d305c 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: pull_over: - request_length: 100.0 + 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. @@ -9,7 +9,7 @@ pull_over_minimum_velocity: 0.3 margin_from_boundary: 0.5 decide_path_distance: 10.0 - maximum_deceleration: 0.5 + maximum_deceleration: 1.0 # goal research enable_goal_research: true search_priority: "efficient_path" # "efficient_path" or "close_goal" From ef611e086fba879c4a28d90a2e020e44bea9af58 Mon Sep 17 00:00:00 2001 From: Takeshi Ishita Date: Tue, 6 Sep 2022 18:42:02 +0900 Subject: [PATCH 15/18] fix(localization_launch): rename biased pose topics (#469) fix(localization_launch): rename biased yaw topics --- .../launch/pose_estimator/pose_estimator.launch.xml | 2 +- .../pose_twist_fusion_filter.launch.xml | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml index 7e9d0ab8d2..3273db453f 100644 --- a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml +++ b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml @@ -4,7 +4,7 @@ - + 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 index 0f7883c0e8..9988df4cef 100644 --- 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 @@ - - + + From 3145c5d8a8a9350ca52869ab812f8dc94aee4cca Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 6 Sep 2022 19:17:30 +0900 Subject: [PATCH 16/18] refactor(planning_launch): update params name for readability (#458) * refactor(planning_launch): update params name for readability Signed-off-by: satoshi-ota * refactor(planning_launch): add params to config Signed-off-by: satoshi-ota Signed-off-by: satoshi-ota --- .../obstacle_stop_planner.param.yaml | 65 ++++++++++++------- 1 file changed, 43 insertions(+), 22 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index 36421cf37a..55a21d6cd7 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -1,28 +1,49 @@ /**: ros__parameters: - hunting_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for hunting_threshold [s] + hunting_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for hunting_threshold [s] + lowpass_gain: 0.9 # gain parameter for low pass filter [-] + max_velocity: 20.0 # max velocity [m/s] + enable_slow_down: False # whether to use slow down planner [-] stop_planner: - stop_margin: 5.0 # stop margin distance from obstacle on the path [m] - min_behavior_stop_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m] - step_length: 1.0 # step length for pointcloud search range [m] - extend_distance: 0.0 # extend trajectory to consider after goal obstacle in the extend_distance - expand_stop_range: 0.0 # margin of vehicle footprint [m] - hold_stop_margin_distance: 0.0 # the ego keeps stopping if the ego is in this margin [m] + # params for stop position + stop_position: + max_longitudinal_margin: 5.0 # stop margin distance from obstacle on the path [m] + min_longitudinal_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m] + hold_stop_margin_distance: 0.0 # the ego keeps stopping if the ego is in this margin [m] + + # params for detection area + detection_area: + lateral_margin: 0.0 # margin of vehicle footprint [m] + step_length: 1.0 # step length for pointcloud search range [m] + extend_distance: 0.0 # extend trajectory to consider after goal obstacle in the extend_distance [m] + slow_down_planner: - # slow down planner parameters - forward_margin: 5.0 # margin distance from slow down point to vehicle front [m] - backward_margin: 0.0 # margin distance from slow down point to vehicle rear [m] - expand_slow_down_range: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m] - max_slow_down_vel: 1.38 # max slow down velocity [m/s] - min_slow_down_vel: 0.28 # min slow down velocity [m/s] - - # slow down constraint parameters - consider_constraints: False # set "True", if no decel plan found under jerk/dec constrains, relax target slow down vel - forward_margin_min: 1.0 # min margin for relaxing slow down margin [m/s] - forward_margin_span: -0.1 # fineness param for relaxing slow down margin [m/s] - jerk_min_slow_down: -0.6 # min slow down jerk constraint [m/sss] - jerk_span: -0.01 # fineness param for planning deceleration jerk [m/sss] - jerk_start: -0.1 # init jerk used for deceleration planning [m/sss] - slow_down_vel: 1.38 # target slow down velocity [m/s] + # params for slow down section + slow_down_section: + longitudinal_forward_margin: 5.0 # margin distance from slow down point to vehicle front [m] + longitudinal_backward_margin: 0.0 # margin distance from slow down point to vehicle rear [m] + longitudinal_margin_span: -0.1 # fineness param for relaxing slow down margin (use this param if consider_constraints is True) [m/s] + min_longitudinal_forward_margin: 1.0 # min margin for relaxing slow down margin (use this param if consider_constraints is True) [m/s] + + # params for detection area + detection_area: + lateral_margin: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m] + + # params for velocity + target_velocity: + max_slow_down_velocity: 1.38 # max slow down velocity (use this param if consider_constraints is False)[m/s] + min_slow_down_velocity: 0.28 # min slow down velocity (use this param if consider_constraints is False)[m/s] + slow_down_velocity: 1.38 # target slow down velocity (use this param if consider_constraints is True)[m/s] + + # params for deceleration constraints (use this param if consider_constraints is True) + constraints: + jerk_min_slow_down: -0.6 # min slow down jerk constraint [m/sss] + jerk_span: -0.01 # fineness param for planning deceleration jerk [m/sss] + jerk_start: -0.1 # init jerk used for deceleration planning [m/sss] + + # others + consider_constraints: False # set "True", if no decel plan found under jerk/dec constrains, relax target slow down vel [-] + velocity_threshold_decel_complete: 0.2 # use for judge whether the ego velocity converges the target slow down velocity [m/s] + acceleration_threshold_decel_complete: 0.1 # use for judge whether the ego velocity converges the target slow down velocity [m/ss] From defaa300ef3d0256c611ff7d5da500fc502d7744 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Wed, 7 Sep 2022 09:38:54 +0900 Subject: [PATCH 17/18] feat: add launch for vector map inside area filter (#459) Signed-off-by: Tomohito Ando Signed-off-by: Tomohito Ando --- .../behavior_planning.launch.py | 43 ++++++--- .../behavior_planning/compare_map.launch.py | 4 +- .../vector_map_inside_area_filter.launch.py | 88 +++++++++++++++++++ 3 files changed, 121 insertions(+), 14 deletions(-) create mode 100644 planning_launch/launch/scenario_planning/lane_driving/behavior_planning/vector_map_inside_area_filter.launch.py diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index d0b92a4627..011d1061bd 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -419,6 +419,19 @@ def generate_launch_description(): condition=IfCondition(LaunchConfiguration("use_multithread")), ) + # This condition is true if run_out module is enabled and its detection method is Points + launch_run_out_with_points_method = PythonExpression( + [ + LaunchConfiguration( + "launch_run_out", default=behavior_velocity_planner_param["launch_run_out"] + ), + " and ", + "'", + run_out_param["run_out"]["detection_method"], + "' == 'Points'", + ] + ) + # load compare map for run out module load_compare_map = IncludeLaunchDescription( PythonLaunchDescriptionSource( @@ -433,19 +446,24 @@ def generate_launch_description(): "use_multithread": "true", }.items(), # launch compare map only when run_out module is enabled and detection method is Points - condition=IfCondition( - PythonExpression( - [ - LaunchConfiguration( - "launch_run_out", default=behavior_velocity_planner_param["launch_run_out"] - ), - " and ", - "'", - run_out_param["run_out"]["detection_method"], - "' == 'Points'", - ] - ) + condition=IfCondition(launch_run_out_with_points_method), + ) + + load_vector_map_inside_area_filter = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + FindPackageShare("tier4_planning_launch"), + "/launch/scenario_planning/lane_driving/behavior_planning/vector_map_inside_area_filter.launch.py", + ] ), + launch_arguments={ + "use_pointcloud_container": LaunchConfiguration("use_pointcloud_container"), + "container_name": LaunchConfiguration("container_name"), + "use_multithread": "true", + "polygon_type": "no_obstacle_segmentation_area_for_run_out", + }.items(), + # launch vector map filter only when run_out module is enabled and detection method is Points + condition=IfCondition(launch_run_out_with_points_method), ) return launch.LaunchDescription( @@ -460,5 +478,6 @@ def generate_launch_description(): set_container_mt_executable, container, load_compare_map, + load_vector_map_inside_area_filter, ] ) diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py index fe3e347fd2..60b31f475e 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py @@ -45,7 +45,7 @@ def add_launch_arg(name: str, default_value=None): plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent", name="voxel_distance_based_compare_map_filter_node", remappings=[ - ("input", "/perception/obstacle_segmentation/pointcloud"), + ("input", "vector_map_inside_area_filtered/pointcloud"), ("map", "/map/pointcloud_map"), ("output", "compare_map_filtered/pointcloud"), ], @@ -61,7 +61,7 @@ def add_launch_arg(name: str, default_value=None): ] compare_map_container = ComposableNodeContainer( - name=LaunchConfiguration("container_name"), + name="compare_map_container", namespace="", package="rclcpp_components", executable=LaunchConfiguration("container_executable"), diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/vector_map_inside_area_filter.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/vector_map_inside_area_filter.launch.py new file mode 100644 index 0000000000..3921dcfe7d --- /dev/null +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/vector_map_inside_area_filter.launch.py @@ -0,0 +1,88 @@ +# Copyright 2022 TIER IV, Inc. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes +from launch_ros.descriptions import ComposableNode + + +def generate_launch_description(): + def add_launch_arg(name: str, default_value=None): + return DeclareLaunchArgument(name, default_value=default_value) + + set_container_executable = SetLaunchConfiguration( + "container_executable", + "component_container", + condition=UnlessCondition(LaunchConfiguration("use_multithread")), + ) + + set_container_mt_executable = SetLaunchConfiguration( + "container_executable", + "component_container_mt", + condition=IfCondition(LaunchConfiguration("use_multithread")), + ) + + composable_nodes = [ + ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent", + name="vector_map_inside_area_filter_node", + remappings=[ + ("input", "/perception/obstacle_segmentation/pointcloud"), + ("input/vector_map", "/map/vector_map"), + ("output", "vector_map_inside_area_filtered/pointcloud"), + ], + parameters=[ + { + "polygon_type": LaunchConfiguration("polygon_type"), + } + ], + # this node has QoS of transient local + extra_arguments=[{"use_intra_process_comms": False}], + ), + ] + + vector_map_area_filter_container = ComposableNodeContainer( + name="vector_map_area_filter_container", + namespace="", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + composable_node_descriptions=composable_nodes, + condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")), + output="screen", + ) + + load_composable_nodes = LoadComposableNodes( + composable_node_descriptions=composable_nodes, + target_container=LaunchConfiguration("container_name"), + condition=IfCondition(LaunchConfiguration("use_pointcloud_container")), + ) + + return LaunchDescription( + [ + add_launch_arg("use_multithread", "true"), + add_launch_arg("use_pointcloud_container", "true"), + add_launch_arg("container_name", "vector_map_area_filter_container"), + set_container_executable, + set_container_mt_executable, + vector_map_area_filter_container, + load_composable_nodes, + ] + ) From 82c2f81ed86c640cdf28fb257c3c5cb3bd1101bc Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 7 Sep 2022 10:20:11 +0900 Subject: [PATCH 18/18] feat(behavior_path_planner): check goal to objects logitudinal distance for pull_over (#470) Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../behavior_path_planner/pull_over/pull_over.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index 8aba3d305c..0231003e24 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml @@ -16,7 +16,7 @@ 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 use_occupancy_grid: true occupancy_grid_collision_check_margin: 0.0