feat(crosswalk): more conservative when the ego pass first (#1085)

* feat: use obstacle_cruise_planner and change safe_distance_margin

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat: set max_vel to 40km/h

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat: enable surround_obstacle_checker

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat: enable surround_obstacle_checker

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat: enable dynamic_avoidance and disable outside_drivable_area_stop

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat: disable AEB and set the maximum velocity to 40km/h

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* enable intersection_occlusion detection

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* chore(planning_launch): update motion module name (#1014)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* disable AEB diag check

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* feat(diagnostic_graph_utils): launch logging node for diagnostic_graph

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* feat(api): set launch_deprecated_api true (#496)

feat(api): launch_deprecated_api=true

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix(api): disable rosbridge to fix duplicated node (#497)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* feat(crosswalk): more conservative when the ego pass first

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com>
Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Co-authored-by: danielsanchezaran <daniel.sanchez@tier4.jp>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml

@@ -38,7 +38,7 @@
       # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles
       pass_judge:
         ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
-        ego_pass_first_margin_y: [3.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+        ego_pass_first_margin_y: [4.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
         ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering
         ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
         ego_pass_later_margin_y: [13.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)