sync rc rc/v0.1.1 (tier4#77)

* fix center line resolution (tier4#76)

* planning vel limit = 4.5km/h (tier4#75)

* Fix/adjust experiment kashiwanoha (tier4#78)

* change to 5m

* Adjust obstacle stop parameters

Co-authored-by: prds1lg <prod-s1-github@tier4.jp>

Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
Co-authored-by: Kazuki Matsumoto <59071591+kazuki527@users.noreply.github.com>
Co-authored-by: prds1lg <prod-s1-github@tier4.jp>

map_launch/launch/map.launch.py

@@ -44,7 +44,7 @@ def generate_launch_description():
         remappings=[('output/lanelet2_map', 'vector_map')],
         parameters=[
             {
-                'center_line_resolution': 5.0,
+                'center_line_resolution': 1.0,
                 'lanelet2_map_path': LaunchConfiguration('lanelet2_map_path'),
             }
         ],

planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.param.yaml

@@ -1,8 +1,8 @@
 /**:
   ros__parameters:
-    max_velocity: 0.85      # max velocity limit [m/s]
+    max_velocity: 1.25      # max velocity limit [m/s]
     max_accel: 0.03          # max acceleration limit [m/ss]
-    min_decel: -0.05         # min deceleration limit [m/ss]
+    min_decel: -0.1         # min deceleration limit [m/ss]
 
     # curve parameters
     max_lateral_accel: 0.20             # max lateral acceleration limit [m/ss]

planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml

@@ -3,7 +3,7 @@
     # trajectory total/fixing length
     trajectory_length: 20 # total trajectory length[m]
     forward_fixing_distance: 20.0 # forward fixing length from base_link[m]
-    backward_fixing_distance: 1.0 # backward fixing length from base_link[m]
+    backward_fixing_distance: 5.0 # backward fixing length from base_link[m]
 
     # clearance(distance) when generating trajectory
     clearance_from_road: 0.2 # clearance from road boundary[m]

planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml

@@ -1,14 +1,14 @@
 /**:
   ros__parameters:
     stop_planner:
-      stop_margin: 2.5 # stop margin distance from obstacle on the path [m]
+      stop_margin: 1.0 # stop margin distance from obstacle on the path [m]
       min_behavior_stop_margin: 1.0 # stop margin distance when any other stop point is inserted in stop margin [m]
       step_length: 0.1 # step length for pointcloud search range [m]
       extend_distance: 1.0 # extend trajectory to consider after goal obstacle in the extend_distance
       expand_stop_range: 0.0 # margin of vehicle footprint [m]
 
     slow_down_planner:
-      slow_down_margin: 2.5 # margin distance from slow down point [m]
+      slow_down_margin: 1.0 # margin distance from slow down point [m]
       expand_slow_down_range: 0.6 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
       max_slow_down_vel: 0.7 # max slow down velocity [m/s]
       min_slow_down_vel: 0.28 # min slow down velocity [m/s]