Merge pull request autowarefoundation#310 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

autoware_launch/config/localization/pose_initializer.logging_simulator.lidar.param.yaml

@@ -3,4 +3,5 @@
     gnss_enabled: true
     ndt_enabled: true
     ekf_enabled: true
+    yabloc_enabled: false
     stop_check_enabled: false

autoware_launch/config/localization/pose_initializer.param.yaml

@@ -3,4 +3,5 @@
     gnss_enabled: true
     ndt_enabled: true
     ekf_enabled: true
+    yabloc_enabled: false
     stop_check_enabled: true

autoware_launch/config/localization/pose_initializer.planning_simulator.param.yaml

@@ -3,4 +3,5 @@
     gnss_enabled: false
     ndt_enabled: false
     ekf_enabled: false
+    yabloc_enabled: false
     stop_check_enabled: false

autoware_launch/config/localization/yabloc/camera_particle_corrector.param.yaml

@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    # Declared in AbstractParticleCorrector
+    acceptable_max_delay: 1.0
+    visualize: false
+
+    # Declared in ll2_cost_map
+    image_size: 800 # cost map image made by lanelet2
+    max_range: 40.0 # [m] a cost map scale size
+    gamma: 5.0 # cost map intensity gradient
+
+    min_prob: 0.1 # minimum weight of particles
+    far_weight_gain: 0.001 # exp(-far_weight_gain_ * squared_norm) is multiplied each measurement
+    enabled_at_first: true # developing feature

autoware_launch/config/localization/yabloc/camera_pose_initializer.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    angle_resolution: 30

autoware_launch/config/localization/yabloc/gnss_particle_corrector.param.yaml

@@ -0,0 +1,17 @@
+/**:
+  ros__parameters:
+    # Declared in AbstractParticleCorrector
+    acceptable_max_delay: 1.0
+    visualize: false
+
+    mahalanobis_distance_threshold: 30.0 # If the distance to GNSS observation exceeds this, the correction is skipped.
+    #
+    for_fixed/max_weight: 5.0
+    for_fixed/flat_radius: 0.5
+    for_fixed/max_radius: 10.0
+    for_fixed/min_weight: 0.5
+    #
+    for_not_fixed/flat_radius: 5.0
+    for_not_fixed/max_radius: 20.0
+    for_not_fixed/min_weight: 0.5
+    for_not_fixed/max_weight: 1.0

autoware_launch/config/localization/yabloc/graph_segment.param.yaml

@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+      # graph_node selects a road surface area from around this height
+      target_height_ratio: 0.65
+
+      #
+      target_candidate_box_width: 15
+
+      # graph_segment_node will pickup additional road-like areas
+      pickup_additional_graph_segment: true
+
+      # used when the pickup_additional_graph_segment: true
+      similarity_score_threshold: 0.8
+
+      # parameters for cv::ximgproc::segmentation
+      sigma: 0.5
+      k: 300.0
+      min_size: 100.0

autoware_launch/config/localization/yabloc/ground_server.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    force_zero_tilt: false
+    K: 50
+    R: 10

autoware_launch/config/localization/yabloc/ll2_decomposer.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    road_marking_labels: [cross_walk, zebra_marking, line_thin, line_thick, pedestrian_marking, stop_line, road_border]
+    sign_board_labels: [sign-board]
+    bounding_box_labels: [none]

autoware_launch/config/localization/yabloc/pose_initializer.logging_simulator.yabloc.param.yaml

@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    gnss_enabled: true
+    ndt_enabled: false
+    ekf_enabled: true
+    yabloc_enabled: true
+    stop_check_enabled: false

autoware_launch/config/localization/yabloc/pose_initializer.yabloc.param.yaml

@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    gnss_enabled: true
+    ndt_enabled: false
+    ekf_enabled: true
+    yabloc_enabled: true
+    stop_check_enabled: true

autoware_launch/config/localization/yabloc/predictor.param.yaml

@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    visualize: true
+
+    static_linear_covariance: 0.04
+    static_angular_covariance: 0.006
+
+    resampling_interval_seconds: 1.0
+    num_of_particles: 500
+    prediction_rate: 50.0
+
+    cov_xx_yy: [2.0,0.25]

autoware_launch/config/localization/yabloc/segment_filter.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    min_segment_length:  1.5    # if it is negative, it is unlimited
+    max_segment_distance:  30.0 # if it is negative, it is unlimited
+    max_lateral_distance: 10.0  # if it is negative, it is unlimited
+    publish_image_with_segment_for_debug: true
+    max_range: 20.0
+    image_size: 800 # debug

autoware_launch/config/localization/yabloc/undistort.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    use_sensor_qos: true
+    width: 800
+    override_frame_id: "" # Value for overriding the camera's frame_id. If blank, frame_id of static_tf is not overwritten

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml

@@ -31,7 +31,7 @@
 
     lateral_distance_max_threshold: 1.7
     longitudinal_distance_min_threshold: 3.0
-    longitudinal_velocity_delta_time: 0.8
+    longitudinal_velocity_delta_time: 0.3
 
     expected_front_deceleration: -1.0
     expected_rear_deceleration: -1.0

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml

@@ -4,7 +4,6 @@
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
-      th_blinker_on_lateral_offset: 1.0
       collision_check_margin: 1.0
       collision_check_distance_from_end: 1.0
       # shift pull out
@@ -30,3 +29,7 @@
       backward_search_resolution: 2.0
       backward_path_update_duration: 3.0
       ignore_distance_from_lane_end: 15.0
+      # turns signal
+      th_turn_signal_on_lateral_offset: 1.0
+      intersection_search_length: 30.0
+      length_ratio_for_turn_signal_deactivation_near_intersection: 0.5

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

@@ -19,6 +19,7 @@
         stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h
         # enable_front_car_decel_prediction: false # By default this feature is disabled
         # assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
+        timeout_private_area: 3.0 # [s] cancel stuck vehicle stop in private area
 
       collision_detection:
         state_transit_margin_time: 1.0

autoware_launch/launch/autoware.launch.xml

@@ -38,6 +38,8 @@
   <!-- Perception -->
   <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
+  <!-- Localization -->
+  <arg name="localization_mode" default="lidar" description="select localization mode. lidar, camera"/>
 
   <!-- Global parameters -->
   <group scoped="false">

autoware_launch/launch/components/tier4_localization_component.launch.xml

@@ -1,24 +1,46 @@
 <?xml version="1.0"?>
 <launch>
-  <let name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.param.yaml" if="$(eval &quot;'$(var system_run_mode)'=='online'&quot;)"/>
-  <let
-    name="pose_initializer_param_path"
-    value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.logging_simulator.lidar.param.yaml"
-    if="$(eval &quot;'$(var system_run_mode)'=='logging_simulation'&quot;)"
-  />
+  <let name="loc_config_path" value="$(find-pkg-share autoware_launch)/config/localization"/>
+  <let name="is_ndt_mode" value="$(eval &quot;'$(var localization_mode)'=='lidar'&quot;)"/>
+  <let name="is_yabloc_mode" value="$(eval &quot;'$(var localization_mode)'=='camera'&quot;)"/>
 
-  <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
-    <arg name="input/pointcloud" value="/sensing/lidar/left_upper/outlier_filtered/pointcloud"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-    <arg name="pointcloud_container_name" value="/sensing/lidar/left_upper/pointcloud_preprocessor/pandar_node_container"/>
+  <group if="$(eval &quot;'$(var system_run_mode)'=='online'&quot;)" scoped="false">
+    <let name="pose_initializer_param_path" if="$(var is_ndt_mode)" value="$(var loc_config_path)/pose_initializer.param.yaml"/>
+    <let name="pose_initializer_param_path" if="$(var is_yabloc_mode)" value="$(var loc_config_path)/yabloc/pose_initializer.yabloc.param.yaml"/>
+  </group>
 
-    <arg name="crop_box_filter_measurement_range_param_path" value="$(find-pkg-share autoware_launch)/config/localization/crop_box_filter_measurement_range.param.yaml"/>
-    <arg name="voxel_grid_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/voxel_grid_filter.param.yaml"/>
-    <arg name="random_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/random_downsample_filter.param.yaml"/>
-    <arg name="ndt_scan_matcher_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ndt_scan_matcher.param.yaml"/>
-    <arg name="localization_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
-    <arg name="ekf_localizer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ekf_localizer.param.yaml"/>
-    <arg name="pose_initializer_common_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer_common.param.yaml"/>
-    <arg name="pose_initializer_param_path" value="$(var pose_initializer_param_path)"/>
-  </include>
+  <group if="$(eval &quot;'$(var system_run_mode)'=='logging_simulation'&quot;)" scoped="false">
+    <let name="pose_initializer_param_path" if="$(var is_ndt_mode)" value="$(var loc_config_path)/pose_initializer.logging_simulator.lidar.param.yaml"/>
+    <let name="pose_initializer_param_path" if="$(var is_yabloc_mode)" value="$(var loc_config_path)/yabloc/pose_initializer.logging_simulator.yabloc.param.yaml"/>
+  </group>
+
+  <group>
+    <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
+      <arg name="mode" value="$(var localization_mode)"/>
+      <arg name="input/pointcloud" value="/sensing/lidar/left_upper/outlier_filtered/pointcloud"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="/sensing/lidar/left_upper/pointcloud_preprocessor/pandar_node_container"/>
+
+      <!-- parameter paths for common -->
+      <arg name="crop_box_filter_measurement_range_param_path" value="$(var loc_config_path)/crop_box_filter_measurement_range.param.yaml"/>
+      <arg name="voxel_grid_downsample_filter_param_path" value="$(var loc_config_path)/voxel_grid_filter.param.yaml"/>
+      <arg name="random_downsample_filter_param_path" value="$(var loc_config_path)/random_downsample_filter.param.yaml"/>
+      <arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>
+      <arg name="ekf_localizer_param_path" value="$(var loc_config_path)/ekf_localizer.param.yaml"/>
+      <arg name="pose_initializer_common_param_path" value="$(var loc_config_path)/pose_initializer_common.param.yaml"/>
+      <arg name="pose_initializer_param_path" value="$(var pose_initializer_param_path)"/>
+      <!-- parameter paths for ndt -->
+      <arg name="ndt_scan_matcher_param_path" value="$(var loc_config_path)/ndt_scan_matcher.param.yaml"/>
+      <!-- parameter paths for yabloc -->
+      <arg name="camera_pose_initializer_param_path" value="$(var loc_config_path)/yabloc/camera_pose_initializer.param.yaml"/>
+      <arg name="camera_particle_corrector_param_path" value="$(var loc_config_path)/yabloc/camera_particle_corrector.param.yaml"/>
+      <arg name="gnss_particle_corrector_param_path" value="$(var loc_config_path)/yabloc/gnss_particle_corrector.param.yaml"/>
+      <arg name="predictor_param_path" value="$(var loc_config_path)/yabloc/predictor.param.yaml"/>
+      <arg name="graph_segment_param_path" value="$(var loc_config_path)/yabloc/graph_segment.param.yaml"/>
+      <arg name="segment_filter_param_path" value="$(var loc_config_path)/yabloc/segment_filter.param.yaml"/>
+      <arg name="undistort_param_path" value="$(var loc_config_path)/yabloc/undistort.param.yaml"/>
+      <arg name="ground_server_param_path" value="$(var loc_config_path)/yabloc/ground_server.param.yaml"/>
+      <arg name="ll2_decomposer_param_path" value="$(var loc_config_path)/yabloc/ll2_decomposer.param.yaml"/>
+    </include>
+  </group>
 </launch>