From d7751ac2e08c7197d23911764b9005634296c89f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 15 Jun 2023 14:16:47 +0900 Subject: [PATCH 01/11] feat(avoidance): change object_check_backward_distance from 100m to 10m (#388) Signed-off-by: kosuke55 --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 4b8b514a5f..f7f1cfc07e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -89,7 +89,7 @@ object_ignore_distance_crosswalk_forward: 30.0 # [m] object_ignore_distance_crosswalk_backward: 30.0 # [m] object_check_forward_distance: 150.0 # [m] - object_check_backward_distance: 100.0 # [m] + object_check_backward_distance: 10.0 # [m] object_check_goal_distance: 20.0 # [m] # filtering parking objects threshold_distance_object_is_on_center: 1.0 # [m] From bb513424f0406b0ebc8993c1ba7a3ca422e39ba8 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu, 15 Jun 2023 20:23:45 +0900 Subject: [PATCH 02/11] feat(planning_launch): add a turn signal deactivation parameter for lane change (#398) --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index fb63a1b35c..a6e1594b89 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -6,7 +6,6 @@ backward_length_buffer_for_end_of_lane: 3.0 # [m] lane_change_finish_judge_buffer: 2.0 # [m] - min_length_for_turn_signal_activation: 10.0 #[m] lane_changing_lateral_jerk: 0.5 # [m/s3] lateral_acc_switching_velocity: 4.0 #[m/s] @@ -16,6 +15,10 @@ longitudinal_acceleration_sampling_num: 5 lateral_acceleration_sampling_num: 3 + # turn signal + min_length_for_turn_signal_activation: 10.0 # [m] + length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position) + # longitudinal acceleration min_longitudinal_acc: -1.0 max_longitudinal_acc: 1.0 From 202d416e5cbda25c4075ee40017f09f7020262e8 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 16 Jun 2023 15:32:40 +0900 Subject: [PATCH 03/11] ci(pre-commit): autoupdate (#318) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * ci(pre-commit): autoupdate updates: - [github.com/igorshubovych/markdownlint-cli: v0.33.0 → v0.34.0](https://github.com/igorshubovych/markdownlint-cli/compare/v0.33.0...v0.34.0) - [github.com/pre-commit/mirrors-prettier: v3.0.0-alpha.6 → v3.0.0-alpha.9-for-vscode](https://github.com/pre-commit/mirrors-prettier/compare/v3.0.0-alpha.6...v3.0.0-alpha.9-for-vscode) - [github.com/adrienverge/yamllint: v1.30.0 → v1.32.0](https://github.com/adrienverge/yamllint/compare/v1.30.0...v1.32.0) - [github.com/shellcheck-py/shellcheck-py: v0.9.0.2 → v0.9.0.5](https://github.com/shellcheck-py/shellcheck-py/compare/v0.9.0.2...v0.9.0.5) * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .pre-commit-config.yaml | 8 ++++---- CODE_OF_CONDUCT.md | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 65cf91e8c4..5ad60de003 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -18,18 +18,18 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.33.0 + rev: v0.34.0 hooks: - id: markdownlint args: [-c, .markdownlint.yaml, --fix] - repo: https://github.com/pre-commit/mirrors-prettier - rev: v3.0.0-alpha.6 + rev: v3.0.0-alpha.9-for-vscode hooks: - id: prettier - repo: https://github.com/adrienverge/yamllint - rev: v1.30.0 + rev: v1.32.0 hooks: - id: yamllint @@ -44,7 +44,7 @@ repos: - id: sort-package-xml - repo: https://github.com/shellcheck-py/shellcheck-py - rev: v0.9.0.2 + rev: v0.9.0.5 hooks: - id: shellcheck diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md index c493cad4da..8dbcfb8510 100644 --- a/CODE_OF_CONDUCT.md +++ b/CODE_OF_CONDUCT.md @@ -60,7 +60,7 @@ representative at an online or offline event. Instances of abusive, harassing, or otherwise unacceptable behavior may be reported to the community leaders responsible for enforcement at -conduct@autoware.org. +. All complaints will be reviewed and investigated promptly and fairly. All community leaders are obligated to respect the privacy and security of the From 36eaa578525c9c7459a6617c32d5d768b334cb16 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 19 Jun 2023 13:41:12 +0900 Subject: [PATCH 04/11] feat(avoidance): can set stop/move judge threshold for each object class (#399) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index f7f1cfc07e..d660de0743 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -29,48 +29,64 @@ target_object: car: enable: true # [-] + moving_speed_threshold: 1.0 # [m/s] + moving_time_threshold: 1.0 # [s] max_expand_ratio: 0.0 # [-] envelope_buffer_margin: 0.3 # [m] safety_buffer_lateral: 0.7 # [m] safety_buffer_longitudinal: 0.0 # [m] truck: enable: true + moving_speed_threshold: 1.0 # 3.6km/h + moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 bus: enable: true + moving_speed_threshold: 1.0 # 3.6km/h + moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 trailer: enable: true + moving_speed_threshold: 1.0 # 3.6km/h + moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 unknown: enable: false + moving_speed_threshold: 0.28 # 1.0km/h + moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 bicycle: enable: false + moving_speed_threshold: 0.28 # 1.0km/h + moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 motorcycle: enable: false + moving_speed_threshold: 1.0 # 3.6km/h + moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 pedestrian: enable: false + moving_speed_threshold: 0.28 # 1.0km/h + moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 safety_buffer_lateral: 1.0 @@ -81,8 +97,6 @@ # For target object filtering target_filtering: # filtering moving objects - threshold_speed_object_is_stopped: 1.0 # [m/s] - threshold_time_object_is_moving: 1.0 # [s] threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s] # detection range object_ignore_distance_traffic_light: 30.0 # [m] From 01e327ece75669d14187750705af8360e8b197ca Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 19 Jun 2023 21:54:04 +0900 Subject: [PATCH 05/11] feat(start_planner): start with acceleration (#402) Signed-off-by: kosuke55 --- .../start_planner/start_planner.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 0d8782cb50..9a8b2ff973 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -9,12 +9,12 @@ collision_check_distance_from_end: 1.0 # shift pull out enable_shift_pull_out: true - shift_pull_out_velocity: 2.0 - pull_out_sampling_num: 4 minimum_shift_pull_out_distance: 0.0 - maximum_lateral_jerk: 2.0 - minimum_lateral_jerk: 0.1 deceleration_interval: 15.0 + lateral_jerk: 0.5 + lateral_acceleration_sampling_num: 1 + minimum_lateral_acc: 0.15 + maximum_lateral_acc: 0.5 # geometric pull out enable_geometric_pull_out: true divide_pull_out_path: false From 61fafb711bb2f6608638494386a12b366f31ee0f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 20 Jun 2023 16:53:09 +0900 Subject: [PATCH 06/11] feat(start_planner): change lateral acceleration sampling num (#404) Signed-off-by: kosuke55 --- .../start_planner/start_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 9a8b2ff973..da2c6da930 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -12,7 +12,7 @@ minimum_shift_pull_out_distance: 0.0 deceleration_interval: 15.0 lateral_jerk: 0.5 - lateral_acceleration_sampling_num: 1 + lateral_acceleration_sampling_num: 3 minimum_lateral_acc: 0.15 maximum_lateral_acc: 0.5 # geometric pull out From e6be9a38e3c469f45b938cf9c81a9ba7a8f8d2ec Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 20 Jun 2023 20:13:57 +0900 Subject: [PATCH 07/11] fix(mpc): relax steering rate limit (#405) Signed-off-by: Takamasa Horibe --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 538224cf2b..4222082d40 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -47,9 +47,9 @@ vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.24 # steering input delay time for delay compensation vehicle_model_steer_tau: 0.3 # steering dynamics time constant (1d approximation) [s] - steer_rate_lim_dps_list_by_curvature: [10.0, 20.0, 30.0] # steering angle rate limit list depending on curvature [deg/s] + steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] - steer_rate_lim_dps_list_by_velocity: [40.0, 30.0, 20.0] # steering angle rate limit list depending on velocity [deg/s] + steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0] # steering angle rate limit list depending on velocity [deg/s] velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0] # velocity list for steering angle rate limit interpolation in ascending order [m/s] acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] From e4cfdd4be5b5f37a25340c9e0ec2a3b05f5c5b97 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 21 Jun 2023 13:18:23 +0900 Subject: [PATCH 08/11] feat(start_planner): add length_ratio_for_turn_signal_deactivation_near_intersection (#407) Signed-off-by: kosuke55 --- .../start_planner/start_planner.param.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index da2c6da930..80114889d7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/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 From 64453f8d2d8509041203c8b9f69c5321782b0ed2 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 21 Jun 2023 16:44:03 +0900 Subject: [PATCH 09/11] feat(intersection): timeout stuck vehicle stop in private area (#406) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index c81a22f6b2..efb4c4c4be 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/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 From d944796751edcd4e79aec9d62e46be9c8ed15649 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Thu, 22 Jun 2023 13:39:08 +0900 Subject: [PATCH 10/11] feat(yabloc): add camera and vector map localization (#393) * add yabloc_localization_component.launch.xml Signed-off-by: Kento Yabuuchi * add pose_initializer.logging_simulator.yabloc.param.yaml Signed-off-by: Kento Yabuuchi * add yabloc params Signed-off-by: Kento Yabuuchi * add graph_segment.param.yaml Signed-off-by: Kento Yabuuchi * integrate yabloc_loc_launch into tier_loc_launch Signed-off-by: Kento Yabuuchi * fix some config files Signed-off-by: Kento Yabuuchi * add conditional branch for yabloc Signed-off-by: Kento Yabuuchi * add sample config for yabloc Signed-off-by: Kento Yabuuchi * style(pre-commit): autofix * removed some obsolete parameters Signed-off-by: Kento Yabuuchi * style(pre-commit): autofix * removed is_swap_mode from yabloc config Signed-off-by: Kento Yabuuchi * rename AbstParaticleFilter in config files Signed-off-by: Kento Yabuuchi * fixed typo Signed-off-by: Kento Yabuuchi * removed optional param files Signed-off-by: Kento Yabuuchi * refactored tier4_loc_comp.launch.xml Signed-off-by: Kento Yabuuchi * changed localization_mode option names Signed-off-by: Kento Yabuuchi --------- Signed-off-by: Kento Yabuuchi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- ...ializer.logging_simulator.lidar.param.yaml | 1 + .../localization/pose_initializer.param.yaml | 1 + ..._initializer.planning_simulator.param.yaml | 1 + .../camera_particle_corrector.param.yaml | 14 +++++ .../yabloc/camera_pose_initializer.param.yaml | 3 + .../yabloc/gnss_particle_corrector.param.yaml | 17 ++++++ .../yabloc/graph_segment.param.yaml | 18 ++++++ .../yabloc/ground_server.param.yaml | 5 ++ .../yabloc/ll2_decomposer.param.yaml | 5 ++ ...alizer.logging_simulator.yabloc.param.yaml | 7 +++ .../yabloc/pose_initializer.yabloc.param.yaml | 7 +++ .../localization/yabloc/predictor.param.yaml | 12 ++++ .../yabloc/segment_filter.param.yaml | 8 +++ .../localization/yabloc/undistort.param.yaml | 5 ++ autoware_launch/launch/autoware.launch.xml | 2 + .../tier4_localization_component.launch.xml | 58 +++++++++++++------ 16 files changed, 146 insertions(+), 18 deletions(-) create mode 100644 autoware_launch/config/localization/yabloc/camera_particle_corrector.param.yaml create mode 100644 autoware_launch/config/localization/yabloc/camera_pose_initializer.param.yaml create mode 100644 autoware_launch/config/localization/yabloc/gnss_particle_corrector.param.yaml create mode 100644 autoware_launch/config/localization/yabloc/graph_segment.param.yaml create mode 100644 autoware_launch/config/localization/yabloc/ground_server.param.yaml create mode 100644 autoware_launch/config/localization/yabloc/ll2_decomposer.param.yaml create mode 100644 autoware_launch/config/localization/yabloc/pose_initializer.logging_simulator.yabloc.param.yaml create mode 100644 autoware_launch/config/localization/yabloc/pose_initializer.yabloc.param.yaml create mode 100644 autoware_launch/config/localization/yabloc/predictor.param.yaml create mode 100644 autoware_launch/config/localization/yabloc/segment_filter.param.yaml create mode 100644 autoware_launch/config/localization/yabloc/undistort.param.yaml diff --git a/autoware_launch/config/localization/pose_initializer.logging_simulator.lidar.param.yaml b/autoware_launch/config/localization/pose_initializer.logging_simulator.lidar.param.yaml index 0895bf80bb..1f3b37cb65 100644 --- a/autoware_launch/config/localization/pose_initializer.logging_simulator.lidar.param.yaml +++ b/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 diff --git a/autoware_launch/config/localization/pose_initializer.param.yaml b/autoware_launch/config/localization/pose_initializer.param.yaml index c1486b71aa..16c7252fc0 100644 --- a/autoware_launch/config/localization/pose_initializer.param.yaml +++ b/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 diff --git a/autoware_launch/config/localization/pose_initializer.planning_simulator.param.yaml b/autoware_launch/config/localization/pose_initializer.planning_simulator.param.yaml index d6c960d08a..cf0760d99f 100644 --- a/autoware_launch/config/localization/pose_initializer.planning_simulator.param.yaml +++ b/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 diff --git a/autoware_launch/config/localization/yabloc/camera_particle_corrector.param.yaml b/autoware_launch/config/localization/yabloc/camera_particle_corrector.param.yaml new file mode 100644 index 0000000000..17c5a604bf --- /dev/null +++ b/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 diff --git a/autoware_launch/config/localization/yabloc/camera_pose_initializer.param.yaml b/autoware_launch/config/localization/yabloc/camera_pose_initializer.param.yaml new file mode 100644 index 0000000000..a0c38682b3 --- /dev/null +++ b/autoware_launch/config/localization/yabloc/camera_pose_initializer.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + angle_resolution: 30 diff --git a/autoware_launch/config/localization/yabloc/gnss_particle_corrector.param.yaml b/autoware_launch/config/localization/yabloc/gnss_particle_corrector.param.yaml new file mode 100644 index 0000000000..32267ce6f1 --- /dev/null +++ b/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 diff --git a/autoware_launch/config/localization/yabloc/graph_segment.param.yaml b/autoware_launch/config/localization/yabloc/graph_segment.param.yaml new file mode 100644 index 0000000000..21879a2984 --- /dev/null +++ b/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 diff --git a/autoware_launch/config/localization/yabloc/ground_server.param.yaml b/autoware_launch/config/localization/yabloc/ground_server.param.yaml new file mode 100644 index 0000000000..25873ce799 --- /dev/null +++ b/autoware_launch/config/localization/yabloc/ground_server.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + force_zero_tilt: false + K: 50 + R: 10 diff --git a/autoware_launch/config/localization/yabloc/ll2_decomposer.param.yaml b/autoware_launch/config/localization/yabloc/ll2_decomposer.param.yaml new file mode 100644 index 0000000000..1bc6394a17 --- /dev/null +++ b/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] diff --git a/autoware_launch/config/localization/yabloc/pose_initializer.logging_simulator.yabloc.param.yaml b/autoware_launch/config/localization/yabloc/pose_initializer.logging_simulator.yabloc.param.yaml new file mode 100644 index 0000000000..a9aa7a3928 --- /dev/null +++ b/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 diff --git a/autoware_launch/config/localization/yabloc/pose_initializer.yabloc.param.yaml b/autoware_launch/config/localization/yabloc/pose_initializer.yabloc.param.yaml new file mode 100644 index 0000000000..b4334307d7 --- /dev/null +++ b/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 diff --git a/autoware_launch/config/localization/yabloc/predictor.param.yaml b/autoware_launch/config/localization/yabloc/predictor.param.yaml new file mode 100644 index 0000000000..c7e7b62d14 --- /dev/null +++ b/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] diff --git a/autoware_launch/config/localization/yabloc/segment_filter.param.yaml b/autoware_launch/config/localization/yabloc/segment_filter.param.yaml new file mode 100644 index 0000000000..e2ba24d267 --- /dev/null +++ b/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 diff --git a/autoware_launch/config/localization/yabloc/undistort.param.yaml b/autoware_launch/config/localization/yabloc/undistort.param.yaml new file mode 100644 index 0000000000..77f9be2c4a --- /dev/null +++ b/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 diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 4a57cd1cb7..3d972188e1 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -38,6 +38,8 @@ + + diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index 560fc8f557..ba815398a1 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -1,23 +1,45 @@ - - + + + - - - + + + + - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From e100e566ddae26173e4bc0d1e8aea40022bad658 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Thu, 22 Jun 2023 15:03:50 +0900 Subject: [PATCH 11/11] feat(behavior_path_planner): relax longitudinal_velocity_delta_time (#410) Signed-off-by: Shumpei Wakabayashi --- .../behavior_path_planner/behavior_path_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index aa56edee2f..05775dc680 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/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