diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index 93533b54e1..19e1e9c12e 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -9,6 +9,7 @@ on: workflow_dispatch: inputs: beta-branch-or-tag-name: + description: The name of the beta branch or tag to release type: string required: true diff --git a/.github/workflows/sync-awf-latest.yaml b/.github/workflows/sync-awf-latest.yaml new file mode 100644 index 0000000000..6f905ef9e8 --- /dev/null +++ b/.github/workflows/sync-awf-latest.yaml @@ -0,0 +1,31 @@ +name: sync-awf-latest + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + sync-awf-latest: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: tier4/universe + sync-pr-branch: sync-awf-latest + sync-target-repository: https://github.com/tier4/autoware_launch.git + sync-target-branch: awf-latest + pr-title: "chore: sync awf-latest" + pr-labels: | + bot + sync-awf-latest + auto-merge-method: merge diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 8c65d067ed..ede7eb7ef7 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -34,7 +34,7 @@ repos: - id: yamllint - repo: https://github.com/tier4/pre-commit-hooks-ros - rev: v0.7.0 + rev: v0.7.1 hooks: - id: flake8-ros - id: prettier-package-xml @@ -46,7 +46,7 @@ repos: - id: shellcheck - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.4.3-1 + rev: v3.5.0-1 hooks: - id: shfmt args: [-w, -s, -i=4] diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py index 4f1295588a..fb840f4edd 100644 --- a/autoware_api_launch/launch/include/external_api_adaptor.launch.py +++ b/autoware_api_launch/launch/include/external_api_adaptor.launch.py @@ -40,6 +40,7 @@ def generate_launch_description(): _create_api_node("operator", "Operator"), _create_api_node("metadata_packages", "MetadataPackages"), _create_api_node("route", "Route"), + _create_api_node("rtc_controller", "RTCController"), _create_api_node("service", "Service"), _create_api_node("start", "Start"), _create_api_node("vehicle_status", "VehicleStatus"), diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 28bed4d2e8..690e038e7a 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -373,7 +373,9 @@ Visualization Manager: Name: Lanelet2VectorMap Namespaces: center_lane_line: false + center_line_arrows: false crosswalk_lanelets: true + lane_start_bound: false lanelet direction: true lanelet_id: false left_lane_bound: true diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py index 1d5cf26548..a4671689d1 100644 --- a/control_launch/launch/control.launch.py +++ b/control_launch/launch/control.launch.py @@ -159,7 +159,7 @@ def launch_setup(context, *args, **kwargs): # vehicle cmd gate vehicle_cmd_gate_component = ComposableNode( package="vehicle_cmd_gate", - plugin="VehicleCmdGate", + plugin="vehicle_cmd_gate::VehicleCmdGate", name="vehicle_cmd_gate", remappings=[ ("input/emergency_state", "/system/emergency/emergency_state"), diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml index a2f16ee825..be846f70c4 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml @@ -4,6 +4,7 @@ detection_method: "occupancy_grid" # [-] candidate is "occupancy_grid" or "predicted_object" pass_judge: "smooth_velocity" # [-] candidate is "smooth_velocity" or "current_velocity" filter_occupancy_grid: true # [-] whether to filter occupancy grid by morphologyEx or not + use_moving_object_ray_cast: true # [-] whether to reflect moving object ray shadow grid map use_object_info: true # [-] whether to reflect object info to occupancy grid map or not use_partition_lanelet: true # [-] whether to use partition lanelet map data pedestrian_vel: 1.5 # [m/s] assume pedestrian is dashing from occlusion at this velocity @@ -18,8 +19,8 @@ lateral_distance: 1.5 # [m] maximum lateral distance to consider hidden collision motion: safety_ratio: 0.8 # [-] jerk/acceleration ratio for safety - max_slow_down_jerk: -0.5 # [m/s^3] minimum jerk deceleration for safe brake. - max_slow_down_accel: -1.8 # [m/s^2] minimum accel deceleration for safe brake. + max_slow_down_jerk: -0.3 # [m/s^3] minimum jerk deceleration for safe brake. + max_slow_down_accel: -1.5 # [m/s^2] minimum accel deceleration for safe brake. non_effective_jerk: -0.3 # [m/s^3] weak jerk for velocity planning. non_effective_acceleration: -1.0 # [m/s^2] weak deceleration for velocity planning. min_allowed_velocity: 1.0 # [m/s] minimum velocity allowed @@ -28,7 +29,7 @@ min_occlusion_spot_size: 1.0 # [m] occupancy grid must contain an UNKNOWN area of at least size NxN to be considered a hidden obstacle. slice_length: 10.0 # [m] size of slices in both length and distance relative to the ego path. min_longitudinal_offset: 1.0 # [m] detection area safety buffer from front bumper. - max_lateral_distance: 6.0 # [m] buffer around the ego path used to build the detection area. + max_lateral_distance: 5.0 # [m] buffer around the ego path used to build the detection area. grid: - free_space_max: 40 # [-] maximum value of a free space cell in the occupancy grid - occupied_min: 60 # [-] minimum value of an occupied cell in the occupancy grid + free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid + occupied_min: 57 # [-] minimum value of an occupied cell in the occupancy grid diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml index a2b5ac5d5f..6d723c510c 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml @@ -4,3 +4,5 @@ stop_margin: 0.0 stop_check_dist: 2.0 stop_duration_sec: 1.0 + debug: + show_stopline_collision_check: false # [-] whether to show stopline collision