Merge pull request #227 from tier4/sync-upstream

chore: sync upstream

.github/workflows/build-and-test-differential.yaml

@@ -47,6 +47,7 @@ jobs:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
           verbose: true
+          flags: differential
 
   clang-tidy-differential:
     runs-on: ubuntu-latest

.github/workflows/build-and-test.yaml

@@ -46,3 +46,4 @@ jobs:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
           verbose: true
+          flags: total

autoware_launch/launch/planning_simulator.launch.xml

@@ -73,8 +73,8 @@
   <!-- Autoware API -->
   <group>
     <include file="$(find-pkg-share autoware_api_launch)/launch/autoware_api.launch.xml">
-      <arg name="init_simulator_pose" value="false"/>
-      <arg name="init_localization_pose" value="true"/>
+      <arg name="init_simulator_pose" value="true"/>
+      <arg name="init_localization_pose" value="false"/>
     </include>
   </group>
 

localization_launch/launch/util/util.launch.py

@@ -34,8 +34,8 @@ def load_composable_node_param(param_path):
         plugin="pointcloud_preprocessor::CropBoxFilterComponent",
         name="crop_box_filter_measurement_range",
         remappings=[
-            ("input", LaunchConfiguration("input_sensor_points_topic")),
-            ("output", LaunchConfiguration("output_measurement_range_sensor_points_topic")),
+            ("input", LaunchConfiguration("input/pointcloud")),
+            ("output", "measurement_range/pointcloud"),
         ],
         parameters=[
             load_composable_node_param("crop_box_filter_measurement_range_param_path"),
@@ -47,8 +47,8 @@ def load_composable_node_param(param_path):
         plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
         name="voxel_grid_downsample_filter",
         remappings=[
-            ("input", LaunchConfiguration("output_measurement_range_sensor_points_topic")),
-            ("output", LaunchConfiguration("output_voxel_grid_downsample_sensor_points_topic")),
+            ("input", "measurement_range/pointcloud"),
+            ("output", "voxel_grid_downsample/pointcloud"),
         ],
         parameters=[load_composable_node_param("voxel_grid_downsample_filter_param_path")],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
@@ -58,8 +58,8 @@ def load_composable_node_param(param_path):
         plugin="pointcloud_preprocessor::RandomDownsampleFilterComponent",
         name="random_downsample_filter",
         remappings=[
-            ("input", LaunchConfiguration("output_voxel_grid_downsample_sensor_points_topic")),
-            ("output", LaunchConfiguration("output_downsample_sensor_points_topic")),
+            ("input", "voxel_grid_downsample/pointcloud"),
+            ("output", LaunchConfiguration("output/pointcloud")),
         ],
         parameters=[load_composable_node_param("random_downsample_filter_param_path")],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
@@ -112,24 +112,14 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "container name",
     )
     add_launch_arg(
-        "input_sensor_points_topic",
+        "input/pointcloud",
         "/sensing/lidar/top/rectified/pointcloud",
         "input topic name for raw pointcloud",
     )
     add_launch_arg(
-        "output_measurement_range_sensor_points_topic",
-        "measurement_range/pointcloud",
-        "output topic name for crop box filter",
-    )
-    add_launch_arg(
-        "output_voxel_grid_downsample_sensor_points_topic",
-        "voxel_grid_downsample/pointcloud",
-        "output topic name for voxel grid downsample filter",
-    )
-    add_launch_arg(
-        "output_downsample_sensor_points_topic",
+        "output/pointcloud",
         "downsample/pointcloud",
-        "output topic name for downsample filter. this is final output",
+        "final output topic name",
     )
 
     return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)])

localization_launch/launch/util/util.launch.xml

@@ -2,10 +2,8 @@
 <launch>
 
   <!-- Topics -->
-  <arg name="input_sensor_points_topic" default="/sensing/lidar/top/rectified/pointcloud" description="input topic name for raw pointcloud"/>
-  <arg name="output_measurement_range_sensor_points_topic" default="measurement_range/pointcloud" description="output topic name for crop box filter"/>
-  <arg name="output_voxel_grid_downsample_sensor_points_topic" default="voxel_grid_downsample/pointcloud" description="output topic name for voxel grid downsample filter"/>
-  <arg name="output_downsample_sensor_points_topic" default="downsample/pointcloud" description="output topic name for downsample filter. this is final output"/>
+  <arg name="input/pointcloud"  default="/sensing/lidar/top/rectified/pointcloud" description="input topic name"/>
+  <arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>
 
   <!-- container -->
   <arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"  description="container name"/>
@@ -17,6 +15,11 @@
   <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml" />
 
   <!-- util -->
-  <include file="$(find-pkg-share localization_launch)/launch/util/util.launch.py" />
+  <include file="$(find-pkg-share localization_launch)/launch/util/util.launch.py">
+    <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+    <arg name="output/pointcloud" value="$(var output/pointcloud)"/>
+    <arg name="container" value="$(var container)"/>
+    <arg name="use_intra_process" value="$(var use_intra_process)"/>
+  </include>
 
 </launch>

perception_launch/launch/occupancy_grid_map/occupancy_grid_map.launch.py

@@ -76,8 +76,8 @@ def add_launch_arg(name: str, default_value=None):
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         ),
         ComposableNode(
-            package="laserscan_to_occupancy_grid_map",
-            plugin="occupancy_grid_map::OccupancyGridMapNode",
+            package="probabilistic_occupancy_grid_map",
+            plugin="occupancy_grid_map::LaserscanBasedOccupancyGridMapNode",
             name="occupancy_grid_map_node",
             remappings=[
                 ("~/input/laserscan", LaunchConfiguration("output/laserscan")),

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    blind_spot:
+      use_pass_judge_line: true
+      stop_line_margin: 1.0 # [m]
+      backward_length: 15.0 # [m]
+      ignore_width_from_center_line: 0.7 # [m]
+      max_future_movement_time: 10.0 # [second]

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml

@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    crosswalk:
+      crosswalk:
+        stop_line_distance: 1.5 # make stop line away from crosswalk when no explicit stop line exists
+        stop_margin: 1.0
+        slow_margin: 2.0
+        slow_velocity: 2.76 # 2.76 m/s = 10.0 kmph
+        stop_predicted_object_prediction_time_margin: 3.0
+
+      walkway:
+        stop_line_distance: 1.5 # make stop line away from walkway when no explicit stop line exists
+        stop_margin: 1.0
+        stop_duration_sec: 1.0

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    detection_area:
+      stop_margin: 0.0
+      use_dead_line: false
+      dead_line_margin: 5.0
+      use_pass_judge_line: false
+      state_clear_time: 2.0

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml

@@ -0,0 +1,19 @@
+/**:
+  ros__parameters:
+    intersection:
+      state_transit_margin_time: 0.5
+      decel_velocity: 8.33 # 8.33m/s = 30.0km/h
+      stop_line_margin: 3.0
+      stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
+      stuck_vehicle_ignore_dist: 7.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)
+      stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h
+      intersection_velocity: 2.778 # 2.778m/s = 10.0km/h
+      intersection_max_accel: 0.5 # m/ss
+      detection_area_margin: 0.5 # [m]
+      detection_area_length: 200.0 # [m]
+      min_predicted_path_confidence: 0.05
+      collision_start_margin_time: 5.0 # [s]
+      collision_end_margin_time: 2.0 # [s]
+
+    merge_from_private_road:
+      stop_duration_sec: 1.0

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml

@@ -0,0 +1,10 @@
+/**:
+  ros__parameters:
+    no_stopping_area:
+      state_clear_time: 2.0           # [s] time to clear stop state
+      stuck_vehicle_vel_thr: 0.833    # 0.833m/s = 3.0km/h
+      stop_margin: 0.0                # [m] margin to stop line at no stopping area
+      dead_line_margin: 1.0           # [m] dead line offset go at no stopping area
+      stop_line_margin: 1.0           # [m] margin to auto-gen stop line at no stopping area
+      detection_area_length: 200.0    # [m] used to create detection area polygon
+      stuck_vehicle_front_margin: 6.0 # [m] obstacle stop max distance(5.0m)

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml

@@ -0,0 +1,34 @@
+/**:
+  ros__parameters:
+    occlusion_spot:
+      detection_method: "predicted_object"  # [-] 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_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
+      pedestrian_radius: 0.3                # [m] assume pedestrian width(0.2m) + margin(0.1m)
+      debug:                                # !Note: default should be false for performance
+        is_show_occlusion: false            # [-] whether to show occlusion point markers.
+        is_show_cv_window: false            # [-] whether to show open_cv debug window
+        is_show_processing_time: false      # [-] whether to show processing time
+      threshold:
+        detection_area_length: 100.0        # [m] the length of path to consider perception range
+        stuck_vehicle_vel: 1.0              # [m/s] velocity below this value is assumed to stop
+        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: -0.7            # [m/s^3] minimum jerk deceleration for safe brake.
+        max_slow_down_accel: -2.0           # [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
+        safe_margin: 2.0                    # [m] margin for detection failure(0.5m) + pedestrian radius(0.5m) + safe margin(1.0m)
+      detection_area:
+        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.
+      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

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml

@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    stop_line:
+      stop_margin: 0.0
+      stop_check_dist: 2.0
+      stop_duration_sec: 1.0

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    traffic_light:
+      stop_margin: 0.0
+      tl_state_timeout: 1.0
+      external_tl_state_timeout: 1.0
+      yellow_lamp_period: 2.75
+      enable_pass_judge: true

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    virtual_traffic_light:
+      max_delay_sec: 3.0
+      near_line_distance: 1.0
+      dead_line_margin: 1.0
+      max_yaw_deviation_deg: 90.0
+      check_timeout_after_stop_line: true