chore: sync awf-latest

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -70,15 +70,3 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
-
-    # vehicle parameters
-    vehicle:
-      cg_to_front_m: 1.228
-      cg_to_rear_m: 1.5618
-      mass_kg: 2400.0
-      mass_fl: 600.0
-      mass_fr: 600.0
-      mass_rl: 600.0
-      mass_rr: 600.0
-      cf: 155494.663
-      cr: 155494.663

autoware_launch/config/localization/ndt_scan_matcher.param.yaml

@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    # Use dynamic map loading
+    use_dynamic_map_loading: true
 
     # Vehicle reference frame
     base_frame: "base_link"
@@ -64,3 +66,18 @@
 
     # Regularization scale factor
     regularization_scale_factor: 0.01
+
+    # Dynamic map loading distance
+    dynamic_map_loading_update_distance: 20.0
+
+    # Dynamic map loading loading radius
+    dynamic_map_loading_map_radius: 150.0
+
+    # Radius of input LiDAR range (used for diagnostics of dynamic map loading)
+    lidar_radius: 100.0
+
+    # A flag for using scan matching score based on de-grounded LiDAR scan
+    estimate_scores_for_degrounded_scan: false
+
+    # If lidar_point.z - base_link.z <= this threshold , the point will be removed
+    z_margin_for_ground_removal: 0.8

autoware_launch/config/map/pointcloud_map_loader.param.yaml

@@ -2,8 +2,8 @@
   ros__parameters:
     enable_whole_load: true
     enable_downsampled_whole_load: false
-    enable_partial_load: false
-    enable_differential_load: false
+    enable_partial_load: true
+    enable_differential_load: true
 
     # only used when downsample_whole_load enabled
     leaf_size: 3.0 # downsample leaf size [m]

autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml

@@ -14,10 +14,10 @@
     max_dist_matrix:
       #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
       [4.0,     1.0, 1.0,   1.0,  1.0,     1.0,       1.0,     1.0,       #UNKNOWN
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #CAR
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRUCK
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #BUS
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRAILER
+       4.0,     2.5, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #CAR
+       4.0,     2.5, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRUCK
+       4.0,     2.5, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #BUS
+       4.0,     2.5, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRAILER
        3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #MOTORBIKE
        3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #BICYCLE
        2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0]       #PEDESTRIAN
@@ -55,12 +55,12 @@
        3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150]      #PEDESTRIAN
 
     min_iou_matrix: # If value is negative, it will be ignored.
-      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
-      [0.0001,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #UNKNOWN
-          0.1,  0.1,   0.2,   0.2,    0.2,      0.1,       0.1,     0.1,       #CAR
-          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRUCK
-          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #BUS
-          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRAILER
-          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #MOTORBIKE
-          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #BICYCLE
-          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,  0.0001]       #PEDESTRIAN
+      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,   MOTORBIKE, BICYCLE, PEDESTRIAN
+      [0.0001,  0.1,   0.1,   0.1,    0.1,       0.1,       0.1,     0.1,       #UNKNOWN
+          0.1,  0.1,   0.2,   0.2,    0.2,       0.1,       0.1,     0.1,       #CAR
+          0.1,  0.2,   0.3,   0.3,    0.3,       0.1,       0.1,     0.1,       #TRUCK
+          0.1,  0.2,   0.3,   0.3,    0.3,       0.1,       0.1,     0.1,       #BUS
+          0.1,  0.2,   0.3,   0.3,    0.3,       0.1,       0.1,     0.1,       #TRAILER
+          0.1,  0.1,   0.1,   0.1,    0.1,      -1.0,       0.1,     0.1,       #MOTORBIKE
+          0.1,  0.1,   0.1,   0.1,    0.1,       0.1,       0.1,     0.1,       #BICYCLE
+          0.1,  0.1,   0.1,   0.1,    0.1,       0.1,       0.1,  0.0001]       #PEDESTRIAN

autoware_launch/config/planning/scenario_planning/common/common.param.yaml

@@ -2,9 +2,9 @@
   ros__parameters:
     # constraints param for normal driving
     normal:
-      min_acc: -0.5         # min deceleration [m/ss]
+      min_acc: -1.0         # min deceleration [m/ss]
       max_acc: 1.0          # max acceleration [m/ss]
-      min_jerk: -0.5        # min jerk [m/sss]
+      min_jerk: -1.0        # min jerk [m/sss]
       max_jerk: 1.0         # max jerk [m/sss]
 
     # constraints to be observed

autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml

@@ -32,7 +32,7 @@
 
     # resampling parameters for optimization
     max_trajectory_length: 200.0        # max trajectory length for resampling [m]
-    min_trajectory_length: 150.0        # min trajectory length for resampling [m]
+    min_trajectory_length: 180.0        # min trajectory length for resampling [m]
     resample_time: 2.0                  # resample total time for dense sampling [s]
     dense_resample_dt: 0.2              # resample time interval for dense sampling [s]
     dense_min_interval_distance: 0.1    # minimum points-interval length for dense sampling [m]

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

@@ -17,6 +17,7 @@
       enable_update_path_when_object_is_gone: false
       enable_safety_check: false
       enable_yield_maneuver: false
+      disable_path_update: false
 
       # for debug
       publish_debug_marker: false

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml

@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+<root main_tree_to_execute="BehaviorTree">
+    <!-- ////////// -->
+    <BehaviorTree ID="BehaviorTree">
+        <Fallback>
+            <ReactiveSequence>
+                <Condition ID="PullOver_Request"/>
+                <Action ID="PullOver_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="PullOut_Request"/>
+                <Action ID="PullOut_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="SideShift_Request"/>
+                <Action ID="SideShift_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="ExternalRequestLaneChangeRight_Request"/>
+                <Action ID="ExternalRequestLaneChangeRight_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="ExternalRequestLaneChangeLeft_Request"/>
+                <Action ID="ExternalRequestLaneChangeLeft_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="LaneChange_Request"/>
+                <Action ID="LaneChange_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="Avoidance_Request"/>
+                <Action ID="Avoidance_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <Action ID="LaneFollowing_Plan" output="{output}"/>
+        </Fallback>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <TreeNodesModel>
+        <Action ID="Avoidance_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="Avoidance_Request"/>
+        <Condition ID="ExternalApproval"/>
+        <Action ID="ExternalRequestLaneChangeRight_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="ExternalRequestLaneChangeRight_Request"/>
+        <Action ID="ExternalRequestLaneChangeLeft_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="ExternalRequestLaneChangeLeft_Request"/>
+        <Action ID="LaneChange_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="LaneChange_Request"/>
+        <Action ID="LaneFollowing_Plan">
+            <output_port name="output" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
+        </Action>
+        <Condition ID="LaneFollowing_Request"/>
+        <Action ID="PullOut_Plan">
+            <output_port name="output"/>
+        </Action>
+        <Condition ID="PullOut_Request"/>
+        <Action ID="PullOver_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="PullOver_Request"/>
+        <Action ID="SideShift_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="SideShift_Request"/>
+    </TreeNodesModel>
+    <!-- ////////// -->
+</root>

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

@@ -14,7 +14,7 @@
       minimum_lane_change_velocity: 2.78        # [m/s]
       prediction_time_resolution: 0.5           # [s]
       maximum_deceleration: 1.0                 # [m/s2]
-      lane_change_sampling_num: 10
+      lane_change_sampling_num: 3
 
       # collision check
       enable_collision_check_at_prepare_phase: false

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

@@ -7,7 +7,7 @@
     launch_blind_spot: true
     launch_detection_area: true
     launch_virtual_traffic_light: true
-    launch_occlusion_spot: true
+    launch_occlusion_spot: false
     launch_no_stopping_area: true
     launch_run_out: false
     launch_speed_bump: false

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

@@ -3,6 +3,7 @@
     intersection:
       state_transit_margin_time: 1.0
       stop_line_margin: 3.0
+      keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
       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: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)
       stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h

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

@@ -4,7 +4,7 @@
       detection_method: "occupancy_grid"    # [-] candidate is "occupancy_grid" or "predicted_object"
       pass_judge: "smooth_velocity"         # [-] candidate is "smooth_velocity" or "current_velocity"
       use_object_info: true                 # [-] whether to reflect object info to occupancy grid map or not
-      use_moving_object_ray_cast: true      # [-] whether to reflect moving object ray_cast to occupancy grid map or not
+      use_moving_object_ray_cast: true      # [-] whether to reflect moving object ray shadow grid map
       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)
@@ -18,8 +18,8 @@
         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 +28,7 @@
         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: 43  # [-] maximum value of a free space cell in the occupancy grid
-        occupied_min: 58    # [-] minimum value of an occupied cell in the occupancy grid
+        occupied_min: 57    # [-] minimum value of an occupied cell in the occupancy grid

autoware_launch/launch/autoware.launch.xml

@@ -26,7 +26,6 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
-  <arg name="cruise_planner_type" default="obstacle_stop_planner" description="type of cruise planner"/>
   <!-- System -->
   <arg name="system_run_mode" default="online" description="run mode in system"/>
   <!-- Tools -->
@@ -109,31 +108,12 @@
 
   <!-- Planning -->
   <group if="$(var launch_planning)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
-      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg
-        name="behavior_path_planner_tree_param_path"
-        value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml"
-      />
-      <arg name="cruise_planner_type" value="obstacle_stop_planner"/>
-      <arg name="use_experimental_lane_change_function" value="false"/>
-      <arg name="use_surround_obstacle_check" value="true"/>
-      <arg name="smoother_type" value="JerkFiltered"/>
-    </include>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml"/>
   </group>
 
   <!-- Control -->
   <group if="$(var launch_control)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml">
-      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-      <arg name="vehicle_id" value="$(var vehicle_id)"/>
-      <arg name="enable_obstacle_collision_checker" value="false"/>
-      <arg name="lateral_controller_mode" value="mpc"/>
-      <arg name="longitudinal_controller_mode" value="pid"/>
-      <arg name="use_individual_control_param" value="false"/>
-    </include>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml"/>
   </group>
 
   <!-- API -->

autoware_launch/launch/components/tier4_autoware_api_component.launch.xml

@@ -1,9 +1,7 @@
+<?xml version="1.0"?>
 <launch>
-  <!-- forwarding options -->
-  <arg name="launch_deprecated_api" default="true"/>
-  <arg name="rosbridge_enabled" default="true"/>
-  <arg name="rosbridge_max_message_size" default="1000000000"/>
-  <group>
-    <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>
-  </group>
+  <!-- Fork the repository and add the parameters here if needed. -->
+  <arg name="scenario_simulation" default="false"/>
+  <arg name="launch_deprecated_api" default="$(var scenario_simulation)"/>
+  <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>
 </launch>

autoware_launch/launch/components/tier4_control_component.launch.xml

@@ -1,22 +1,18 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="vehicle_param_file"/>
-  <arg name="vehicle_id"/>
-  <arg name="enable_obstacle_collision_checker"/>
-  <arg name="lateral_controller_mode"/>
-  <arg name="longitudinal_controller_mode"/>
-  <arg name="use_individual_control_param"/>
+  <!-- optional parameters are written here -->
+  <arg name="lateral_controller_mode" default="mpc"/>
+  <arg name="longitudinal_controller_mode" default="pid"/>
+  <arg name="use_individual_control_param" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
 
   <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
-    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
-
     <!-- option -->
-    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="vehicle_id" value="$(var vehicle_id)"/>
-    <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
+    <arg name="enable_obstacle_collision_checker" value="false"/>
     <arg name="trajectory_follower_node_param_path" value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/trajectory_follower_node.param.yaml"/>
     <arg
       name="lat_controller_param_path"

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -1,18 +1,15 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="vehicle_param_file"/>
-  <arg name="use_pointcloud_container"/>
-  <arg name="pointcloud_container_name"/>
+  <!-- NOTE: optional parameters are written here -->
   <!-- behavior -->
-  <arg name="behavior_path_planner_tree_param_path"/>
+  <arg name="use_experimental_lane_change_function" default="false"/>
   <!-- motion -->
-  <arg name="cruise_planner_type" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
-  <arg name="use_surround_obstacle_check"/>
-  <arg name="smoother_type" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
-  <arg name="use_experimental_lane_change_function"/>
+  <arg name="cruise_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
+  <arg name="use_surround_obstacle_check" default="true"/>
+  <arg name="smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
 
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
-    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="smoother_type" value="$(var smoother_type)"/>
@@ -47,7 +44,10 @@
       name="drivable_area_expansion_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml"
     />
-    <arg name="behavior_path_planner_tree_param_path" value="$(var behavior_path_planner_tree_param_path)"/>
+    <arg
+      name="behavior_path_planner_tree_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml"
+    />
     <arg
       name="behavior_path_planner_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml"