From 7837d1f039f2639e5e9ec36102a42709387fa5ef Mon Sep 17 00:00:00 2001
From: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Date: Wed, 31 Jan 2024 10:05:51 +0900
Subject: [PATCH 1/4] feat(start_planner): add collision check distances for
 shift and geometric pull out (#832)

* Add collision check distances for shift and geometric pull out

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

---------
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
---
 .../start_planner/start_planner.param.yaml                      | 2 ++
 1 file changed, 2 insertions(+)

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 27ce630f1a..154c4b1e0b 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
@@ -14,6 +14,7 @@
       # shift pull out
       enable_shift_pull_out: true
       check_shift_path_lane_departure: true
+      shift_collision_check_distance_from_end: -10.0
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0
       lateral_jerk: 0.5
@@ -23,6 +24,7 @@
       maximum_curvature: 0.07
       # geometric pull out
       enable_geometric_pull_out: true
+      geometric_collision_check_distance_from_end: 0.0
       divide_pull_out_path: true
       geometric_pull_out_velocity: 1.0
       arc_path_interval: 1.0

From f3caadeb2b81fdff8c47aae1547a23bffcd6a01b Mon Sep 17 00:00:00 2001
From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com>
Date: Wed, 31 Jan 2024 19:28:58 +0900
Subject: [PATCH 2/4] chore(ground_segmentation): add default params (#831)

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>
---
 .../ground_segmentation/ground_segmentation.param.yaml         | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
index b367fef386..4c58c066ed 100644
--- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
+++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -30,3 +30,6 @@
         detection_range_z_max: 2.5
         elevation_grid_mode: true
         use_recheck_ground_cluster: true
+        low_priority_region_x: -20.0
+        center_pcl_shift: 0.0
+        radial_divider_angle_deg: 1.0

From 862cc696ca5eb63c3d7cf40c0a0579b023780fac Mon Sep 17 00:00:00 2001
From: Vincent Richard <richard-v@macnica.co.jp>
Date: Wed, 31 Jan 2024 20:55:39 +0900
Subject: [PATCH 3/4] feat(autoware_launch): set default vehicle/sensor models
 to sample ones (#768)

Signed-off-by: Vincent Richard <richard-v@macnica.co.jp>
---
 autoware_launch/launch/autoware.launch.xml           | 4 ++--
 autoware_launch/launch/e2e_simulator.launch.xml      | 4 ++--
 autoware_launch/launch/logging_simulator.launch.xml  | 4 ++--
 autoware_launch/launch/planning_simulator.launch.xml | 4 ++--
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index a2cd12b2c1..7de7741be2 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -2,8 +2,8 @@
 <launch>
   <!-- Essential parameters -->
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
-  <arg name="vehicle_model" description="vehicle model name"/>
-  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
+  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index d920584c6c..4d978dc3fa 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -2,8 +2,8 @@
 <launch>
   <!-- Essential parameters -->
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
-  <arg name="vehicle_model" description="vehicle model name"/>
-  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
+  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- launch module preset -->
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index a2b66e91ed..57cbc38af6 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -2,8 +2,8 @@
 <launch>
   <!-- Essential parameters -->
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
-  <arg name="vehicle_model" description="vehicle model name"/>
-  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
+  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 030299f5af..d19c7308f0 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -2,8 +2,8 @@
 <launch>
   <!-- Essential parameters -->
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
-  <arg name="vehicle_model" description="vehicle model name"/>
-  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
+  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- launch module preset -->

From b7880fea1a03e86874a348ea6511024b08e3168c Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Wed, 31 Jan 2024 22:04:14 +0900
Subject: [PATCH 4/4] chore(object_velocity_splitter): rework parameters (#820)

chore(object_velocity_splitter): add config

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../object_velocity_splitter_radar.param.yaml             | 3 +++
 .../object_velocity_splitter_radar_fusion.param.yaml      | 3 +++
 .../components/tier4_perception_component.launch.xml      | 8 ++++++++
 3 files changed, 14 insertions(+)
 create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml
 create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml

diff --git a/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml
new file mode 100644
index 0000000000..c6351bea72
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    velocity_threshold: 5.5
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml
new file mode 100644
index 0000000000..6a40ac9616
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    velocity_threshold: 4.5
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 8636141685..2940bd614e 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -88,6 +88,14 @@
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml"
     />
     <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
+    <arg
+      name="object_recognition_detection_object_velocity_splitter_radar_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_object_velocity_splitter_radar_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml"
+    />
     <arg
       name="object_recognition_detection_object_range_splitter_radar_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml"