From 58b45215b98ac879574fe496a10b439081db9b9a Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Tue, 22 Aug 2023 13:43:11 +0900
Subject: [PATCH 1/5] feat(merge_from_private): use separate param (#521)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
 .../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 927a6bfaaf..4e77e0591f 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
@@ -54,4 +54,5 @@
         intersection_to_occlusion: true
 
     merge_from_private:
+      stop_line_margin: 3.0
       stop_duration_sec: 1.0

From 9bdd7c5619298fa48279814b94428277e6da5d91 Mon Sep 17 00:00:00 2001
From: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Tue, 22 Aug 2023 15:14:56 +0900
Subject: [PATCH 2/5] feat(rviz): respawn rviz (#518)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 autoware_launch/launch/autoware.launch.xml           | 11 ++++++++++-
 autoware_launch/launch/planning_simulator.launch.xml |  9 ++++++---
 2 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index f702747ec9..1a4fbb70f4 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -35,6 +35,7 @@
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <arg name="rviz_respawn" default="true"/>
   <!-- Perception -->
   <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
@@ -108,6 +109,14 @@
 
   <!-- Tools -->
   <group>
-    <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)"/>
+    <node
+      pkg="rviz2"
+      exec="rviz2"
+      name="rviz2"
+      output="screen"
+      args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
+      if="$(var rviz)"
+      respawn="$(var rviz_respawn)"
+    />
   </group>
 </launch>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 941399db7e..0a97454854 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -12,9 +12,6 @@
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-  <!-- Tools -->
-  <arg name="rviz" default="true" description="launch rviz"/>
-  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <!-- Scenario simulation -->
   <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
   <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
@@ -22,6 +19,11 @@
   <arg name="perception/use_base_link_z" default="true" description="dummy perception uses base_link z axis coordinate if it is true"/>
   <arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
+  <!-- Tools -->
+  <arg name="rviz" default="true" description="launch rviz"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <let name="rviz_respawn" value="false" if="$(var scenario_simulation)"/>
+  <let name="rviz_respawn" value="true" unless="$(var scenario_simulation)"/>
   <!-- Vcu emulation -->
   <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
 
@@ -53,6 +55,7 @@
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>
+      <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
     </include>
   </group>
 

From 563d1e69e6a363b092f12d9089f848988e18994c Mon Sep 17 00:00:00 2001
From: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com>
Date: Tue, 22 Aug 2023 12:38:27 +0300
Subject: [PATCH 3/5] feat(autoware_launch): add
 use_raw_remote_control_command_input argument (#460)

* update external_cmd_converter

Signed-off-by: ismetatabay <ismet@leodrive.ai>

* update default value

Signed-off-by: ismetatabay <ismet@leodrive.ai>

* update argument name

Signed-off-by: ismetatabay <ismet@leodrive.ai>

* move enable_cmd_limit_filter argument to param file

Signed-off-by: ismetatabay <ismet@leodrive.ai>

* update enable_cmd_filter default value

Signed-off-by: ismetatabay <ismet@leodrive.ai>

---------

Signed-off-by: ismetatabay <ismet@leodrive.ai>
---
 .../config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
index 522cc3a1ca..cc5aa910e5 100644
--- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
+++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -3,7 +3,9 @@
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
     use_emergency_handling: false
+    check_external_emergency_heartbeat: false
     use_start_request: false
+    enable_cmd_limit_filter: true
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4

From ca94061d201424c5fedca063bca085a9d5d3422d Mon Sep 17 00:00:00 2001
From: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Tue, 22 Aug 2023 19:49:42 +0900
Subject: [PATCH 4/5] feat(goal_planner): add extra front margin for collision
 check considering stopping distance (#520)

* feat(goal_planner): add extra front margin for collision check considering stopping distance

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* object_recognition_collision_check_margin: 0.6

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* rename args and params

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* add comments

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

---------

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
index eaa103bff7..cd2bc6168d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -31,7 +31,8 @@
       # object recognition
       object_recognition:
         use_object_recognition: true
-        object_recognition_collision_check_margin: 1.0
+        object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker
+        object_recognition_collision_check_max_extra_stopping_margin: 1.0
 
       # pull over
       pull_over:

From 3e0ea0acbe80bdc0b52666f932d6c8f86b4de0a4 Mon Sep 17 00:00:00 2001
From: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com>
Date: Tue, 22 Aug 2023 19:40:27 +0300
Subject: [PATCH 5/5] fix(autoware_launch): correct prediction_time_horizon
 default value (#523)

correct prediction_time_horizon value

Signed-off-by: ismetatabay <ismet@leodrive.ai>
---
 .../prediction/map_based_prediction.param.yaml                  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
index eae747ce38..cb9a61b600 100644
--- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     enable_delay_compensation: true
-    prediction_time_horizon: 7.8 #[s]
+    prediction_time_horizon: 10.0 #[s]
     prediction_sampling_delta_time: 0.5 #[s]
     min_velocity_for_map_based_prediction: 1.39 #[m/s]
     min_crosswalk_user_velocity: 1.39 #[m/s]