chore: sync awf/autoware_launch

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

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]

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:

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

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>

autoware_launch/launch/planning_simulator.launch.xml

@@ -12,16 +12,18 @@
   <!-- 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="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <!-- Scenario simulation -->
   <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
   <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
   <arg name="perception/enable_object_recognition" default="true" description="enable object recognition when using dummy perception"/>
   <arg name="perception/use_base_link_z" default="true" description="dummy perception uses base_link z axis coordinate if it is true"/>
   <arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
+  <!-- Tools -->
+  <arg name="rviz" default="true" description="launch rviz"/>
+  <arg name="rviz_config" default="$(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>