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kminodakminoda
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Merge branch 'main' into chore/object_velocity_splitter/add_config
2 parents 1105fd1 + 7837d1f commit 01249a7

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15 files changed

+39
-19
lines changed

15 files changed

+39
-19
lines changed

‎autoware_launch/config/localization/ndt_scan_matcher.param.yaml

+5-6
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@@ -54,6 +54,9 @@
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# Tolerance of distance difference between two initial poses used for linear interpolation. [m]
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initial_pose_distance_tolerance_m: 10.0
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# The execution time which means probably NDT cannot matches scans properly. [ms]
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critical_upper_bound_exe_time_ms: 100.0
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# Number of threads used for parallel computing
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num_threads: 4
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@@ -92,12 +95,8 @@
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# Radius of input LiDAR range (used for diagnostics of dynamic map loading)
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lidar_radius: 100.0
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# cspell: ignore degrounded
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# A flag for using scan matching score based on de-grounded LiDAR scan
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estimate_scores_for_degrounded_scan: false
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# A flag for using scan matching score based on no ground LiDAR scan
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estimate_scores_by_no_ground_points: false
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# If lidar_point.z - base_link.z <= this threshold , the point will be removed
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z_margin_for_ground_removal: 0.8
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# The execution time which means probably NDT cannot matches scans properly. [ms]
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critical_upper_bound_exe_time_ms: 100

‎autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml

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@@ -0,0 +1,3 @@
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/**:
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ros__parameters:
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split_range: 80.0

‎autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml

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/**:
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ros__parameters:
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split_range: 70.0

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

+3-3
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@@ -3,7 +3,7 @@
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lidar-lidar:
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can_assign_matrix:
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#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
6-
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
6+
[1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
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0, 1, 1, 1, 1, 0, 0, 0, #CAR
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0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
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0, 1, 1, 1, 1, 0, 0, 0, #BUS
@@ -59,7 +59,7 @@
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lidar-radar:
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can_assign_matrix:
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#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
62-
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
62+
[1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
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0, 1, 1, 1, 1, 0, 0, 0, #CAR
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0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
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0, 1, 1, 1, 1, 0, 0, 0, #BUS
@@ -115,7 +115,7 @@
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radar-radar:
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can_assign_matrix:
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#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
118-
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
118+
[1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
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0, 1, 1, 1, 1, 0, 0, 0, #CAR
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0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
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0, 1, 1, 1, 1, 0, 0, 0, #BUS

‎autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml

+1-1
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@@ -23,4 +23,4 @@
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# logging
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enable_logging: false
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log_file_path: "/tmp/decorative_tracker_merger.log"
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logging_file_path: "/tmp/decorative_tracker_merger.log"

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

+2-1
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@@ -19,6 +19,7 @@
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use_opposite_lane: true
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use_intersection_areas: true
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use_hatched_road_markings: true
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use_freespace_areas: true
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# for debug
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publish_debug_marker: false
@@ -218,7 +219,7 @@
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return_dead_line:
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goal:
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enable: true # [-]
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buffer: 30.0 # [m]
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buffer: 3.0 # [m]
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traffic_light:
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enable: true # [-]
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buffer: 3.0 # [m]

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

+3-1
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@@ -6,14 +6,15 @@
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th_stopped_velocity: 0.01
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th_stopped_time: 1.0
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collision_check_margins: [2.0, 1.0, 0.5, 0.1]
9-
collision_check_distance_from_end: 1.0
9+
collision_check_distance_from_end: -10.0
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collision_check_margin_from_front_object: 5.0
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th_moving_object_velocity: 1.0
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th_distance_to_middle_of_the_road: 0.5
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center_line_path_interval: 1.0
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# shift pull out
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enable_shift_pull_out: true
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check_shift_path_lane_departure: true
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shift_collision_check_distance_from_end: -10.0
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minimum_shift_pull_out_distance: 0.0
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deceleration_interval: 15.0
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lateral_jerk: 0.5
@@ -23,6 +24,7 @@
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maximum_curvature: 0.07
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# geometric pull out
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enable_geometric_pull_out: true
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geometric_collision_check_distance_from_end: 0.0
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divide_pull_out_path: true
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geometric_pull_out_velocity: 1.0
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arc_path_interval: 1.0

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

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@@ -30,7 +30,7 @@
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enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection
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stuck_vehicle_velocity: 1.0 # [m/s] threshold velocity whether other vehicles are assumed to be stuck or not.
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max_stuck_vehicle_lateral_offset: 2.0 # [m] The feature does not handle the vehicles farther than this value to the ego's path.
33-
stuck_vehicle_attention_range: 10.0 # [m] Ego does not enter the crosswalk area if a stuck vehicle exists within this distance from the end of the crosswalk on the ego's path.
33+
required_clearance: 6.0 # [m] clearance to be secured between the ego and the ahead vehicle
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min_acc: -1.0 # min acceleration [m/ss]
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min_jerk: -1.0 # min jerk [m/sss]
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max_jerk: 1.0 # max jerk [m/sss]

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

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@@ -59,6 +59,8 @@
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object_expected_deceleration: 2.0
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ignore_on_red_traffic_light:
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object_margin_to_path: 2.0
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avoid_collision_by_acceleration:
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object_time_margin_to_collision_point: 4.0
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occlusion:
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enable: false

‎autoware_launch/config/simulator/fault_injection.param.yaml

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@@ -4,7 +4,7 @@
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vehicle_is_out_of_lane: "lane_departure"
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trajectory_deviation_is_high: "trajectory_deviation"
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localization_matching_score_is_low: "ndt_scan_matcher"
7-
localization_accuracy_is_low: "localization_accuracy"
7+
localization_accuracy_is_low: "localization_error_ellipse"
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map_version_is_different: "map_version"
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trajectory_is_invalid: "trajectory_point_validation"
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cpu_temperature_is_high: "CPU Temperature"

‎autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml

+1-1
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@@ -23,7 +23,7 @@
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/autoware/localization/node_alive_monitoring: default
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/autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
26-
/autoware/localization/performance_monitoring/localization_accuracy: { sf_at: "warn", lf_at: "none", spf_at: "none" }
26+
/autoware/localization/performance_monitoring/localization_error_ellipse: { sf_at: "warn", lf_at: "none", spf_at: "none" }
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/autoware/map/node_alive_monitoring: default
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‎autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml

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@@ -23,7 +23,7 @@
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/autoware/localization/node_alive_monitoring: default
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/autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
26-
/autoware/localization/performance_monitoring/localization_accuracy: default
26+
/autoware/localization/performance_monitoring/localization_error_ellipse: default
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/autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" }
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/autoware/map/node_alive_monitoring: default

‎autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml

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/autoware/localization/node_alive_monitoring: default
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# /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
27-
# /autoware/localization/performance_monitoring/localization_accuracy: default
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# /autoware/localization/performance_monitoring/localization_error_ellipse: default
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/autoware/map/node_alive_monitoring: default
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‎autoware_launch/launch/components/tier4_map_component.launch.xml

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<?xml version="1.0"?>
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<launch>
3-
<include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
4-
<arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
3+
<include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.xml">
54
<arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
5+
<arg name="pointcloud_map_metadata_path" value="$(var map_path)/pointcloud_map_metadata.yaml"/>
6+
<arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
7+
<arg name="map_projector_info_path" value="$(var map_path)/map_projector_info.yaml"/>
68

79
<arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
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<arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>

‎autoware_launch/launch/components/tier4_perception_component.launch.xml

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name="object_recognition_detection_object_velocity_splitter_radar_fusion_param_path"
9797
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml"
9898
/>
99+
<arg
100+
name="object_recognition_detection_object_range_splitter_radar_param_path"
101+
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml"
102+
/>
103+
<arg
104+
name="object_recognition_detection_object_range_splitter_radar_fusion_param_path"
105+
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml"
106+
/>
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<arg
100108
name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
101109
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"

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