From 569922cd7a010fe5cc619049db66af07e60d1275 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Mon, 15 Jan 2024 00:25:32 +0900
Subject: [PATCH 01/43] feat: use obstacle_cruise_planner and change
safe_distance_margin
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
autoware_launch/config/planning/preset/default_preset.yaml | 2 +-
.../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index 7bd3dd26b3..8954026761 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -94,7 +94,7 @@ launch:
- arg:
name: motion_stop_planner_type
- default: obstacle_stop_planner
+ default: obstacle_cruise_planner
# option: obstacle_stop_planner
# obstacle_cruise_planner
# none
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index 90e897fda3..4d38226c26 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -12,7 +12,7 @@
idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
- safe_distance_margin : 6.0 # This is also used as a stop margin [m]
+ safe_distance_margin : 5.0 # This is also used as a stop margin [m]
terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
From 40935760292c21974bd17e70438dec137c1ace54 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Mon, 15 Jan 2024 00:26:09 +0900
Subject: [PATCH 02/43] feat: set max_vel to 40km/h
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
.../motion_velocity_smoother.param.yaml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
index 235c76a5c1..44450b1848 100644
--- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -1,7 +1,7 @@
/**:
ros__parameters:
# motion state constraints
- max_velocity: 20.0 # max velocity limit [m/s]
+ max_velocity: 11.1 # max velocity limit [m/s]
stop_decel: 0.0 # deceleration at a stop point[m/ss]
# external velocity limit parameter
From df2779015b1b807ce70a4a62487d885c4156be6a Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 16 Jan 2024 11:31:15 +0900
Subject: [PATCH 03/43] feat: enable surround_obstacle_checker
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
.../launch/components/tier4_planning_component.launch.xml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 06740146f5..a6b5744f1b 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -8,7 +8,7 @@
<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="$(var pointcloud_container_name)"/>
- <arg name="launch_surround_obstacle_checker" value="false"/>
+ <arg name="launch_surround_obstacle_checker" value="true"/>
<!-- common -->
<arg name="common_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
From 39191f2dc0b589c61a592303f1cca8fd73a19200 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 16 Jan 2024 16:13:18 +0900
Subject: [PATCH 04/43] feat: enable surround_obstacle_checker
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
autoware_launch/config/planning/preset/default_preset.yaml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index b57696d324..7c4b452bbf 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -112,7 +112,7 @@ launch:
- arg:
name: launch_surround_obstacle_checker
- default: "false"
+ default: "true"
# parking modules
- arg:
From 1e6387a7bdfd1c00afa9a727d68d122d1d766ba6 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Mon, 22 Jan 2024 02:04:51 +0900
Subject: [PATCH 05/43] feat: enable dynamic_avoidance and disable
outside_drivable_area_stop
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
autoware_launch/config/planning/preset/default_preset.yaml | 2 +-
.../obstacle_avoidance_planner.param.yaml | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index 7c4b452bbf..72921af441 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -8,7 +8,7 @@ launch:
default: "true"
- arg:
name: launch_dynamic_avoidance_module
- default: "false"
+ default: "true"
- arg:
name: launch_lane_change_right_module
default: "true"
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
index db89a81e47..17a044fb67 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -3,7 +3,7 @@
option:
enable_skip_optimization: false # skip elastic band and model predictive trajectory
enable_reset_prev_optimization: false # If true, optimization has no fix constraint to the previous result.
- enable_outside_drivable_area_stop: true # stop if the ego's trajectory footprint is outside the drivable area
+ enable_outside_drivable_area_stop: false # stop if the ego's trajectory footprint is outside the drivable area
use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered.
debug:
From 45bb96c523138405c90f533b007f22968994c7af Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Wed, 6 Mar 2024 22:47:49 +0900
Subject: [PATCH 06/43] feat: disable AEB and set the maximum velocity to
40km/h
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
.../config/planning/scenario_planning/common/common.param.yaml | 2 +-
.../launch/components/tier4_control_component.launch.xml | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
index 0dba945718..face8610c7 100644
--- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -1,6 +1,6 @@
/**:
ros__parameters:
- max_vel: 4.17 # max velocity limit [m/s]
+ max_vel: 11.1 # max velocity limit [m/s]
# constraints param for normal driving
normal:
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index 5c3cf06ad0..d15e050d7a 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -4,7 +4,7 @@
<arg name="lateral_controller_mode" default="mpc"/>
<arg name="longitudinal_controller_mode" default="pid"/>
<arg name="use_individual_control_param" default="false"/>
- <arg name="enable_autonomous_emergency_braking" default="true"/>
+ <arg name="enable_autonomous_emergency_braking" default="false"/>
<arg name="enable_predicted_path_checker" default="false"/>
<let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
From ae6d0bb952374ac38ff6752dcc69a0827b0a6d68 Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <mamoru.sobue@tier4.jp>
Date: Tue, 19 Mar 2024 23:53:45 +0900
Subject: [PATCH 07/43] enable intersection_occlusion detection
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
.../behavior_velocity_planner/intersection.param.yaml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
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 68d4070cbf..abd12a9470 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
@@ -89,7 +89,7 @@
object_time_margin_to_collision_point: 4.0
occlusion:
- enable: false
+ enable: true
occlusion_attention_area_length: 70.0
free_space_max: 43
occupied_min: 58
From d8b1c9199fe76bc85213d54d9fd92b33bb136fbe Mon Sep 17 00:00:00 2001
From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date: Mon, 3 Jun 2024 21:16:19 +0900
Subject: [PATCH 08/43] chore(planning_launch): update motion module name
(#1014)
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
.../config/planning/preset/default_preset.yaml | 6 +++---
.../Analytical.param.yaml | 0
.../JerkFiltered.param.yaml | 0
.../L2.param.yaml | 0
.../Linf.param.yaml | 0
.../velocity_smoother.param.yaml} | 0
.../path_optimizer.param.yaml} | 0
.../components/tier4_planning_component.launch.xml | 13 ++++++++-----
autoware_launch/rviz/autoware.rviz | 2 +-
9 files changed, 12 insertions(+), 9 deletions(-)
rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/Analytical.param.yaml (100%)
rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/JerkFiltered.param.yaml (100%)
rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/L2.param.yaml (100%)
rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/Linf.param.yaml (100%)
rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother/motion_velocity_smoother.param.yaml => autoware_velocity_smoother/velocity_smoother.param.yaml} (100%)
rename autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/{obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml => autoware_path_optimizer/path_optimizer.param.yaml} (100%)
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index 82fbd43399..55c9de67ad 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -93,8 +93,8 @@ launch:
- arg:
name: motion_path_planner_type
- default: obstacle_avoidance_planner
- # option: obstacle_avoidance_planner
+ default: path_optimizer
+ # option: path_optimizer
# path_sampler
# none
@@ -111,7 +111,7 @@ launch:
# none
- arg:
- name: motion_velocity_smoother_type
+ name: velocity_smoother_type
default: JerkFiltered
# option: JerkFiltered
# L2
diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/JerkFiltered.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/JerkFiltered.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/L2.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/L2.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Linf.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Linf.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index c9f4e2ceae..5a48ea8908 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -43,7 +43,7 @@
<!-- behavior velocity planner -->
<arg name="behavior_velocity_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"/>
- <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
+ <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml"/>
<arg name="behavior_velocity_planner_common_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
<arg name="behavior_velocity_planner_blind_spot_module_param_path" value="$(var behavior_velocity_config_path)/blind_spot.param.yaml"/>
<arg name="behavior_velocity_planner_crosswalk_module_param_path" value="$(var behavior_velocity_config_path)/crosswalk.param.yaml"/>
@@ -68,7 +68,7 @@
<!-- motion -->
<arg name="motion_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning"/>
<arg name="elastic_band_smoother_param_path" value="$(var motion_config_path)/path_smoother/elastic_band_smoother.param.yaml"/>
- <arg name="obstacle_avoidance_planner_param_path" value="$(var motion_config_path)/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"/>
+ <arg name="path_optimizer_param_path" value="$(var motion_config_path)/autoware_path_optimizer/path_optimizer.param.yaml"/>
<arg name="path_sampler_param_path" value="$(var motion_config_path)/path_sampler/path_sampler.param.yaml"/>
<arg name="obstacle_velocity_limiter_param_path" value="$(var motion_config_path)/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml"/>
<arg name="surround_obstacle_checker_param_path" value="$(var motion_config_path)/surround_obstacle_checker/surround_obstacle_checker.param.yaml"/>
@@ -77,11 +77,14 @@
<arg name="obstacle_cruise_planner_param_path" value="$(var motion_config_path)/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"/>
<arg name="motion_velocity_planner_param_path" value="$(var motion_config_path)/motion_velocity_planner/motion_velocity_planner.param.yaml"/>
<arg name="motion_velocity_planner_out_of_lane_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/out_of_lane.param.yaml"/>
- <arg name="motion_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
+ <arg
+ name="motion_velocity_planner_velocity_smoother_type_param_path"
+ value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml"
+ />
<!-- motion velocity smoother -->
- <arg name="motion_velocity_smoother_param_path" value="$(var common_config_path)/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
- <arg name="velocity_smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/$(var motion_velocity_smoother_type).param.yaml"/>
+ <arg name="velocity_smoother_param_path" value="$(var common_config_path)/autoware_velocity_smoother/velocity_smoother.param.yaml"/>
+ <arg name="velocity_smoother_type_param_path" value="$(var common_config_path)/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml"/>
<!-- planning validator -->
<arg name="planning_validator_param_path" value="$(var common_config_path)/planning_validator/planning_validator.param.yaml"/>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 627d9e8923..5e7cba18cf 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2127,7 +2127,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
- Value: /planning/scenario_planning/motion_velocity_smoother/virtual_wall
+ Value: /planning/scenario_planning/velocity_smoother/virtual_wall
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
From 2fd46d00be5c8265243247cd4815bdc25ee9ac79 Mon Sep 17 00:00:00 2001
From: Daniel Sanchez <danielsanchezaran@gmail.com>
Date: Thu, 20 Jun 2024 10:09:27 +0900
Subject: [PATCH 09/43] disable AEB diag check
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
---
.../system/diagnostic_graph_aggregator/autoware-awsim.yaml | 1 +
.../system/diagnostic_graph_aggregator/autoware-main.yaml | 3 +++
.../system/diagnostic_graph_aggregator/autoware-psim.yaml | 3 +++
3 files changed, 7 insertions(+)
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
index 9950acbc7e..7f002b1380 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
@@ -3,3 +3,4 @@ files:
edits:
- { type: remove, path: /autoware/system/duplicated_node_checker }
+ - { type: remove, path: /autoware/control/emergency_braking }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
index 42af3f79a3..f35f219df6 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
@@ -1,2 +1,5 @@
files:
- { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml }
+
+edits:
+ - { type: remove, path: /autoware/control/emergency_braking }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
index dfc820f93c..e11f391606 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
@@ -1,2 +1,5 @@
files:
- { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml }
+
+edits:
+ - { type: remove, path: /autoware/control/emergency_braking }
From 321cffa4237a625acaa04637ba64799fe06c3222 Mon Sep 17 00:00:00 2001
From: Takamasa Horibe <horibe.takamasa@gmail.com>
Date: Thu, 20 Jun 2024 15:16:34 +0900
Subject: [PATCH 10/43] feat(diagnostic_graph_utils): launch logging node for
diagnostic_graph
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
---
.../launch/components/tier4_system_component.launch.xml | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index d5082a91e8..6fda11ac7a 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -34,4 +34,11 @@
<arg name="diagnostic_graph_aggregator_param_path" value="$(var diagnostic_graph_aggregator_param_path)"/>
<arg name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path)"/>
</include>
+
+ <!-- For logging of diagnostics_graph error -->
+ <include file="$(find-pkg-share diagnostic_graph_utils)/launch/logging.launch.xml">
+ <arg name="root_path" value="/autoware/modes/autonomous"/>
+ <arg name="max_depth" value="3"/>
+ <arg name="show_rate" value="0.2"/>
+ </include>
</launch>
From 14946c04dc8f3eb5867a12802db568c2e6f98117 Mon Sep 17 00:00:00 2001
From: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Thu, 18 Jul 2024 17:35:11 +0900
Subject: [PATCH 11/43] feat(api): set launch_deprecated_api true (#496)
feat(api): launch_deprecated_api=true
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
.../components/tier4_autoware_api_component.launch.xml | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
index 1c7b520108..bc582fbb9a 100644
--- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
@@ -1,7 +1,8 @@
<?xml version="1.0"?>
<launch>
<!-- Fork the repository and add the parameters here if needed. -->
- <arg name="scenario_simulation" default="false"/>
- <arg name="launch_deprecated_api" default="$(var scenario_simulation)"/>
+ <arg name="launch_deprecated_api" default="true"/>
+ <arg name="rosbridge_enabled" default="true"/>
+ <arg name="rosbridge_max_message_size" default="1000000000"/>
<include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>
</launch>
From 1b046040129bc661ffa1993888cbe8e6b114ade8 Mon Sep 17 00:00:00 2001
From: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Fri, 19 Jul 2024 14:00:39 +0900
Subject: [PATCH 12/43] fix(api): disable rosbridge to fix duplicated node
(#497)
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
.../launch/components/tier4_autoware_api_component.launch.xml | 2 --
1 file changed, 2 deletions(-)
diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
index bc582fbb9a..2b6083bed6 100644
--- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
@@ -2,7 +2,5 @@
<launch>
<!-- Fork the repository and add the parameters here if needed. -->
<arg name="launch_deprecated_api" default="true"/>
- <arg name="rosbridge_enabled" default="true"/>
- <arg name="rosbridge_max_message_size" default="1000000000"/>
<include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>
</launch>
From 2f787838cbc0ea7ae31738194020cae3f1263dd9 Mon Sep 17 00:00:00 2001
From: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Thu, 1 Aug 2024 11:23:49 +0900
Subject: [PATCH 13/43] Revert "fix(api): disable rosbridge to fix duplicated
node" (#523)
Revert "fix(api): disable rosbridge to fix duplicated node (#497)"
This reverts commit 1b046040129bc661ffa1993888cbe8e6b114ade8.
---
.../launch/components/tier4_autoware_api_component.launch.xml | 2 ++
1 file changed, 2 insertions(+)
diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
index 2b6083bed6..bc582fbb9a 100644
--- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
@@ -2,5 +2,7 @@
<launch>
<!-- Fork the repository and add the parameters here if needed. -->
<arg name="launch_deprecated_api" default="true"/>
+ <arg name="rosbridge_enabled" default="true"/>
+ <arg name="rosbridge_max_message_size" default="1000000000"/>
<include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>
</launch>
From 6ed90f92c382140de55e44c64078a08e666fa0e4 Mon Sep 17 00:00:00 2001
From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Tue, 1 Oct 2024 17:28:17 +0900
Subject: [PATCH 14/43] revert(obstacle_cruise): revert an awf change (#617)
Revert "fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios (#1166)"
---
.../obstacle_cruise_planner.param.yaml | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index 3de8577c60..5f27fef6fb 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -88,8 +88,8 @@
stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle
# hysteresis for cruise and stop
- obstacle_velocity_threshold_from_cruise_to_stop : 1.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
- obstacle_velocity_threshold_from_stop_to_cruise : 1.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
+ obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
+ obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
# if crossing vehicle is determined as target obstacles or not
crossing_obstacle:
From 53cd6f32274b2e82227d92c4df88c109638ae78c Mon Sep 17 00:00:00 2001
From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Thu, 10 Oct 2024 15:51:38 +0900
Subject: [PATCH 15/43] revert(obstacle_cruise): reduce using predicted paths
to maintain conventional behavior (#621)
Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
.../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index d37554eba7..d31c30ce61 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -126,7 +126,7 @@
ego_obstacle_overlap_time_threshold : 0.2 # time threshold to decide cut-in obstacle for cruise or stop [s]
max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego
max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s]
- num_of_predicted_paths: 3 # number of the highest confidence predicted path to check collision between obstacle and ego
+ num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego
yield:
enable_yield: true
lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding
From 39b51361df7de62b1d263276fc85154b2666bf2d Mon Sep 17 00:00:00 2001
From: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date: Thu, 10 Oct 2024 18:19:38 +0900
Subject: [PATCH 16/43] Remove emergency braking from autoware-psim.yaml and
enable autonomous emergency braking in tier4_control_component.launch.xml
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
---
.../system/diagnostic_graph_aggregator/autoware-psim.yaml | 3 ---
.../launch/components/tier4_control_component.launch.xml | 2 +-
2 files changed, 1 insertion(+), 4 deletions(-)
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
index e11f391606..dfc820f93c 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
@@ -1,5 +1,2 @@
files:
- { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml }
-
-edits:
- - { type: remove, path: /autoware/control/emergency_braking }
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index bfa64229ee..a66ed49405 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -4,7 +4,7 @@
<arg name="lateral_controller_mode" default="mpc"/>
<arg name="longitudinal_controller_mode" default="pid"/>
<arg name="use_individual_control_param" default="false"/>
- <arg name="enable_autonomous_emergency_braking" default="false"/>
+ <arg name="enable_autonomous_emergency_braking" default="true"/>
<arg name="enable_predicted_path_checker" default="false"/>
<let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
From 487faa67a1ea440687f5897735d14826e32dca9c Mon Sep 17 00:00:00 2001
From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Thu, 31 Oct 2024 19:30:52 +0900
Subject: [PATCH 17/43] revert(diagnostic_graph_aggregeator): revert aeb diag
(#646)
delete remove
Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
.../system/diagnostic_graph_aggregator/autoware-awsim.yaml | 1 -
.../system/diagnostic_graph_aggregator/autoware-main.yaml | 3 ---
2 files changed, 4 deletions(-)
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
index 7f002b1380..9950acbc7e 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
@@ -3,4 +3,3 @@ files:
edits:
- { type: remove, path: /autoware/system/duplicated_node_checker }
- - { type: remove, path: /autoware/control/emergency_braking }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
index f35f219df6..42af3f79a3 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
@@ -1,5 +1,2 @@
files:
- { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml }
-
-edits:
- - { type: remove, path: /autoware/control/emergency_braking }
From b181ae1efb3d3a72c3af237be998a6674bcc3b81 Mon Sep 17 00:00:00 2001
From: Go Sakayori <gsakayori@gmail.com>
Date: Thu, 7 Nov 2024 12:07:59 +0900
Subject: [PATCH 18/43] enable collision_detector
Signed-off-by: Go Sakayori <gsakayori@gmail.com>
---
.../config/system/system_diagnostic_monitor/control.yaml | 6 ++++++
.../launch/components/tier4_control_component.launch.xml | 2 +-
2 files changed, 7 insertions(+), 1 deletion(-)
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml
index 5551ed4575..32877af749 100644
--- a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml
+++ b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml
@@ -9,6 +9,7 @@ units:
- { type: link, link: /autoware/control/performance_monitoring/lane_departure }
- { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
- { type: link, link: /autoware/control/performance_monitoring/control_state }
+ - { type: link, link: /autoware/control/collision_detector}
- path: /autoware/control/local
type: and
@@ -66,3 +67,8 @@ units:
type: diag
node: external_cmd_converter
name: remote_control_topic_status
+
+ - path: /autoware/control/collision_detector
+ type: diag
+ node: collision_detector
+ name: collision_detect
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index 64061ce176..095d0a2c60 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -6,7 +6,7 @@
<arg name="use_individual_control_param" default="false"/>
<arg name="enable_autonomous_emergency_braking" default="true"/>
<arg name="enable_predicted_path_checker" default="false"/>
- <arg name="enable_collision_detector" default="false"/>
+ <arg name="enable_collision_detector" default="true"/>
<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)"/>
From d890e00678cee4d4f908e4689b087e26ceefebdc Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Thu, 7 Nov 2024 07:39:35 +0000
Subject: [PATCH 19/43] style(pre-commit): autofix
---
.../config/system/system_diagnostic_monitor/control.yaml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml
index 32877af749..6a04ed6714 100644
--- a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml
+++ b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml
@@ -9,7 +9,7 @@ units:
- { type: link, link: /autoware/control/performance_monitoring/lane_departure }
- { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
- { type: link, link: /autoware/control/performance_monitoring/control_state }
- - { type: link, link: /autoware/control/collision_detector}
+ - { type: link, link: /autoware/control/collision_detector }
- path: /autoware/control/local
type: and
From 69ab8e036cfaaf6eb2c2d5327400e55a714251aa Mon Sep 17 00:00:00 2001
From: xtk8532704 <1041084556@qq.com>
Date: Fri, 25 Oct 2024 17:28:20 +0900
Subject: [PATCH 20/43] change the old diagnostic_convertor to
scenario_simulator_v2_adapter.
---
.../launch/components/tier4_simulator_component.launch.xml | 4 ++--
autoware_launch/launch/planning_simulator.launch.xml | 4 ++--
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
index 504337c1a0..864088a40a 100644
--- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -4,7 +4,7 @@
<arg name="launch_dummy_vehicle"/>
<arg name="localization_sim_mode"/>
<arg name="launch_dummy_doors"/>
- <arg name="launch_diagnostic_converter"/>
+ <arg name="launch_scenario_simulator_v2_adapter"/>
<arg name="perception/enable_detection_failure"/>
<arg name="perception/enable_object_recognition"/>
<arg name="perception/use_base_link_z"/>
@@ -20,7 +20,7 @@
<arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
<arg name="localization_sim_mode" value="$(var localization_sim_mode)"/>
<arg name="launch_dummy_doors" value="$(var launch_dummy_doors)"/>
- <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
+ <arg name="launch_scenario_simulator_v2_adapter" value="$(var launch_scenario_simulator_v2_adapter)"/>
<arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
<arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
<arg name="perception/use_base_link_z" value="$(var perception/use_base_link_z)"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 3aba78c292..798e6ec99b 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -88,14 +88,14 @@
<let name="launch_dummy_perception" value="true" unless="$(var scenario_simulation)"/>
<let name="launch_dummy_vehicle" value="false" if="$(var scenario_simulation)"/>
<let name="launch_dummy_vehicle" value="true" unless="$(var scenario_simulation)"/>
- <let name="launch_diagnostic_converter" value="$(var scenario_simulation)"/>
+ <let name="launch_scenario_simulator_v2_adapter" value="$(var scenario_simulation)"/>
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_simulator_component.launch.xml">
<arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
<arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
<arg name="localization_sim_mode" value="$(var localization_sim_mode)"/>
<arg name="launch_dummy_doors" value="$(var launch_dummy_doors)"/>
- <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
+ <arg name="launch_scenario_simulator_v2_adapter" value="$(var launch_scenario_simulator_v2_adapter)"/>
<arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
<arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
<arg name="perception/use_base_link_z" value="$(var perception/use_base_link_z)"/>
From 28767b448f5d29f83311cfdbe836d97bcfefaea9 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 19 Nov 2024 11:35:12 +0900
Subject: [PATCH 21/43] feat: enable MRM summary
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
autoware_launch/rviz/autoware.rviz | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index c53d5d62e6..589c9cbfd5 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -269,13 +269,13 @@ Visualization Manager:
Enabled: true
Name: Vehicle
- Class: rviz_plugins/MrmSummaryOverlayDisplay
- Enabled: false
+ Enabled: true
Font Size: 10
- Left: 512
+ Left: 10
Max Letter Num: 100
Name: MRM Summary
Text Color: 25; 255; 240
- Top: 64
+ Top: 10
Topic:
Depth: 5
Durability Policy: Volatile
From c9ac4fe529cdc3cda1498c0b9327797cbb2fd48b Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Thu, 21 Nov 2024 19:50:27 +0900
Subject: [PATCH 22/43] feat(rviz): visualize error diag graph (false by
default)
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
.../components/tier4_system_component.launch.xml | 1 +
autoware_launch/rviz/autoware.rviz | 14 +++++++-------
2 files changed, 8 insertions(+), 7 deletions(-)
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index fa5056b9d9..d800bd7822 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -34,5 +34,6 @@
<arg name="root_path" value="/autoware/modes/autonomous"/>
<arg name="max_depth" value="3"/>
<arg name="show_rate" value="0.2"/>
+ <arg name="enable_terminal_log" value="false"/>
</include>
</launch>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 589c9cbfd5..de169a0d18 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -268,20 +268,20 @@ Visualization Manager:
Primary Color: 174; 174; 174
Enabled: true
Name: Vehicle
- - Class: rviz_plugins/MrmSummaryOverlayDisplay
+ - Class: rviz_plugins/StringStampedOverlayDisplay
Enabled: true
- Font Size: 10
+ Font Size: 12
Left: 10
- Max Letter Num: 100
- Name: MRM Summary
- Text Color: 25; 255; 240
+ Max Letter Num: 70
+ Name: Error Diag Graph
+ Text Color: 51; 201; 220
Top: 10
Topic:
- Depth: 5
+ Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
- Value: /system/emergency/hazard_status
+ Value: /logging_diag_graph/debug/error_graph
Value: false
Value height offset: 0
Enabled: true
From 7979bedb26da0ee66323a7a51fbfa8d12ad0f611 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Thu, 21 Nov 2024 20:05:18 +0900
Subject: [PATCH 23/43] enable
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
autoware_launch/rviz/autoware.rviz | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index de169a0d18..fa87d5f3c3 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -282,7 +282,7 @@ Visualization Manager:
History Policy: Keep Last
Reliability Policy: Reliable
Value: /logging_diag_graph/debug/error_graph
- Value: false
+ Value: true
Value height offset: 0
Enabled: true
Name: System
From 8e5f348a0dbb2432381181d84e47a7565557a3f4 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Thu, 21 Nov 2024 21:17:10 +0900
Subject: [PATCH 24/43] increase show_rate
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
.../launch/components/tier4_system_component.launch.xml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index d800bd7822..b80bde9b78 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -33,7 +33,7 @@
<include file="$(find-pkg-share diagnostic_graph_utils)/launch/logging.launch.xml">
<arg name="root_path" value="/autoware/modes/autonomous"/>
<arg name="max_depth" value="3"/>
- <arg name="show_rate" value="0.2"/>
+ <arg name="show_rate" value="10.0"/>
<arg name="enable_terminal_log" value="false"/>
</include>
</launch>
From 72c84f116e5e1546e42e851b24ccfe67668552b0 Mon Sep 17 00:00:00 2001
From: "tomoya.kimura" <tomoya.kimura@tier4.jp>
Date: Wed, 27 Nov 2024 17:43:37 +0900
Subject: [PATCH 25/43] chore: rename codeowners file
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
.github/{CODEOWNERS => _CODEOWNERS} | 0
1 file changed, 0 insertions(+), 0 deletions(-)
rename .github/{CODEOWNERS => _CODEOWNERS} (100%)
diff --git a/.github/CODEOWNERS b/.github/_CODEOWNERS
similarity index 100%
rename from .github/CODEOWNERS
rename to .github/_CODEOWNERS
From cf5cdb7225571c56256c4a3d8090e39229a0c694 Mon Sep 17 00:00:00 2001
From: Go Sakayori <gsakayori@gmail.com>
Date: Thu, 28 Nov 2024 05:48:29 +0900
Subject: [PATCH 26/43] Revert "fix(dynamic_obstacle_avoidance): improve
avoidance for moving NPCs (#1170)"
This reverts commit e14b2c849950930475fc644b78e62630f2510cd7.
---
.../dynamic_obstacle_avoidance.param.yaml | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml
index 9bba8c52dc..aa1fdb3048 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml
@@ -56,10 +56,10 @@
object_path_base:
min_longitudinal_polygon_margin: 3.0 # [m]
- lat_offset_from_obstacle: 0.3 # [m]
- margin_distance_around_pedestrian: 0.8 # [m]
+ lat_offset_from_obstacle: 1.0 # [m]
+ margin_distance_around_pedestrian: 2.0 # [m]
predicted_path:
- end_time_to_consider: 1.0 # [s]
+ end_time_to_consider: 2.0 # [s]
threshold_confidence: 0.0 # [] not probability
max_lat_offset_to_avoid: 0.5 # [m]
max_time_for_object_lat_shift: 0.0 # [s]
From 9a4809d8593b581adcf5342bdd242a95d03d2085 Mon Sep 17 00:00:00 2001
From: Go Sakayori <gsakayori@gmail.com>
Date: Thu, 28 Nov 2024 05:48:42 +0900
Subject: [PATCH 27/43] Revert "fix(static_obstacle_avoidance): improve
avoidance for parked NPCs (#1129)"
This reverts commit d91c508a2dce751b158460995434b601d7e53c21.
---
.../static_obstacle_avoidance.param.yaml | 36 +++++++++----------
1 file changed, 18 insertions(+), 18 deletions(-)
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
index 3480bb66e5..31e35dcad5 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -23,9 +23,9 @@
th_moving_time: 2.0 # [s]
longitudinal_margin: 0.0 # [m]
lateral_margin:
- soft_margin: 0.5 # [m]
+ soft_margin: 0.7 # [m]
hard_margin: 0.2 # [m]
- hard_margin_for_parked_vehicle: 0.2 # [m]
+ hard_margin_for_parked_vehicle: 0.7 # [m]
max_expand_ratio: 0.0 # [-] FOR DEVELOPER
envelope_buffer_margin: 0.1 # [m] FOR DEVELOPER
th_error_eclipse_long_radius : 0.6 # [m]
@@ -34,9 +34,9 @@
th_moving_time: 2.0
longitudinal_margin: 0.0
lateral_margin:
- soft_margin: 0.5
+ soft_margin: 0.7
hard_margin: 0.2
- hard_margin_for_parked_vehicle: 0.2
+ hard_margin_for_parked_vehicle: 0.7
max_expand_ratio: 0.0
envelope_buffer_margin: 0.1
th_error_eclipse_long_radius : 0.6
@@ -45,9 +45,9 @@
th_moving_time: 2.0
longitudinal_margin: 0.0
lateral_margin:
- soft_margin: 0.5
+ soft_margin: 0.7
hard_margin: 0.2
- hard_margin_for_parked_vehicle: 0.2
+ hard_margin_for_parked_vehicle: 0.7
max_expand_ratio: 0.0
envelope_buffer_margin: 0.1
th_error_eclipse_long_radius : 0.6
@@ -56,9 +56,9 @@
th_moving_time: 2.0
longitudinal_margin: 0.0
lateral_margin:
- soft_margin: 0.5
+ soft_margin: 0.7
hard_margin: 0.2
- hard_margin_for_parked_vehicle: 0.2
+ hard_margin_for_parked_vehicle: 0.7
max_expand_ratio: 0.0
envelope_buffer_margin: 0.1
th_error_eclipse_long_radius : 0.6
@@ -67,7 +67,7 @@
th_moving_time: 1.0
longitudinal_margin: 0.0
lateral_margin:
- soft_margin: 0.5
+ soft_margin: 0.7
hard_margin: -0.2
hard_margin_for_parked_vehicle: -0.2
max_expand_ratio: 0.0
@@ -76,33 +76,33 @@
bicycle:
th_moving_speed: 0.28
th_moving_time: 1.0
- longitudinal_margin: 0.6
+ longitudinal_margin: 1.0
lateral_margin:
soft_margin: 0.7
hard_margin: 0.5
- hard_margin_for_parked_vehicle: 0.2
+ hard_margin_for_parked_vehicle: 0.5
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
motorcycle:
th_moving_speed: 1.0
th_moving_time: 1.0
- longitudinal_margin: 0.6
+ longitudinal_margin: 1.0
lateral_margin:
- soft_margin: 0.5
+ soft_margin: 0.7
hard_margin: 0.3
- hard_margin_for_parked_vehicle: 0.2
+ hard_margin_for_parked_vehicle: 0.3
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
pedestrian:
th_moving_speed: 0.28
th_moving_time: 1.0
- longitudinal_margin: 0.6
+ longitudinal_margin: 1.0
lateral_margin:
soft_margin: 0.7
hard_margin: 0.5
- hard_margin_for_parked_vehicle: 0.2
+ hard_margin_for_parked_vehicle: 0.5
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
@@ -232,7 +232,7 @@
# avoidance distance parameters
longitudinal:
min_prepare_time: 1.0 # [s]
- max_prepare_time: 2.0 # [s]
+ max_prepare_time: 3.0 # [s]
min_prepare_distance: 1.0 # [m]
min_slow_down_speed: 1.38 # [m/s]
buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER
@@ -294,7 +294,7 @@
velocity: [1.39, 4.17, 11.1] # [m/s]
max_accel_values: [0.5, 0.5, 0.5] # [m/ss]
min_jerk_values: [0.2, 0.2, 0.2] # [m/sss]
- max_jerk_values: [3.0, 3.0, 3.0] # [m/sss]
+ max_jerk_values: [1.0, 1.0, 1.0] # [m/sss]
# longitudinal constraints
longitudinal:
From 1a43361b194a6db6ed2d396b00a6a22031ee0758 Mon Sep 17 00:00:00 2001
From: "tier4-autoware-public-bot[bot]"
<98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com>
Date: Fri, 29 Nov 2024 15:35:24 +0900
Subject: [PATCH 28/43] chore: sync awf-latest (#696)
* refactor(system_diagnostic_monitor, dummy_diag_publisher, diagnostic_graph_aggregator): combine diag list setting directories (#1253)
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
* refactor(system_diagnostic_monitor, dummy_diag_publisher, diagnostic_graph_aggregator): combine diag list setting directories (#1253)
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
---------
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Co-authored-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
---
.../system/diagnostic_graph_aggregator/autoware-awsim.yaml | 5 -----
.../system/diagnostic_graph_aggregator/autoware-main.yaml | 2 --
.../config/system/diagnostics/autoware-awsim.yaml | 5 +++++
.../autoware-main.yaml | 0
.../{system_diagnostic_monitor => diagnostics}/control.yaml | 0
.../dummy_diag_publisher.param.yaml | 0
.../{system_diagnostic_monitor => diagnostics}/hardware.yaml | 0
.../localization.yaml | 0
.../{system_diagnostic_monitor => diagnostics}/map.yaml | 0
.../perception.yaml | 0
.../{system_diagnostic_monitor => diagnostics}/planning.yaml | 0
.../{system_diagnostic_monitor => diagnostics}/system.yaml | 0
.../{system_diagnostic_monitor => diagnostics}/vehicle.yaml | 0
autoware_launch/launch/autoware.launch.xml | 2 +-
.../launch/components/tier4_system_component.launch.xml | 4 ++--
autoware_launch/launch/e2e_simulator.launch.xml | 2 +-
autoware_launch/launch/logging_simulator.launch.xml | 2 +-
autoware_launch/launch/planning_simulator.launch.xml | 2 +-
18 files changed, 11 insertions(+), 13 deletions(-)
delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
create mode 100644 autoware_launch/config/system/diagnostics/autoware-awsim.yaml
rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/autoware-main.yaml (100%)
rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/control.yaml (100%)
rename autoware_launch/config/system/{dummy_diag_publisher => diagnostics}/dummy_diag_publisher.param.yaml (100%)
rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/hardware.yaml (100%)
rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/localization.yaml (100%)
rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/map.yaml (100%)
rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/perception.yaml (100%)
rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/planning.yaml (100%)
rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/system.yaml (100%)
rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/vehicle.yaml (100%)
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
deleted file mode 100644
index 937cfdeb65..0000000000
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
+++ /dev/null
@@ -1,5 +0,0 @@
-files:
- - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml }
-
-edits:
- - { type: remove, path: /autoware/system/duplicated_node_checker }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
deleted file mode 100644
index c96dd5ed46..0000000000
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-files:
- - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml }
diff --git a/autoware_launch/config/system/diagnostics/autoware-awsim.yaml b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml
new file mode 100644
index 0000000000..4abae34a31
--- /dev/null
+++ b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml
@@ -0,0 +1,5 @@
+files:
+ - { path: $(dirname)/autoware-main.yaml }
+
+edits:
+ - { type: remove, path: /autoware/system/duplicated_node_checker }
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/diagnostics/autoware-main.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
rename to autoware_launch/config/system/diagnostics/autoware-main.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/diagnostics/control.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/control.yaml
rename to autoware_launch/config/system/diagnostics/control.yaml
diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml
similarity index 100%
rename from autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
rename to autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml b/autoware_launch/config/system/diagnostics/hardware.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml
rename to autoware_launch/config/system/diagnostics/hardware.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml b/autoware_launch/config/system/diagnostics/localization.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/localization.yaml
rename to autoware_launch/config/system/diagnostics/localization.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/map.yaml b/autoware_launch/config/system/diagnostics/map.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/map.yaml
rename to autoware_launch/config/system/diagnostics/map.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml b/autoware_launch/config/system/diagnostics/perception.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/perception.yaml
rename to autoware_launch/config/system/diagnostics/perception.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml b/autoware_launch/config/system/diagnostics/planning.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/planning.yaml
rename to autoware_launch/config/system/diagnostics/planning.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/diagnostics/system.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/system.yaml
rename to autoware_launch/config/system/diagnostics/system.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml b/autoware_launch/config/system/diagnostics/vehicle.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml
rename to autoware_launch/config/system/diagnostics/vehicle.yaml
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 29378cc0c8..4bf18af889 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -37,7 +37,7 @@
<arg name="system_run_mode" default="online" description="run mode in system"/>
<arg name="launch_system_monitor" default="true" description="launch system monitor"/>
<arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
- <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml" description="diagnostic graph config"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
<!-- Tools -->
<arg name="rviz" default="true" description="launch rviz"/>
<arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index fa5056b9d9..e729fef464 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<launch>
<arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
- <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
<include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
<arg name="run_mode" value="$(var system_run_mode)"/>
@@ -14,7 +14,7 @@
<arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
<arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
<arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
- <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml"/>
+ <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/dummy_diag_publisher.param.yaml"/>
<arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
<arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>
<arg name="system_monitor_hdd_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/hdd_monitor.param.yaml"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 3237754c48..c4fd15b41c 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -71,7 +71,7 @@
<!-- System -->
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
- <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-awsim.yaml"/>
<!-- Sensing -->
<arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
<!-- Perception-->
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index f1a9ad5fab..123bd01ed3 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -65,7 +65,7 @@
<arg name="system_run_mode" value="logging_simulation"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
- <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index be175553b7..3c56e11412 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -70,7 +70,7 @@
<arg name="system_run_mode" value="planning_simulation"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
- <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
From abcd4eabcf0ef92143c49768af2b3013a0b2d1e8 Mon Sep 17 00:00:00 2001
From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Fri, 29 Nov 2024 16:53:53 +0900
Subject: [PATCH 29/43] refactor(diag): fork diag graph settings from awf
(#698)
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
---
.../tier4_diagnostics/autoware-awsim.yaml | 5 +
.../tier4_diagnostics/autoware-main.yaml | 70 ++++++++++
.../system/tier4_diagnostics/control.yaml | 74 +++++++++++
.../dummy_diag_publisher.param.yaml | 36 ++++++
.../system/tier4_diagnostics/hardware.yaml | 121 ++++++++++++++++++
.../tier4_diagnostics/localization.yaml | 43 +++++++
.../config/system/tier4_diagnostics/map.yaml | 16 +++
.../system/tier4_diagnostics/perception.yaml | 16 +++
.../system/tier4_diagnostics/planning.yaml | 90 +++++++++++++
.../system/tier4_diagnostics/system.yaml | 27 ++++
.../system/tier4_diagnostics/vehicle.yaml | 16 +++
autoware_launch/launch/autoware.launch.xml | 2 +-
.../tier4_system_component.launch.xml | 4 +-
.../launch/e2e_simulator.launch.xml | 2 +-
.../launch/logging_simulator.launch.xml | 2 +-
.../launch/planning_simulator.launch.xml | 2 +-
16 files changed, 520 insertions(+), 6 deletions(-)
create mode 100644 autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml
create mode 100644 autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml
create mode 100644 autoware_launch/config/system/tier4_diagnostics/control.yaml
create mode 100644 autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml
create mode 100644 autoware_launch/config/system/tier4_diagnostics/hardware.yaml
create mode 100644 autoware_launch/config/system/tier4_diagnostics/localization.yaml
create mode 100644 autoware_launch/config/system/tier4_diagnostics/map.yaml
create mode 100644 autoware_launch/config/system/tier4_diagnostics/perception.yaml
create mode 100644 autoware_launch/config/system/tier4_diagnostics/planning.yaml
create mode 100644 autoware_launch/config/system/tier4_diagnostics/system.yaml
create mode 100644 autoware_launch/config/system/tier4_diagnostics/vehicle.yaml
diff --git a/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml b/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml
new file mode 100644
index 0000000000..4abae34a31
--- /dev/null
+++ b/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml
@@ -0,0 +1,5 @@
+files:
+ - { path: $(dirname)/autoware-main.yaml }
+
+edits:
+ - { type: remove, path: /autoware/system/duplicated_node_checker }
diff --git a/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml b/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml
new file mode 100644
index 0000000000..fbbfe384f2
--- /dev/null
+++ b/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml
@@ -0,0 +1,70 @@
+files:
+ - { path: $(dirname)/control.yaml }
+ - { path: $(dirname)/localization.yaml }
+ - { path: $(dirname)/map.yaml }
+ - { path: $(dirname)/perception.yaml }
+ - { path: $(dirname)/planning.yaml }
+ - { path: $(dirname)/system.yaml }
+ - { path: $(dirname)/vehicle.yaml }
+
+units:
+ - path: /autoware/modes/local
+ type: and
+ list:
+ - { type: link, link: /autoware/vehicle }
+ - { type: link, link: /autoware/system }
+ - { type: link, link: /autoware/control/local }
+
+ - path: /autoware/modes/remote
+ type: and
+ list:
+ - { type: link, link: /autoware/vehicle }
+ - { type: link, link: /autoware/system }
+ - { type: link, link: /autoware/control/remote }
+
+ - path: /autoware/modes/stop
+ type: ok
+
+ - path: /autoware/modes/autonomous
+ type: and
+ list:
+ - { type: link, link: /autoware/map }
+ - { type: link, link: /autoware/localization }
+ - { type: link, link: /autoware/planning }
+ - { type: link, link: /autoware/perception }
+ - { type: link, link: /autoware/control }
+ - { type: link, link: /autoware/vehicle }
+ - { type: link, link: /autoware/system }
+
+ - path: /autoware/modes/pull_over
+ type: and
+ list:
+ - { type: link, link: /autoware/map }
+ - { type: link, link: /autoware/localization }
+ - { type: link, link: /autoware/planning }
+ - { type: link, link: /autoware/perception }
+ - { type: link, link: /autoware/control }
+ - { type: link, link: /autoware/vehicle }
+ - { type: link, link: /autoware/system }
+
+ - path: /autoware/modes/comfortable_stop
+ type: and
+ list:
+ - { type: link, link: /autoware/map }
+ - { type: link, link: /autoware/localization }
+ - { type: link, link: /autoware/planning }
+ - { type: link, link: /autoware/perception }
+ - { type: link, link: /autoware/control }
+ - { type: link, link: /autoware/vehicle }
+ - { type: link, link: /autoware/system }
+
+ - path: /autoware/modes/emergency_stop
+ type: and
+ list:
+ - { type: link, link: /autoware/vehicle }
+ - { type: link, link: /autoware/system }
+
+ - path: /autoware/debug/tools
+ type: and
+ list:
+ - { type: link, link: /autoware/system/service_log_checker }
diff --git a/autoware_launch/config/system/tier4_diagnostics/control.yaml b/autoware_launch/config/system/tier4_diagnostics/control.yaml
new file mode 100644
index 0000000000..6a04ed6714
--- /dev/null
+++ b/autoware_launch/config/system/tier4_diagnostics/control.yaml
@@ -0,0 +1,74 @@
+units:
+ - path: /autoware/control
+ type: and
+ list:
+ - { type: link, link: /autoware/control/topic_rate_check/trajectory_follower }
+ - { type: link, link: /autoware/control/topic_rate_check/control_command }
+ - { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate }
+ - { type: link, link: /autoware/control/emergency_braking }
+ - { type: link, link: /autoware/control/performance_monitoring/lane_departure }
+ - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
+ - { type: link, link: /autoware/control/performance_monitoring/control_state }
+ - { type: link, link: /autoware/control/collision_detector }
+
+ - path: /autoware/control/local
+ type: and
+ list:
+ - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
+ - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
+
+ - path: /autoware/control/remote
+ type: and
+ list:
+ - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
+ - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
+
+ - path: /autoware/control/topic_rate_check/trajectory_follower
+ type: diag
+ node: topic_state_monitor_trajectory_follower_control_cmd
+ name: control_topic_status
+
+ - path: /autoware/control/topic_rate_check/control_command
+ type: diag
+ node: topic_state_monitor_control_command_control_cmd
+ name: control_topic_status
+
+ - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate
+ type: diag
+ node: vehicle_cmd_gate
+ name: heartbeat
+
+ - path: /autoware/control/emergency_braking
+ type: diag
+ node: autonomous_emergency_braking
+ name: aeb_emergency_stop
+
+ - path: /autoware/control/performance_monitoring/lane_departure
+ type: diag
+ node: lane_departure_checker_node
+ name: lane_departure
+
+ - path: /autoware/control/performance_monitoring/trajectory_deviation
+ type: diag
+ node: lane_departure_checker_node
+ name: trajectory_deviation
+
+ - path: /autoware/control/performance_monitoring/control_state
+ type: diag
+ node: controller_node_exe
+ name: control_state
+
+ - path: /autoware/control/topic_rate_check/external_cmd_selector
+ type: diag
+ node: external_cmd_selector
+ name: heartbeat
+
+ - path: /autoware/control/topic_rate_check/external_cmd_converter
+ type: diag
+ node: external_cmd_converter
+ name: remote_control_topic_status
+
+ - path: /autoware/control/collision_detector
+ type: diag
+ node: collision_detector
+ name: collision_detect
diff --git a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml
new file mode 100644
index 0000000000..0ed824d3c8
--- /dev/null
+++ b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml
@@ -0,0 +1,36 @@
+# Description:
+# required_diags:
+# <name>: {is_active: <is_active>, status: <status>}
+# name: diag name
+# is_active: Force update or not
+# status: diag status set by dummy diag publisher "OK, Warn, Error, Stale"
+#
+# Note:
+#
+# default values are:
+# is_active: "true"
+# status: "OK"
+---
+/**:
+ ros__parameters:
+ required_diags:
+ # map
+ ## /autoware/map/topic_rate_check/pointcloud_map
+ "topic_state_monitor_pointcloud_map: map_topic_status": default
+
+ # localization
+ ## /autoware/localization/scan_matching_status
+ "ndt_scan_matcher: scan_matching_status": default
+
+ ## /autoware/localization/accuracy
+ "localization_error_monitor: ellipse_error_status": default
+
+ ## /autoware/localization/sensor_fusion_status
+ "localization: ekf_localizer": default
+
+ ## /autoware/localization/topic_rate_check/pose_twist_fusion
+ "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default
+
+ # perception
+ ## /autoware/perception/topic_rate_check/pointcloud
+ "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default
diff --git a/autoware_launch/config/system/tier4_diagnostics/hardware.yaml b/autoware_launch/config/system/tier4_diagnostics/hardware.yaml
new file mode 100644
index 0000000000..d73f723670
--- /dev/null
+++ b/autoware_launch/config/system/tier4_diagnostics/hardware.yaml
@@ -0,0 +1,121 @@
+# TODO(Takagi, Isamu): This file is under construction.
+units:
+ - path: /autoware/system/resources/clock/offset
+ diag: ": NTP Offset"
+ timeout: 10.0
+
+ - path: /autoware/system/resources/cpu/offset
+ diag: ": CPU Temperature"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/cpu/usage
+ diag: ": CPU Usage"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/cpu/thermal_throttling
+ diag: ": CPU Thermal Throttling"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/cpu/frequency
+ diag: ": CPU Frequency"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/cpu/load_average
+ diag: ": CPU Load Average"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/gpu/temperature
+ diag: ": GPU Temperature"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/gpu/usage
+ diag: ": GPU Usage"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/gpu/memory_usage
+ diag: ": GPU Memory Usage"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/gpu/thermal_throttling
+ diag: ": GPU Thermal Throttling"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/gpu/frequency
+ diag: ": GPU Frequency"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/memory/usage
+ diag: ": Memory Usage"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/network/usage
+ diag: ": Network Usage"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/network/traffic
+ diag: ": Network Traffic"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/network/crc
+ diag: ": Network CRC Error"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/network/packet_reassembles
+ diag: ": IP Packet Reassembles Failed"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/storage/temperature
+ diag: ": HDD Temperature"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/storage/recovered_error
+ diag: ": HDD RecoveredError"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/storage/read_data_rate
+ diag: ": HDD ReadDataRate"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/storage/write_data_rate
+ diag: ": HDD WriteDataRate"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/storage/read_iops
+ diag: ": HDD ReadIOPS"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/storage/write_iops
+ diag: ": HDD WriteIOPS"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/storage/usage
+ diag: ": HDD Usage"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/storage/power_on_hours
+ diag: ": HDD PowerOnHours"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/storage/total_data_written
+ diag: ": HDD TotalDataWritten"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/storage/connection
+ diag: ": HDD Connection"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/process/high_load
+ diag: ": High-load"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/process/high_mem
+ diag: ": High-mem"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/process/tasks_summary
+ diag: ": Tasks Summary"
+ timeout: 3.0
+
+ - path: /autoware/system/resources/voltage/battery
+ diag: ": CMOS Battery Status"
+ timeout: 3.0
diff --git a/autoware_launch/config/system/tier4_diagnostics/localization.yaml b/autoware_launch/config/system/tier4_diagnostics/localization.yaml
new file mode 100644
index 0000000000..1100f2edac
--- /dev/null
+++ b/autoware_launch/config/system/tier4_diagnostics/localization.yaml
@@ -0,0 +1,43 @@
+units:
+ - path: /autoware/localization
+ type: short-circuit-and
+ list:
+ - type: link
+ link: /autoware/localization/state
+ - type: and
+ list:
+ - { type: link, link: /autoware/localization/topic_rate_check/transform }
+ - { type: link, link: /autoware/localization/topic_rate_check/pose_twist_fusion }
+ - { type: link, link: /autoware/localization/scan_matching_status }
+ - { type: link, link: /autoware/localization/accuracy }
+ - { type: link, link: /autoware/localization/sensor_fusion_status }
+
+ - path: /autoware/localization/state
+ type: diag
+ node: component_state_diagnostics
+ name: localization_state
+
+ - path: /autoware/localization/topic_rate_check/transform
+ type: diag
+ node: topic_state_monitor_transform_map_to_base_link
+ name: localization_topic_status
+
+ - path: /autoware/localization/topic_rate_check/pose_twist_fusion
+ type: diag
+ node: topic_state_monitor_pose_twist_fusion_filter_pose
+ name: localization_topic_status
+
+ - path: /autoware/localization/scan_matching_status
+ type: diag
+ node: ndt_scan_matcher
+ name: scan_matching_status
+
+ - path: /autoware/localization/accuracy
+ type: diag
+ node: localization_error_monitor
+ name: ellipse_error_status
+
+ - path: /autoware/localization/sensor_fusion_status
+ type: diag
+ node: localization
+ name: ekf_localizer
diff --git a/autoware_launch/config/system/tier4_diagnostics/map.yaml b/autoware_launch/config/system/tier4_diagnostics/map.yaml
new file mode 100644
index 0000000000..231ac6eb5f
--- /dev/null
+++ b/autoware_launch/config/system/tier4_diagnostics/map.yaml
@@ -0,0 +1,16 @@
+units:
+ - path: /autoware/map
+ type: and
+ list:
+ - { type: link, link: /autoware/map/topic_rate_check/vector_map }
+ - { type: link, link: /autoware/map/topic_rate_check/pointcloud_map }
+
+ - path: /autoware/map/topic_rate_check/vector_map
+ type: diag
+ node: topic_state_monitor_vector_map
+ name: map_topic_status
+
+ - path: /autoware/map/topic_rate_check/pointcloud_map
+ type: diag
+ node: topic_state_monitor_pointcloud_map
+ name: map_topic_status
diff --git a/autoware_launch/config/system/tier4_diagnostics/perception.yaml b/autoware_launch/config/system/tier4_diagnostics/perception.yaml
new file mode 100644
index 0000000000..24e3c4eed5
--- /dev/null
+++ b/autoware_launch/config/system/tier4_diagnostics/perception.yaml
@@ -0,0 +1,16 @@
+units:
+ - path: /autoware/perception
+ type: and
+ list:
+ - { type: link, link: /autoware/perception/topic_rate_check/objects }
+ - { type: link, link: /autoware/perception/topic_rate_check/pointcloud }
+
+ - path: /autoware/perception/topic_rate_check/objects
+ type: diag
+ node: topic_state_monitor_object_recognition_objects
+ name: perception_topic_status
+
+ - path: /autoware/perception/topic_rate_check/pointcloud
+ type: diag
+ node: topic_state_monitor_obstacle_segmentation_pointcloud
+ name: perception_topic_status
diff --git a/autoware_launch/config/system/tier4_diagnostics/planning.yaml b/autoware_launch/config/system/tier4_diagnostics/planning.yaml
new file mode 100644
index 0000000000..c403fec237
--- /dev/null
+++ b/autoware_launch/config/system/tier4_diagnostics/planning.yaml
@@ -0,0 +1,90 @@
+units:
+ - path: /autoware/planning
+ type: short-circuit-and
+ list:
+ - type: link
+ link: /autoware/planning/routing/state
+ - type: and
+ list:
+ - { type: link, link: /autoware/planning/topic_rate_check/route }
+ - { type: link, link: /autoware/planning/topic_rate_check/trajectory }
+ - { type: link, link: /autoware/planning/trajectory_validation }
+
+ - path: /autoware/planning/trajectory_validation
+ type: and
+ list:
+ - { type: link, link: /autoware/planning/trajectory_validation/finite }
+ - { type: link, link: /autoware/planning/trajectory_validation/interval }
+ - { type: link, link: /autoware/planning/trajectory_validation/curvature }
+ - { type: link, link: /autoware/planning/trajectory_validation/angle }
+ - { type: link, link: /autoware/planning/trajectory_validation/lateral_acceleration }
+ - { type: link, link: /autoware/planning/trajectory_validation/acceleration }
+ - { type: link, link: /autoware/planning/trajectory_validation/deceleration }
+ - { type: link, link: /autoware/planning/trajectory_validation/steering }
+ - { type: link, link: /autoware/planning/trajectory_validation/steering_rate }
+ - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation }
+
+ - path: /autoware/planning/routing/state
+ type: diag
+ node: component_state_diagnostics
+ name: route_state
+
+ - path: /autoware/planning/topic_rate_check/route
+ type: diag
+ node: topic_state_monitor_mission_planning_route
+ name: planning_topic_status
+
+ - path: /autoware/planning/topic_rate_check/trajectory
+ type: diag
+ node: topic_state_monitor_scenario_planning_trajectory
+ name: planning_topic_status
+
+ - path: /autoware/planning/trajectory_validation/finite
+ type: diag
+ node: planning_validator
+ name: trajectory_validation_finite
+
+ - path: /autoware/planning/trajectory_validation/interval
+ type: diag
+ node: planning_validator
+ name: trajectory_validation_interval
+
+ - path: /autoware/planning/trajectory_validation/curvature
+ type: diag
+ node: planning_validator
+ name: trajectory_validation_curvature
+
+ - path: /autoware/planning/trajectory_validation/angle
+ type: diag
+ node: planning_validator
+ name: trajectory_validation_relative_angle
+
+ - path: /autoware/planning/trajectory_validation/lateral_acceleration
+ type: diag
+ node: planning_validator
+ name: trajectory_validation_lateral_acceleration
+
+ - path: /autoware/planning/trajectory_validation/acceleration
+ type: diag
+ node: planning_validator
+ name: trajectory_validation_acceleration
+
+ - path: /autoware/planning/trajectory_validation/deceleration
+ type: diag
+ node: planning_validator
+ name: trajectory_validation_deceleration
+
+ - path: /autoware/planning/trajectory_validation/steering
+ type: diag
+ node: planning_validator
+ name: trajectory_validation_steering
+
+ - path: /autoware/planning/trajectory_validation/steering_rate
+ type: diag
+ node: planning_validator
+ name: trajectory_validation_steering_rate
+
+ - path: /autoware/planning/trajectory_validation/velocity_deviation
+ type: diag
+ node: planning_validator
+ name: trajectory_validation_velocity_deviation
diff --git a/autoware_launch/config/system/tier4_diagnostics/system.yaml b/autoware_launch/config/system/tier4_diagnostics/system.yaml
new file mode 100644
index 0000000000..cb96c2cd7f
--- /dev/null
+++ b/autoware_launch/config/system/tier4_diagnostics/system.yaml
@@ -0,0 +1,27 @@
+units:
+ - path: /autoware/system
+ type: and
+ list:
+ - { type: link, link: /autoware/system/duplicated_node_checker }
+ - { type: link, link: /autoware/system/topic_rate_check/emergency_control_command }
+ - { type: link, link: /autoware/system/emergency_stop_operation }
+
+ - path: /autoware/system/duplicated_node_checker
+ type: diag
+ node: duplicated_node_checker
+ name: duplicated_node_checker
+
+ - path: /autoware/system/service_log_checker
+ type: diag
+ node: service_log_checker
+ name: response_status
+
+ - path: /autoware/system/topic_rate_check/emergency_control_command
+ type: diag
+ node: topic_state_monitor_system_emergency_control_cmd
+ name: system_topic_status
+
+ - path: /autoware/system/emergency_stop_operation
+ type: diag
+ node: vehicle_cmd_gate
+ name: emergency_stop_operation
diff --git a/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml b/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml
new file mode 100644
index 0000000000..e040e3c3c3
--- /dev/null
+++ b/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml
@@ -0,0 +1,16 @@
+units:
+ - path: /autoware/vehicle
+ type: and
+ list:
+ - { type: link, link: /autoware/vehicle/topic_rate_check/velocity }
+ - { type: link, link: /autoware/vehicle/topic_rate_check/steering }
+
+ - path: /autoware/vehicle/topic_rate_check/velocity
+ type: diag
+ node: topic_state_monitor_vehicle_status_velocity_status
+ name: vehicle_topic_status
+
+ - path: /autoware/vehicle/topic_rate_check/steering
+ type: diag
+ node: topic_state_monitor_vehicle_status_steering_status
+ name: vehicle_topic_status
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 4bf18af889..e22cd542f7 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -37,7 +37,7 @@
<arg name="system_run_mode" default="online" description="run mode in system"/>
<arg name="launch_system_monitor" default="true" description="launch system monitor"/>
<arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
- <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
<!-- Tools -->
<arg name="rviz" default="true" description="launch rviz"/>
<arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index e729fef464..a94960d8bf 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<launch>
<arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
- <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
<include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
<arg name="run_mode" value="$(var system_run_mode)"/>
@@ -14,7 +14,7 @@
<arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
<arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
<arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
- <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/dummy_diag_publisher.param.yaml"/>
+ <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml"/>
<arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
<arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>
<arg name="system_monitor_hdd_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/hdd_monitor.param.yaml"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index c4fd15b41c..03044cf090 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -71,7 +71,7 @@
<!-- System -->
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
- <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-awsim.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-awsim.yaml"/>
<!-- Sensing -->
<arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
<!-- Perception-->
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 123bd01ed3..ad11e90bdf 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -65,7 +65,7 @@
<arg name="system_run_mode" value="logging_simulation"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
- <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 3c56e11412..3e0ed8d20c 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -70,7 +70,7 @@
<arg name="system_run_mode" value="planning_simulation"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
- <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
From 63bfe660ede7f6dacd9bb34ae112eeb4de9d0d04 Mon Sep 17 00:00:00 2001
From: "tier4-autoware-public-bot[bot]"
<98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com>
Date: Tue, 3 Dec 2024 11:34:57 +0900
Subject: [PATCH 30/43] chore: sync awf-latest (#697)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
* refactor(system_diagnostic_monitor, dummy_diag_publisher, diagnostic_graph_aggregator): combine diag list setting directories (#1253)
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
* feat(object_lanelet_filter): add configurable margin for object lanel… (#1210)
feat(object_lanelet_filter): add configurable margin for object lanelet filter
Signed-off-by: Sebastian Zęderowski <szederowski@autonomous-systems.pl>
Co-authored-by: Sebastian Zęderowski <szederowski@autonomous-systems.pl>
* fix(rviz): fix a bug about visualizing ego model (#1257)
fix a visulization bug.
Signed-off-by: temkei.kem <1041084556@qq.com>
---------
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
Signed-off-by: Sebastian Zęderowski <szederowski@autonomous-systems.pl>
Signed-off-by: temkei.kem <1041084556@qq.com>
Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Co-authored-by: Sebastian Zęderowski <sebek.x@gmail.com>
Co-authored-by: Sebastian Zęderowski <szederowski@autonomous-systems.pl>
Co-authored-by: Kem (TiankuiXian) <1041084556@qq.com>
---
.../detected_object_validation/object_lanelet_filter.param.yaml | 2 ++
.../detection/object_filter/object_lanelet_filter.param.yaml | 2 ++
.../detection/object_filter/radar_lanelet_filter.param.yaml | 2 ++
autoware_launch/rviz/planning_bev.rviz | 2 +-
4 files changed, 7 insertions(+), 1 deletion(-)
diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml
index 99050d9738..d15b2c81cf 100644
--- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml
@@ -19,3 +19,5 @@
enabled: false
velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
object_speed_threshold: 3.0 # [m/s]
+ debug: false
+ lanelet_extra_margin: 0.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
index fb6f1131e1..da9b694564 100644
--- a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
@@ -19,3 +19,5 @@
enabled: false
velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
object_speed_threshold: 3.0 # [m/s]
+ debug: false
+ lanelet_extra_margin: 0.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
index 330a4605a1..a784fcb8c0 100644
--- a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
@@ -19,3 +19,5 @@
enabled: false
velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
object_speed_threshold: 3.0 # [m/s]
+ debug: false
+ lanelet_extra_margin: 0.0
diff --git a/autoware_launch/rviz/planning_bev.rviz b/autoware_launch/rviz/planning_bev.rviz
index 4b7ce39e51..533b601ccf 100644
--- a/autoware_launch/rviz/planning_bev.rviz
+++ b/autoware_launch/rviz/planning_bev.rviz
@@ -118,7 +118,7 @@ Visualization Manager:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
- Reliability Policy: Best Effort
+ Reliability Policy: Reliable
Value: /robot_description
Enabled: true
Links:
From 491c77620c74f3681684672ff48e8eebba8be4ca Mon Sep 17 00:00:00 2001
From: "tier4-autoware-public-bot[bot]"
<98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com>
Date: Thu, 5 Dec 2024 11:17:53 +0900
Subject: [PATCH 31/43] chore: sync awf-latest (#701)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
* refactor(system_diagnostic_monitor, dummy_diag_publisher, diagnostic_graph_aggregator): combine diag list setting directories (#1253)
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
* feat(object_lanelet_filter): add configurable margin for object lanel… (#1210)
feat(object_lanelet_filter): add configurable margin for object lanelet filter
Signed-off-by: Sebastian Zęderowski <szederowski@autonomous-systems.pl>
Co-authored-by: Sebastian Zęderowski <szederowski@autonomous-systems.pl>
* fix(rviz): fix a bug about visualizing ego model (#1257)
fix a visulization bug.
Signed-off-by: temkei.kem <1041084556@qq.com>
* refactor(glog_component): prefix package and namespace with autoware (#1245)
Signed-off-by: Esteve Fernandez <esteve@apache.org>
* refactor(global_parameter_loader): prefix package and namespace with autoware (#1246)
Signed-off-by: Esteve Fernandez <esteve@apache.org>
* feat(lane_change): add new lane change parameter (#1224)
* add minimum prepare duration parameter
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
* increase min_prepare_duration to 1.0 s
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
* increase min prepare duration value, add new parameter
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
---------
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
---------
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
Signed-off-by: Sebastian Zęderowski <szederowski@autonomous-systems.pl>
Signed-off-by: temkei.kem <1041084556@qq.com>
Signed-off-by: Esteve Fernandez <esteve@apache.org>
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Co-authored-by: Sebastian Zęderowski <sebek.x@gmail.com>
Co-authored-by: Sebastian Zęderowski <szederowski@autonomous-systems.pl>
Co-authored-by: Kem (TiankuiXian) <1041084556@qq.com>
Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com>
Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
---
.../lane_change/lane_change.param.yaml | 4 +++-
autoware_launch/config/system/diagnostics/control.yaml | 6 ------
autoware_launch/launch/autoware.launch.xml | 4 ++--
.../launch/components/tier4_system_component.launch.xml | 4 ++--
autoware_launch/launch/e2e_simulator.launch.xml | 2 +-
autoware_launch/launch/logging_simulator.launch.xml | 2 +-
autoware_launch/launch/planning_simulator.launch.xml | 2 +-
autoware_launch/launch/pointcloud_container.launch.py | 2 +-
autoware_launch/package.xml | 2 +-
9 files changed, 12 insertions(+), 16 deletions(-)
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index fe8915c784..27349f077d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -11,7 +11,8 @@
# trajectory generation
trajectory:
- prepare_duration: 4.0
+ max_prepare_duration: 4.0
+ min_prepare_duration: 2.0
lateral_jerk: 0.5
min_longitudinal_acc: -1.0
max_longitudinal_acc: 1.0
@@ -20,6 +21,7 @@
min_lane_changing_velocity: 2.78
lon_acc_sampling_num: 5
lat_acc_sampling_num: 3
+ lane_changing_decel_factor: 0.5
# delay lane change
delay_lane_change:
diff --git a/autoware_launch/config/system/diagnostics/control.yaml b/autoware_launch/config/system/diagnostics/control.yaml
index 6a04ed6714..5551ed4575 100644
--- a/autoware_launch/config/system/diagnostics/control.yaml
+++ b/autoware_launch/config/system/diagnostics/control.yaml
@@ -9,7 +9,6 @@ units:
- { type: link, link: /autoware/control/performance_monitoring/lane_departure }
- { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
- { type: link, link: /autoware/control/performance_monitoring/control_state }
- - { type: link, link: /autoware/control/collision_detector }
- path: /autoware/control/local
type: and
@@ -67,8 +66,3 @@ units:
type: diag
node: external_cmd_converter
name: remote_control_topic_status
-
- - path: /autoware/control/collision_detector
- type: diag
- node: collision_detector
- name: collision_detect
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index e22cd542f7..b125d23186 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -37,7 +37,7 @@
<arg name="system_run_mode" default="online" description="run mode in system"/>
<arg name="launch_system_monitor" default="true" description="launch system monitor"/>
<arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
- <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
<!-- Tools -->
<arg name="rviz" default="true" description="launch rviz"/>
<arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
@@ -52,7 +52,7 @@
<!-- Global parameters -->
<group scoped="false">
- <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
+ <include file="$(find-pkg-share autoware_global_parameter_loader)/launch/global_params.launch.py">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="vehicle_model" value="$(var vehicle_model)"/>
</include>
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index a94960d8bf..e729fef464 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<launch>
<arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
- <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
<include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
<arg name="run_mode" value="$(var system_run_mode)"/>
@@ -14,7 +14,7 @@
<arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
<arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
<arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
- <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml"/>
+ <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/dummy_diag_publisher.param.yaml"/>
<arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
<arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>
<arg name="system_monitor_hdd_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/hdd_monitor.param.yaml"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 03044cf090..c4fd15b41c 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -71,7 +71,7 @@
<!-- System -->
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
- <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-awsim.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-awsim.yaml"/>
<!-- Sensing -->
<arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
<!-- Perception-->
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index ad11e90bdf..123bd01ed3 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -65,7 +65,7 @@
<arg name="system_run_mode" value="logging_simulation"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
- <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 3e0ed8d20c..3c56e11412 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -70,7 +70,7 @@
<arg name="system_run_mode" value="planning_simulation"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
- <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py
index 650e555e27..d7e31a3e9b 100644
--- a/autoware_launch/launch/pointcloud_container.launch.py
+++ b/autoware_launch/launch/pointcloud_container.launch.py
@@ -39,7 +39,7 @@ def add_launch_arg(name: str, default_value=None):
)
glog_component = ComposableNode(
- package="glog_component",
+ package="autoware_glog_component",
plugin="GlogComponent",
name="glog_component",
namespace="pointcloud_container",
diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
index 678c08d7b6..52101d1034 100644
--- a/autoware_launch/package.xml
+++ b/autoware_launch/package.xml
@@ -12,7 +12,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<exec_depend>ad_api_adaptors</exec_depend>
- <exec_depend>global_parameter_loader</exec_depend>
+ <exec_depend>autoware_global_parameter_loader</exec_depend>
<exec_depend>python3-bson</exec_depend>
<exec_depend>python3-tornado</exec_depend>
<exec_depend>rviz2</exec_depend>
From 8a8f9c89e2f433af7d1550d3f28cfdd71673e96d Mon Sep 17 00:00:00 2001
From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Mon, 9 Dec 2024 15:03:29 +0900
Subject: [PATCH 32/43] feat(diag): use tier4 diag graph settings (#705)
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
---
autoware_launch/launch/autoware.launch.xml | 2 +-
.../launch/components/tier4_system_component.launch.xml | 4 ++--
autoware_launch/launch/e2e_simulator.launch.xml | 2 +-
autoware_launch/launch/logging_simulator.launch.xml | 2 +-
autoware_launch/launch/planning_simulator.launch.xml | 2 +-
5 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index b125d23186..b29819a1aa 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -37,7 +37,7 @@
<arg name="system_run_mode" default="online" description="run mode in system"/>
<arg name="launch_system_monitor" default="true" description="launch system monitor"/>
<arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
- <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
<!-- Tools -->
<arg name="rviz" default="true" description="launch rviz"/>
<arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index e729fef464..a94960d8bf 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<launch>
<arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
- <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
<include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
<arg name="run_mode" value="$(var system_run_mode)"/>
@@ -14,7 +14,7 @@
<arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
<arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
<arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
- <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/dummy_diag_publisher.param.yaml"/>
+ <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml"/>
<arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
<arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>
<arg name="system_monitor_hdd_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/hdd_monitor.param.yaml"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index c4fd15b41c..03044cf090 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -71,7 +71,7 @@
<!-- System -->
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
- <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-awsim.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-awsim.yaml"/>
<!-- Sensing -->
<arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
<!-- Perception-->
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 123bd01ed3..ad11e90bdf 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -65,7 +65,7 @@
<arg name="system_run_mode" value="logging_simulation"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
- <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 3c56e11412..3e0ed8d20c 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -70,7 +70,7 @@
<arg name="system_run_mode" value="planning_simulation"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
- <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
+ <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
From ac972ab8e5da020f408e6eb1ef37f70e5e9abcb9 Mon Sep 17 00:00:00 2001
From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Mon, 9 Dec 2024 15:36:57 +0900
Subject: [PATCH 33/43] feat(diag): build tier4 diag settings (#699)
* build tier4 settings
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
.../tier4_diagnostics/autoware-awsim.yaml | 3 -
.../tier4_diagnostics/autoware-main.yaml | 67 +++----
.../system/tier4_diagnostics/control.yaml | 129 ++++++++----
.../dummy_diag_publisher.param.yaml | 38 ++--
.../tier4_diagnostics/localization.yaml | 110 +++++++---
.../config/system/tier4_diagnostics/map.yaml | 54 ++++-
.../system/tier4_diagnostics/perception.yaml | 80 +++++++-
.../system/tier4_diagnostics/planning.yaml | 189 ++++++++++++++----
.../system/tier4_diagnostics/sensing.yaml | 35 ++++
.../system/tier4_diagnostics/system.yaml | 61 ++++--
.../system/tier4_diagnostics/vehicle.yaml | 82 +++++++-
11 files changed, 666 insertions(+), 182 deletions(-)
create mode 100644 autoware_launch/config/system/tier4_diagnostics/sensing.yaml
diff --git a/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml b/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml
index 4abae34a31..5456b20c7a 100644
--- a/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml
+++ b/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml
@@ -1,5 +1,2 @@
files:
- { path: $(dirname)/autoware-main.yaml }
-
-edits:
- - { type: remove, path: /autoware/system/duplicated_node_checker }
diff --git a/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml b/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml
index fbbfe384f2..fed7797849 100644
--- a/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml
+++ b/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml
@@ -1,26 +1,21 @@
files:
- { path: $(dirname)/control.yaml }
+ # - { path: $(dirname)/hardware.yaml }
- { path: $(dirname)/localization.yaml }
- { path: $(dirname)/map.yaml }
- { path: $(dirname)/perception.yaml }
- { path: $(dirname)/planning.yaml }
+ # - { path: $(dirname)/others.yaml }
+ # - { path: $(dirname)/sensing.yaml }
- { path: $(dirname)/system.yaml }
- { path: $(dirname)/vehicle.yaml }
units:
- path: /autoware/modes/local
- type: and
- list:
- - { type: link, link: /autoware/vehicle }
- - { type: link, link: /autoware/system }
- - { type: link, link: /autoware/control/local }
+ type: stale
- path: /autoware/modes/remote
- type: and
- list:
- - { type: link, link: /autoware/vehicle }
- - { type: link, link: /autoware/system }
- - { type: link, link: /autoware/control/remote }
+ type: stale
- path: /autoware/modes/stop
type: ok
@@ -28,43 +23,45 @@ units:
- path: /autoware/modes/autonomous
type: and
list:
- - { type: link, link: /autoware/map }
- - { type: link, link: /autoware/localization }
- - { type: link, link: /autoware/planning }
- - { type: link, link: /autoware/perception }
- - { type: link, link: /autoware/control }
- - { type: link, link: /autoware/vehicle }
- - { type: link, link: /autoware/system }
+ - { type: link, link: /map/autonomous_available }
+ - { type: link, link: /localization/autonomous_available }
+ - { type: link, link: /planning/autonomous_available }
+ - { type: link, link: /perception/autonomous_available }
+ - { type: link, link: /control/autonomous_available }
+ - { type: link, link: /vehicle/autonomous_available }
+ - { type: link, link: /system/autonomous_available }
- path: /autoware/modes/pull_over
type: and
list:
- - { type: link, link: /autoware/map }
- - { type: link, link: /autoware/localization }
- - { type: link, link: /autoware/planning }
- - { type: link, link: /autoware/perception }
- - { type: link, link: /autoware/control }
- - { type: link, link: /autoware/vehicle }
- - { type: link, link: /autoware/system }
+ - { type: link, link: /map/pull_over_available }
+ - { type: link, link: /localization/pull_over_available }
+ - { type: link, link: /planning/pull_over_available }
+ - { type: link, link: /perception/pull_over_available }
+ - { type: link, link: /control/pull_over_available }
+ - { type: link, link: /vehicle/pull_over_available }
+ - { type: link, link: /system/pull_over_available }
- path: /autoware/modes/comfortable_stop
type: and
list:
- - { type: link, link: /autoware/map }
- - { type: link, link: /autoware/localization }
- - { type: link, link: /autoware/planning }
- - { type: link, link: /autoware/perception }
- - { type: link, link: /autoware/control }
- - { type: link, link: /autoware/vehicle }
- - { type: link, link: /autoware/system }
+ - { type: link, link: /map/comfortable_stop_available }
+ - { type: link, link: /localization/comfortable_stop_available }
+ - { type: link, link: /planning/comfortable_stop_available }
+ - { type: link, link: /perception/comfortable_stop_available }
+ - { type: link, link: /control/comfortable_stop_available }
+ - { type: link, link: /vehicle/comfortable_stop_available }
+ - { type: link, link: /system/comfortable_stop_available }
- path: /autoware/modes/emergency_stop
- type: and
- list:
- - { type: link, link: /autoware/vehicle }
- - { type: link, link: /autoware/system }
+ type: ok
- path: /autoware/debug/tools
type: and
list:
- { type: link, link: /autoware/system/service_log_checker }
+
+ - path: /autoware/system/service_log_checker
+ type: diag
+ node: service_log_checker
+ name: response_status
diff --git a/autoware_launch/config/system/tier4_diagnostics/control.yaml b/autoware_launch/config/system/tier4_diagnostics/control.yaml
index 6a04ed6714..bedadc17bf 100644
--- a/autoware_launch/config/system/tier4_diagnostics/control.yaml
+++ b/autoware_launch/config/system/tier4_diagnostics/control.yaml
@@ -1,74 +1,129 @@
units:
- - path: /autoware/control
+ - path: /control/autonomous_available
type: and
list:
- - { type: link, link: /autoware/control/topic_rate_check/trajectory_follower }
- - { type: link, link: /autoware/control/topic_rate_check/control_command }
- - { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate }
- - { type: link, link: /autoware/control/emergency_braking }
- - { type: link, link: /autoware/control/performance_monitoring/lane_departure }
- - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
- - { type: link, link: /autoware/control/performance_monitoring/control_state }
- - { type: link, link: /autoware/control/collision_detector }
-
- - path: /autoware/control/local
+ - { type: link, link: /control/emergency_stop }
+ - { type: link, link: /control/pull_over }
+ - { type: link, link: /control/comfortable_stop }
+
+ - path: /control/pull_over_available
type: and
list:
- - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
- - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
+ - { type: link, link: /control/emergency_stop }
+ - { type: link, link: /control/comfortable_stop }
- - path: /autoware/control/remote
+ - path: /control/comfortable_stop_available
type: and
list:
- - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
- - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
+ - { type: link, link: /control/emergency_stop }
- - path: /autoware/control/topic_rate_check/trajectory_follower
- type: diag
- node: topic_state_monitor_trajectory_follower_control_cmd
- name: control_topic_status
+ # *******************************************************************************
+ # NOTE: Please modify this section according to your environment and requirements.
+ # *******************************************************************************
+ - path: /control/emergency_stop
+ type: and
+ list:
+ - { type: link, link: /control/001-topic_status/control_command-error }
+ - { type: link, link: /control/004-lane_departure-error }
+ - { type: link, link: /control/005-trajectory_deviation-error }
+ - { type: link, link: /control/009-aeb_emergency_stop }
+ # - { type: link, link: /control/010-max_distance_deviation-error }
+ # - { type: link, link: /control/011-slip_detection }
+ - { type: link, link: /control/collision_detector }
+
+ - path: /control/comfortable_stop
+ type: and
+
+ - path: /control/pull_over
+ type: and
+
+ - path: /control/none
+ type: and
+ list:
+ - { type: link, link: /control/003-gate_heartbeat }
+ - { type: link, link: /control/007-external_command_converter_heartbeat }
+ - { type: link, link: /control/008-external_command_selector_heartbeat }
+
+ # Intermediate paths
+ - path: /control/001-topic_status/control_command-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /control/001-topic_status/control_command
+
+ - path: /control/004-lane_departure-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /control/004-lane_departure
+
+ - path: /control/005-trajectory_deviation-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /control/005-trajectory_deviation
- - path: /autoware/control/topic_rate_check/control_command
+ - path: /control/010-max_distance_deviation-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /control/010-max_distance_deviation
+
+ - path: /control/001-topic_status/control_command
type: diag
node: topic_state_monitor_control_command_control_cmd
name: control_topic_status
+ timeout: 1.0
- - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate
+ - path: /control/003-gate_heartbeat
type: diag
node: vehicle_cmd_gate
name: heartbeat
+ timeout: 1.0
- - path: /autoware/control/emergency_braking
- type: diag
- node: autonomous_emergency_braking
- name: aeb_emergency_stop
-
- - path: /autoware/control/performance_monitoring/lane_departure
+ - path: /control/004-lane_departure
type: diag
node: lane_departure_checker_node
name: lane_departure
+ timeout: 1.0
- - path: /autoware/control/performance_monitoring/trajectory_deviation
+ - path: /control/005-trajectory_deviation
type: diag
node: lane_departure_checker_node
name: trajectory_deviation
+ timeout: 1.0
- - path: /autoware/control/performance_monitoring/control_state
+ - path: /control/007-external_command_converter_heartbeat
type: diag
- node: controller_node_exe
- name: control_state
+ node: external_cmd_converter
+ name: remote_control_topic_status
+ timeout: 1.0
- - path: /autoware/control/topic_rate_check/external_cmd_selector
+ - path: /control/008-external_command_selector_heartbeat
type: diag
node: external_cmd_selector
name: heartbeat
+ timeout: 1.0
- - path: /autoware/control/topic_rate_check/external_cmd_converter
+ - path: /control/009-aeb_emergency_stop
type: diag
- node: external_cmd_converter
- name: remote_control_topic_status
+ node: autonomous_emergency_braking
+ name: aeb_emergency_stop
+ timeout: 1.0
+
+ - path: /control/010-max_distance_deviation
+ type: diag
+ node: control_validator
+ name: control_validation_max_distance_deviation
+ timeout: 1.0
+
+ - path: /control/011-slip_detection
+ type: diag
+ node: slip_detector
+ name: slip_status
+ timeout: 3.0
- - path: /autoware/control/collision_detector
+ - path: /control/collision_detector
type: diag
node: collision_detector
name: collision_detect
diff --git a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml
index 0ed824d3c8..b5c168cdd0 100644
--- a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml
+++ b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml
@@ -14,23 +14,35 @@
/**:
ros__parameters:
required_diags:
- # map
- ## /autoware/map/topic_rate_check/pointcloud_map
- "topic_state_monitor_pointcloud_map: map_topic_status": default
-
# localization
- ## /autoware/localization/scan_matching_status
- "ndt_scan_matcher: scan_matching_status": default
+ ## /localization/001-topic_status/initialpose
+ "topic_state_monitor_initialpose3d: localization_topic_status": default
- ## /autoware/localization/accuracy
- "localization_error_monitor: ellipse_error_status": default
+ ## /localization/001-topic_status/pose_twist_fusion_filter
+ "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default
- ## /autoware/localization/sensor_fusion_status
- "localization: ekf_localizer": default
+ ## /localization/002-tf
+ "topic_state_monitor_transform_map_to_base_link: localization_topic_status": default
- ## /autoware/localization/topic_rate_check/pose_twist_fusion
- "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default
+ ## /localization/003-matching_score
+ "ndt_scan_matcher: scan_matching_status": default
+
+ ## /localization/004-accuracy
+ "localization: localization_error_monitor": default
+
+ # map
+ ## /map/001-topic_status/pointcloud_map
+ "topic_state_monitor_pointcloud_map: map_topic_status": default
# perception
- ## /autoware/perception/topic_rate_check/pointcloud
+ ## /perception/001-topic_status/traffic_signals
+ "topic_state_monitor_traffic_light_recognition_traffic_signals: perception_topic_status": default
+
+ ## /perception/001-topic_status/objects
+ "topic_state_monitor_object_recognition_objects: perception_topic_status": default
+
+ ## /perception/001-topic_status/pointcloud
"topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default
+
+ ## /perception/002-detection_delay
+ "multi_object_tracker: Perception delay check from original header stamp": default
diff --git a/autoware_launch/config/system/tier4_diagnostics/localization.yaml b/autoware_launch/config/system/tier4_diagnostics/localization.yaml
index 1100f2edac..45adcac68e 100644
--- a/autoware_launch/config/system/tier4_diagnostics/localization.yaml
+++ b/autoware_launch/config/system/tier4_diagnostics/localization.yaml
@@ -1,43 +1,99 @@
units:
- - path: /autoware/localization
- type: short-circuit-and
+ - path: /localization/autonomous_available
+ type: and
list:
- - type: link
- link: /autoware/localization/state
- - type: and
- list:
- - { type: link, link: /autoware/localization/topic_rate_check/transform }
- - { type: link, link: /autoware/localization/topic_rate_check/pose_twist_fusion }
- - { type: link, link: /autoware/localization/scan_matching_status }
- - { type: link, link: /autoware/localization/accuracy }
- - { type: link, link: /autoware/localization/sensor_fusion_status }
-
- - path: /autoware/localization/state
- type: diag
- node: component_state_diagnostics
- name: localization_state
+ - { type: link, link: /localization/emergency_stop }
+ - { type: link, link: /localization/pull_over }
+ - { type: link, link: /localization/comfortable_stop }
+
+ - path: /localization/pull_over_available
+ type: and
+ list:
+ - { type: link, link: /localization/emergency_stop }
+ - { type: link, link: /localization/comfortable_stop }
+
+ - path: /localization/comfortable_stop_available
+ type: and
+ list:
+ - { type: link, link: /localization/emergency_stop }
+
+ # *******************************************************************************
+ # NOTE: Please modify this section according to your environment and requirements.
+ # *******************************************************************************
+ - path: /localization/emergency_stop
+ type: and
+ list:
+ - { type: link, link: /localization/001-topic_status/initialpose-error }
+ - { type: link, link: /localization/001-topic_status/pose_twist_fusion_filter-error }
+ - { type: link, link: /localization/002-tf-error }
+ - { type: link, link: /localization/003-matching_score-error }
+ - { type: link, link: /localization/004-accuracy-error }
+
+ - path: /localization/comfortable_stop
+ type: and
+
+ - path: /localization/pull_over
+ type: and
+
+ - path: /localization/none
+ type: and
+
+ - path: /localization/001-topic_status/initialpose-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /localization/001-topic_status/initialpose
- - path: /autoware/localization/topic_rate_check/transform
+ - path: /localization/001-topic_status/pose_twist_fusion_filter-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /localization/001-topic_status/pose_twist_fusion_filter
+
+ - path: /localization/002-tf-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /localization/002-tf
+
+ - path: /localization/003-matching_score-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /localization/003-matching_score
+
+ - path: /localization/004-accuracy-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /localization/004-accuracy
+
+ - path: /localization/001-topic_status/initialpose
type: diag
- node: topic_state_monitor_transform_map_to_base_link
+ node: topic_state_monitor_initialpose3d
name: localization_topic_status
+ timeout: 1.0
- - path: /autoware/localization/topic_rate_check/pose_twist_fusion
+ - path: /localization/001-topic_status/pose_twist_fusion_filter
type: diag
node: topic_state_monitor_pose_twist_fusion_filter_pose
name: localization_topic_status
+ timeout: 1.0
- - path: /autoware/localization/scan_matching_status
+ - path: /localization/002-tf
type: diag
- node: ndt_scan_matcher
- name: scan_matching_status
+ node: topic_state_monitor_transform_map_to_base_link
+ name: localization_topic_status
+ timeout: 1.0
- - path: /autoware/localization/accuracy
+ - path: /localization/003-matching_score
type: diag
- node: localization_error_monitor
- name: ellipse_error_status
+ node: ndt_scan_matcher
+ name: scan_matching_status
+ timeout: 1.0
- - path: /autoware/localization/sensor_fusion_status
+ - path: /localization/004-accuracy
type: diag
node: localization
- name: ekf_localizer
+ name: localization_error_monitor
+ timeout: 1.0
diff --git a/autoware_launch/config/system/tier4_diagnostics/map.yaml b/autoware_launch/config/system/tier4_diagnostics/map.yaml
index 231ac6eb5f..685956f160 100644
--- a/autoware_launch/config/system/tier4_diagnostics/map.yaml
+++ b/autoware_launch/config/system/tier4_diagnostics/map.yaml
@@ -1,16 +1,60 @@
units:
- - path: /autoware/map
+ - path: /map/autonomous_available
type: and
list:
- - { type: link, link: /autoware/map/topic_rate_check/vector_map }
- - { type: link, link: /autoware/map/topic_rate_check/pointcloud_map }
+ - { type: link, link: /map/emergency_stop }
+ - { type: link, link: /map/pull_over }
+ - { type: link, link: /map/comfortable_stop }
- - path: /autoware/map/topic_rate_check/vector_map
+ - path: /map/pull_over_available
+ type: and
+ list:
+ - { type: link, link: /map/emergency_stop }
+ - { type: link, link: /map/comfortable_stop }
+
+ - path: /map/comfortable_stop_available
+ type: and
+ list:
+ - { type: link, link: /map/emergency_stop }
+
+ # *******************************************************************************
+ # NOTE: Please modify this section according to your environment and requirements.
+ # *******************************************************************************
+ - path: /map/emergency_stop
+ type: and
+ list:
+ - { type: link, link: /map/001-topic_status/vector_map-error }
+ - { type: link, link: /map/001-topic_status/pointcloud_map-error }
+
+ - path: /map/comfortable_stop
+ type: and
+
+ - path: /map/pull_over
+ type: and
+
+ - path: /map/none
+ type: and
+
+ - path: /map/001-topic_status/vector_map-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /map/001-topic_status/vector_map
+
+ - path: /map/001-topic_status/pointcloud_map-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /map/001-topic_status/pointcloud_map
+
+ - path: /map/001-topic_status/vector_map
type: diag
node: topic_state_monitor_vector_map
name: map_topic_status
+ timeout: 1.0
- - path: /autoware/map/topic_rate_check/pointcloud_map
+ - path: /map/001-topic_status/pointcloud_map
type: diag
node: topic_state_monitor_pointcloud_map
name: map_topic_status
+ timeout: 1.0
diff --git a/autoware_launch/config/system/tier4_diagnostics/perception.yaml b/autoware_launch/config/system/tier4_diagnostics/perception.yaml
index 24e3c4eed5..273e7ada84 100644
--- a/autoware_launch/config/system/tier4_diagnostics/perception.yaml
+++ b/autoware_launch/config/system/tier4_diagnostics/perception.yaml
@@ -1,16 +1,86 @@
units:
- - path: /autoware/perception
+ - path: /perception/autonomous_available
type: and
list:
- - { type: link, link: /autoware/perception/topic_rate_check/objects }
- - { type: link, link: /autoware/perception/topic_rate_check/pointcloud }
+ - { type: link, link: /perception/emergency_stop }
+ - { type: link, link: /perception/pull_over }
+ - { type: link, link: /perception/comfortable_stop }
- - path: /autoware/perception/topic_rate_check/objects
+ - path: /perception/pull_over_available
+ type: and
+ list:
+ - { type: link, link: /perception/emergency_stop }
+ - { type: link, link: /perception/comfortable_stop }
+
+ - path: /perception/comfortable_stop_available
+ type: and
+ list:
+ - { type: link, link: /perception/emergency_stop }
+
+ # *******************************************************************************
+ # NOTE: Please modify this section according to your environment and requirements.
+ # *******************************************************************************
+ - path: /perception/emergency_stop
+ type: and
+ list:
+ - { type: link, link: /perception/001-topic_status/traffic_signals-error }
+ - { type: link, link: /perception/001-topic_status/objects-error }
+ - { type: link, link: /perception/001-topic_status/pointcloud-error }
+ - { type: link, link: /perception/002-detection_delay-error }
+
+ - path: /perception/comfortable_stop
+ type: and
+
+ - path: /perception/pull_over
+ type: and
+
+ - path: /perception/none
+ type: and
+
+ - path: /perception/001-topic_status/traffic_signals-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /perception/001-topic_status/traffic_signals
+
+ - path: /perception/001-topic_status/objects-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /perception/001-topic_status/objects
+
+ - path: /perception/001-topic_status/pointcloud-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /perception/001-topic_status/pointcloud
+
+ - path: /perception/002-detection_delay-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /perception/002-detection_delay
+
+ - path: /perception/001-topic_status/traffic_signals
+ type: diag
+ node: topic_state_monitor_traffic_light_recognition_traffic_signals
+ name: perception_topic_status
+ timeout: 1.0
+
+ - path: /perception/001-topic_status/objects
type: diag
node: topic_state_monitor_object_recognition_objects
name: perception_topic_status
+ timeout: 1.0
- - path: /autoware/perception/topic_rate_check/pointcloud
+ - path: /perception/001-topic_status/pointcloud
type: diag
node: topic_state_monitor_obstacle_segmentation_pointcloud
name: perception_topic_status
+ timeout: 1.0
+
+ - path: /perception/002-detection_delay
+ type: diag
+ node: multi_object_tracker
+ name: Perception delay check from original header stamp
+ timeout: 1.0
diff --git a/autoware_launch/config/system/tier4_diagnostics/planning.yaml b/autoware_launch/config/system/tier4_diagnostics/planning.yaml
index c403fec237..3a8240aedd 100644
--- a/autoware_launch/config/system/tier4_diagnostics/planning.yaml
+++ b/autoware_launch/config/system/tier4_diagnostics/planning.yaml
@@ -1,90 +1,203 @@
units:
- - path: /autoware/planning
- type: short-circuit-and
+ - path: /planning/autonomous_available
+ type: and
list:
- - type: link
- link: /autoware/planning/routing/state
- - type: and
- list:
- - { type: link, link: /autoware/planning/topic_rate_check/route }
- - { type: link, link: /autoware/planning/topic_rate_check/trajectory }
- - { type: link, link: /autoware/planning/trajectory_validation }
-
- - path: /autoware/planning/trajectory_validation
+ - { type: link, link: /planning/emergency_stop }
+ - { type: link, link: /planning/pull_over }
+ - { type: link, link: /planning/comfortable_stop }
+
+ - path: /planning/pull_over_available
type: and
list:
- - { type: link, link: /autoware/planning/trajectory_validation/finite }
- - { type: link, link: /autoware/planning/trajectory_validation/interval }
- - { type: link, link: /autoware/planning/trajectory_validation/curvature }
- - { type: link, link: /autoware/planning/trajectory_validation/angle }
- - { type: link, link: /autoware/planning/trajectory_validation/lateral_acceleration }
- - { type: link, link: /autoware/planning/trajectory_validation/acceleration }
- - { type: link, link: /autoware/planning/trajectory_validation/deceleration }
- - { type: link, link: /autoware/planning/trajectory_validation/steering }
- - { type: link, link: /autoware/planning/trajectory_validation/steering_rate }
- - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation }
-
- - path: /autoware/planning/routing/state
- type: diag
- node: component_state_diagnostics
- name: route_state
+ - { type: link, link: /planning/emergency_stop }
+ - { type: link, link: /planning/comfortable_stop }
+
+ - path: /planning/comfortable_stop_available
+ type: and
+ list:
+ - { type: link, link: /planning/emergency_stop }
+
+ # *******************************************************************************
+ # NOTE: Please modify this section according to your environment and requirements.
+ # *******************************************************************************
+ - path: /planning/emergency_stop
+ type: and
+ list:
+ - { type: link, link: /planning/001-topic_status/route-error }
+ - { type: link, link: /planning/001-topic_status/trajectory-error }
+ - { type: link, link: /planning/003-trajectory_finite_validation-error }
+ - { type: link, link: /planning/004-trajectory_interval_validation-error }
+ - { type: link, link: /planning/005-trajectory_curvature_validation-error }
+ - { type: link, link: /planning/006-trajectory_relative_angle_validation-error }
+ - { type: link, link: /planning/007-trajectory_lateral_acceleration_validation-error }
+ - { type: link, link: /planning/008-trajectory_acceleration_validation-error }
+ - { type: link, link: /planning/009-trajectory_deceleration_validation-error }
+ - { type: link, link: /planning/010-trajectory_steering_validation-error }
+ - { type: link, link: /planning/011-trajectory_steering_rate_validation-error }
+ - { type: link, link: /planning/012-trajectory_velocity_deviation_validation-error }
+ # - { type: link, link: /planning/013-collision_checker-error }
+
+ - path: /planning/comfortable_stop
+ type: and
+
+ - path: /planning/pull_over
+ type: and
+
+ - path: /planning/none
+ type: and
- - path: /autoware/planning/topic_rate_check/route
+ - path: /planning/001-topic_status/route-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /planning/001-topic_status/route
+
+ - path: /planning/001-topic_status/trajectory-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /planning/001-topic_status/trajectory
+
+ - path: /planning/003-trajectory_finite_validation-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /planning/003-trajectory_finite_validation
+
+ - path: /planning/004-trajectory_interval_validation-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /planning/004-trajectory_interval_validation
+
+ - path: /planning/005-trajectory_curvature_validation-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /planning/005-trajectory_curvature_validation
+
+ - path: /planning/006-trajectory_relative_angle_validation-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /planning/006-trajectory_relative_angle_validation
+
+ - path: /planning/007-trajectory_lateral_acceleration_validation-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /planning/007-trajectory_lateral_acceleration_validation
+
+ - path: /planning/008-trajectory_acceleration_validation-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /planning/008-trajectory_acceleration_validation
+
+ - path: /planning/009-trajectory_deceleration_validation-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /planning/009-trajectory_deceleration_validation
+
+ - path: /planning/010-trajectory_steering_validation-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /planning/010-trajectory_steering_validation
+
+ - path: /planning/011-trajectory_steering_rate_validation-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /planning/011-trajectory_steering_rate_validation
+
+ - path: /planning/012-trajectory_velocity_deviation_validation-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /planning/012-trajectory_velocity_deviation_validation
+
+ - path: /planning/013-collision_checker-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /planning/013-collision_checker
+
+ - path: /planning/001-topic_status/route
type: diag
node: topic_state_monitor_mission_planning_route
name: planning_topic_status
+ timeout: 1.0
- - path: /autoware/planning/topic_rate_check/trajectory
+ - path: /planning/001-topic_status/trajectory
type: diag
node: topic_state_monitor_scenario_planning_trajectory
name: planning_topic_status
+ timeout: 1.0
- - path: /autoware/planning/trajectory_validation/finite
+ - path: /planning/003-trajectory_finite_validation
type: diag
node: planning_validator
name: trajectory_validation_finite
+ timeout: 1.0
- - path: /autoware/planning/trajectory_validation/interval
+ - path: /planning/004-trajectory_interval_validation
type: diag
node: planning_validator
name: trajectory_validation_interval
+ timeout: 1.0
- - path: /autoware/planning/trajectory_validation/curvature
+ - path: /planning/005-trajectory_curvature_validation
type: diag
node: planning_validator
name: trajectory_validation_curvature
+ timeout: 1.0
- - path: /autoware/planning/trajectory_validation/angle
+ - path: /planning/006-trajectory_relative_angle_validation
type: diag
node: planning_validator
name: trajectory_validation_relative_angle
+ timeout: 1.0
- - path: /autoware/planning/trajectory_validation/lateral_acceleration
+ - path: /planning/007-trajectory_lateral_acceleration_validation
type: diag
node: planning_validator
name: trajectory_validation_lateral_acceleration
+ timeout: 1.0
- - path: /autoware/planning/trajectory_validation/acceleration
+ - path: /planning/008-trajectory_acceleration_validation
type: diag
node: planning_validator
name: trajectory_validation_acceleration
+ timeout: 1.0
- - path: /autoware/planning/trajectory_validation/deceleration
+ - path: /planning/009-trajectory_deceleration_validation
type: diag
node: planning_validator
name: trajectory_validation_deceleration
+ timeout: 1.0
- - path: /autoware/planning/trajectory_validation/steering
+ - path: /planning/010-trajectory_steering_validation
type: diag
node: planning_validator
name: trajectory_validation_steering
+ timeout: 1.0
- - path: /autoware/planning/trajectory_validation/steering_rate
+ - path: /planning/011-trajectory_steering_rate_validation
type: diag
node: planning_validator
name: trajectory_validation_steering_rate
+ timeout: 1.0
- - path: /autoware/planning/trajectory_validation/velocity_deviation
+ - path: /planning/012-trajectory_velocity_deviation_validation
type: diag
node: planning_validator
name: trajectory_validation_velocity_deviation
+ timeout: 1.0
+
+ - path: /planning/013-collision_checker
+ type: diag
+ node: collision_checker
+ name: collision_check
+ timeout: 1.0
diff --git a/autoware_launch/config/system/tier4_diagnostics/sensing.yaml b/autoware_launch/config/system/tier4_diagnostics/sensing.yaml
new file mode 100644
index 0000000000..a253858f7f
--- /dev/null
+++ b/autoware_launch/config/system/tier4_diagnostics/sensing.yaml
@@ -0,0 +1,35 @@
+units:
+ - path: /sensing/autonomous_available
+ type: and
+ list:
+ - { type: link, link: /sensing/emergency_stop }
+ - { type: link, link: /sensing/pull_over }
+ - { type: link, link: /sensing/comfortable_stop }
+
+ - path: /sensing/pull_over_available
+ type: and
+ list:
+ - { type: link, link: /sensing/emergency_stop }
+ - { type: link, link: /sensing/comfortable_stop }
+
+ - path: /sensing/comfortable_stop_available
+ type: and
+ list:
+ - { type: link, link: /sensing/emergency_stop }
+
+ # *******************************************************************************
+ # NOTE: Please modify this section according to your environment and requirements.
+ # *******************************************************************************
+ - path: /sensing/emergency_stop
+ type:
+ and
+ # - { type: link, link: /sensing/radar/001-connection }
+
+ - path: /sensing/pull_over
+ type: and
+
+ - path: /sensing/comfortable_stop
+ type: and
+
+ - path: /sensing/none
+ type: and
diff --git a/autoware_launch/config/system/tier4_diagnostics/system.yaml b/autoware_launch/config/system/tier4_diagnostics/system.yaml
index cb96c2cd7f..8735ba5a98 100644
--- a/autoware_launch/config/system/tier4_diagnostics/system.yaml
+++ b/autoware_launch/config/system/tier4_diagnostics/system.yaml
@@ -1,27 +1,60 @@
units:
- - path: /autoware/system
+ - path: /system/autonomous_available
type: and
list:
- - { type: link, link: /autoware/system/duplicated_node_checker }
- - { type: link, link: /autoware/system/topic_rate_check/emergency_control_command }
- - { type: link, link: /autoware/system/emergency_stop_operation }
+ - { type: link, link: /system/emergency_stop }
+ - { type: link, link: /system/pull_over }
+ - { type: link, link: /system/comfortable_stop }
- - path: /autoware/system/duplicated_node_checker
- type: diag
- node: duplicated_node_checker
- name: duplicated_node_checker
+ - path: /system/pull_over_available
+ type: and
+ list:
+ - { type: link, link: /system/emergency_stop }
+ - { type: link, link: /system/comfortable_stop }
- - path: /autoware/system/service_log_checker
- type: diag
- node: service_log_checker
- name: response_status
+ - path: /system/comfortable_stop_available
+ type: and
+ list:
+ - { type: link, link: /system/emergency_stop }
+
+ # *******************************************************************************
+ # NOTE: Please modify this section according to your environment and requirements.
+ # *******************************************************************************
+ - path: /system/emergency_stop
+ type: and
+ list:
+ - { type: link, link: /system/001-topic_status-error }
+ - { type: link, link: /system/002-emergency_stop_operation-error }
+
+ - path: /system/comfortable_stop
+ type: and
+
+ - path: /system/pull_over
+ type: and
+
+ - path: /system/none
+ type: and
+
+ - path: /system/001-topic_status-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /system/001-topic_status
+
+ - path: /system/002-emergency_stop_operation-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /system/002-emergency_stop_operation
- - path: /autoware/system/topic_rate_check/emergency_control_command
+ - path: /system/001-topic_status
type: diag
node: topic_state_monitor_system_emergency_control_cmd
name: system_topic_status
+ timeout: 1.0
- - path: /autoware/system/emergency_stop_operation
+ - path: /system/002-emergency_stop_operation
type: diag
node: vehicle_cmd_gate
name: emergency_stop_operation
+ timeout: 1.0
diff --git a/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml b/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml
index e040e3c3c3..0034709dbc 100644
--- a/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml
+++ b/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml
@@ -1,16 +1,88 @@
units:
- - path: /autoware/vehicle
+ - path: /vehicle/autonomous_available
type: and
list:
- - { type: link, link: /autoware/vehicle/topic_rate_check/velocity }
- - { type: link, link: /autoware/vehicle/topic_rate_check/steering }
+ - { type: link, link: /vehicle/emergency_stop }
+ - { type: link, link: /vehicle/pull_over }
+ - { type: link, link: /vehicle/comfortable_stop }
- - path: /autoware/vehicle/topic_rate_check/velocity
+ - path: /vehicle/pull_over_available
+ type: and
+ list:
+ - { type: link, link: /vehicle/emergency_stop }
+ - { type: link, link: /vehicle/comfortable_stop }
+
+ - path: /vehicle/comfortable_stop_available
+ type: and
+ list:
+ - { type: link, link: /vehicle/emergency_stop }
+
+ # *******************************************************************************
+ # NOTE: Please modify this section according to your environment and requirements.
+ # *******************************************************************************
+ - path: /vehicle/emergency_stop
+ type: and
+ list:
+ - { type: link, link: /vehicle/001-topic_status/velocity-error }
+ - { type: link, link: /vehicle/001-topic_status/steering-error }
+ # - { type: link, link: /vehicle/005-vehicle_heartbeat-error }
+ # - { type: link, link: /vehicle/006-vehicle_errors-error }
+
+ - path: /vehicle/comfortable_stop
+ type: and
+ # list:
+ # - { type: link, link: /vehicle/006-vehicle_errors }
+
+ - path: /vehicle/pull_over
+ type: and
+
+ - path: /vehicle/none
+ type: and
+
+ - path: /vehicle/001-topic_status/velocity-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /vehicle/001-topic_status/velocity
+
+ - path: /vehicle/001-topic_status/steering-error
+ type: warn-to-ok
+ item:
+ type: link
+ link: /vehicle/001-topic_status/steering
+
+ # - path: /vehicle/005-vehicle_heartbeat-error
+ # type: warn-to-ok
+ # item:
+ # type: link
+ # link: /vehicle/005-vehicle_heartbeat
+
+ # - path: /vehicle/006-vehicle_errors-error
+ # type: warn-to-ok
+ # item:
+ # type: link
+ # link: /vehicle/006-vehicle_errors
+
+ - path: /vehicle/001-topic_status/velocity
type: diag
node: topic_state_monitor_vehicle_status_velocity_status
name: vehicle_topic_status
+ timeout: 1.0
- - path: /autoware/vehicle/topic_rate_check/steering
+ - path: /vehicle/001-topic_status/steering
type: diag
node: topic_state_monitor_vehicle_status_steering_status
name: vehicle_topic_status
+ timeout: 1.0
+
+ # - path: /vehicle/005-vehicle_heartbeat
+ # type: diag
+ # node:
+ # name: vehicle_heartbeat_errors
+ # timeout: 1.0
+
+ # - path: /vehicle/006-vehicle_errors
+ # type: diag
+ # node:
+ # name: vehicle_errors
+ # timeout: 1.0
From 5e3e6d10dcaa78cf729769335573fe62d0cdd9b6 Mon Sep 17 00:00:00 2001
From: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
Date: Tue, 10 Dec 2024 09:03:26 +0900
Subject: [PATCH 34/43] Fixed the diag name of /localization/004-accuracy
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---
.../config/system/tier4_diagnostics/localization.yaml | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/autoware_launch/config/system/tier4_diagnostics/localization.yaml b/autoware_launch/config/system/tier4_diagnostics/localization.yaml
index 45adcac68e..22bfa26ae0 100644
--- a/autoware_launch/config/system/tier4_diagnostics/localization.yaml
+++ b/autoware_launch/config/system/tier4_diagnostics/localization.yaml
@@ -94,6 +94,6 @@ units:
- path: /localization/004-accuracy
type: diag
- node: localization
- name: localization_error_monitor
+ node: localization_error_monitor
+ name: ellipse_error_status
timeout: 1.0
From 244897d9986550025dc9cf1d3d924e6b5fdf6930 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 10 Dec 2024 12:10:41 +0900
Subject: [PATCH 35/43] Update autoware_launch/rviz/autoware.rviz
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
---
autoware_launch/rviz/autoware.rviz | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index fa87d5f3c3..f7d363655f 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -281,7 +281,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
- Value: /logging_diag_graph/debug/error_graph
+ Value: /logging_diag_graph/debug/error_graph_text
Value: true
Value height offset: 0
Enabled: true
From 7952ed90aafcf273d5c7300f744ccfd64a52d1fa Mon Sep 17 00:00:00 2001
From: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
Date: Tue, 10 Dec 2024 18:53:01 +0900
Subject: [PATCH 36/43] Fixed tier4 dummy_diag_publisher.param.yaml
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---
.../system/tier4_diagnostics/dummy_diag_publisher.param.yaml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml
index b5c168cdd0..8a171c01f6 100644
--- a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml
+++ b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml
@@ -28,7 +28,7 @@
"ndt_scan_matcher: scan_matching_status": default
## /localization/004-accuracy
- "localization: localization_error_monitor": default
+ "localization_error_monitor: ellipse_error_status": default
# map
## /map/001-topic_status/pointcloud_map
From a2b42aaf53c74d5446eebe4ffff8d71f0d9944b1 Mon Sep 17 00:00:00 2001
From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Wed, 18 Dec 2024 17:54:00 +0900
Subject: [PATCH 37/43] feat(diagnostics_graph_aggregator): add velocity
control diags (#720)
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
---
.../config/system/tier4_diagnostics/control.yaml | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/autoware_launch/config/system/tier4_diagnostics/control.yaml b/autoware_launch/config/system/tier4_diagnostics/control.yaml
index bedadc17bf..3904d210d5 100644
--- a/autoware_launch/config/system/tier4_diagnostics/control.yaml
+++ b/autoware_launch/config/system/tier4_diagnostics/control.yaml
@@ -30,6 +30,8 @@ units:
# - { type: link, link: /control/010-max_distance_deviation-error }
# - { type: link, link: /control/011-slip_detection }
- { type: link, link: /control/collision_detector }
+ - { type: link, link: /control/rolling_back }
+ - { type: link, link: /control/over_velocity }
- path: /control/comfortable_stop
type: and
@@ -127,3 +129,13 @@ units:
type: diag
node: collision_detector
name: collision_detect
+
+ - path: /control/rolling_back
+ type: diag
+ node: control_validator
+ name: control_validation_rolling_back
+
+ - path: /control/over_velocity
+ type: diag
+ node: control_validator
+ name: control_validation_over_velocity
From 7e6dcb0de2455cf3a6f11efe88b91ef7d01596bb Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Wed, 25 Dec 2024 19:15:54 +0900
Subject: [PATCH 38/43] feat(rviz): visualize error dig graph by
autoware_string_stamped_rviz_plugin/StringStampedOverlayDisplay
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
autoware_launch/rviz/autoware.rviz | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 9b267831c0..a1fe107c86 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -268,7 +268,7 @@ Visualization Manager:
Primary Color: 174; 174; 174
Enabled: true
Name: Vehicle
- - Class: rviz_plugins/StringStampedOverlayDisplay
+ - Class: autoware_string_stamped_rviz_plugin/StringStampedOverlayDisplay
Enabled: true
Font Size: 12
Left: 10
From cc5cd8a2eae240c9cc3c70320c570458d6d90b75 Mon Sep 17 00:00:00 2001
From: Yutaka Kondo <yutaka.kondo@youtalk.jp>
Date: Wed, 22 Jan 2025 18:52:45 +0900
Subject: [PATCH 39/43] chore(sync-files.yaml): not synchronize
`github-release.yaml` (#738)
not sync github-release
Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
---
.github/sync-files.yaml | 1 -
1 file changed, 1 deletion(-)
diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
index 1d2baf16b6..9069272351 100644
--- a/.github/sync-files.yaml
+++ b/.github/sync-files.yaml
@@ -12,7 +12,6 @@
- source: .github/dependabot.yaml
- source: .github/stale.yml
- source: .github/workflows/comment-on-pr.yaml
- - source: .github/workflows/github-release.yaml
- source: .github/workflows/pre-commit.yaml
- source: .github/workflows/pre-commit-optional.yaml
- source: .github/workflows/semantic-pull-request.yaml
From f41ef16553023aaf349523af69cd20a89726dcbf Mon Sep 17 00:00:00 2001
From: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
Date: Fri, 24 Jan 2025 12:47:24 +0900
Subject: [PATCH 40/43] feat: add autoware_ prefix to diagnostic_graph_utils in
tier4_system_component.launch.xml
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
---
.../launch/components/tier4_system_component.launch.xml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index 6e0f334383..364c00c7aa 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -30,7 +30,7 @@
</include>
<!-- For logging of diagnostics_graph error -->
- <include file="$(find-pkg-share diagnostic_graph_utils)/launch/logging.launch.xml">
+ <include file="$(find-pkg-share autoware_diagnostic_graph_utils)/launch/logging.launch.xml">
<arg name="root_path" value="/autoware/modes/autonomous"/>
<arg name="max_depth" value="3"/>
<arg name="show_rate" value="10.0"/>
From 3db265c38ed44c7d5d9bac5c8112319f11bd8274 Mon Sep 17 00:00:00 2001
From: Takumi Ito <takumi.ito@tier4.jp>
Date: Wed, 27 Nov 2024 16:42:51 -0500
Subject: [PATCH 41/43] add parameters for clothoid parking
Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
---
.../behavior_path_planner/goal_planner/goal_planner.param.yaml | 3 +++
.../start_planner/start_planner.param.yaml | 1 +
2 files changed, 4 insertions(+)
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 765c9283ba..d01ce1aace 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
@@ -81,6 +81,8 @@
forward_parking_lane_departure_margin: 0.0
forward_parking_path_interval: 1.0
forward_parking_max_steer_angle: 0.4 # 22.9deg
+ forward_parking_max_steer_angle: 0.35 # 20deg
+ forward_parking_use_clothoid: true
backward:
enable_arc_backward_parking: true
after_backward_parking_straight_distance: 2.0
@@ -88,6 +90,7 @@
backward_parking_lane_departure_margin: 0.0
backward_parking_path_interval: 1.0
backward_parking_max_steer_angle: 0.4 # 22.9deg
+ backward_parking_use_clothoid: true
# freespace parking
freespace_parking:
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 9ad5510ab2..5b40a9a3e3 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
@@ -44,6 +44,7 @@
lane_departure_check_expansion_margin: 0.0
backward_velocity: -1.0
pull_out_max_steer_angle: 0.4 # 22.9deg
+ pull_out_use_clothoid: true
# search start pose backward
enable_back: true
search_priority: "efficient_path" # "efficient_path" or "short_back_distance"
From ad5f1ddb1290ca65fb6c69e213049b0f412f1897 Mon Sep 17 00:00:00 2001
From: Takumi Ito <takumi.ito@tier4.jp>
Date: Wed, 11 Dec 2024 10:39:32 -0500
Subject: [PATCH 42/43] add steer rate lim for clothoid parking
Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
---
.../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 ++
.../start_planner/start_planner.param.yaml | 1 +
2 files changed, 3 insertions(+)
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 d01ce1aace..6302e35e12 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
@@ -82,6 +82,7 @@
forward_parking_path_interval: 1.0
forward_parking_max_steer_angle: 0.4 # 22.9deg
forward_parking_max_steer_angle: 0.35 # 20deg
+ forward_parking_steer_rate_lim: 0.35
forward_parking_use_clothoid: true
backward:
enable_arc_backward_parking: true
@@ -90,6 +91,7 @@
backward_parking_lane_departure_margin: 0.0
backward_parking_path_interval: 1.0
backward_parking_max_steer_angle: 0.4 # 22.9deg
+ backward_parking_steer_rate_lim: 0.35
backward_parking_use_clothoid: true
# freespace parking
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 5b40a9a3e3..a53f9eee3b 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
@@ -44,6 +44,7 @@
lane_departure_check_expansion_margin: 0.0
backward_velocity: -1.0
pull_out_max_steer_angle: 0.4 # 22.9deg
+ pull_out_steer_rate_lim: 0.35
pull_out_use_clothoid: true
# search start pose backward
enable_back: true
From 8d6487c00b5a0e535df80f871ac0af024ea32500 Mon Sep 17 00:00:00 2001
From: Takumi Ito <takumi.ito@tier4.jp>
Date: Thu, 30 Jan 2025 22:19:59 -0500
Subject: [PATCH 43/43] append enable_clothoid_* param instead of
*_use_clothoid
Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
---
.../goal_planner/goal_planner.param.yaml | 6 +++---
.../start_planner/start_planner.param.yaml | 2 +-
2 files changed, 4 insertions(+), 4 deletions(-)
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 6302e35e12..8737a3ab07 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
@@ -58,7 +58,7 @@
maximum_deceleration: 1.0
maximum_jerk: 1.0
path_priority: "efficient_path" # "efficient_path" or "close_goal"
- efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking)
+ efficient_path_order: ["SHIFT", "ARC_FORWARD", "CLOTHOID_FORWARD", "ARC_BACKWARD", "CLOTHOID_BACKWARD"] # only lane based pull over(exclude freespace parking)
lane_departure_check_expansion_margin: 0.2
# shift parking
@@ -76,6 +76,7 @@
max_steer_angle: 0.4 #22.9deg
forward:
enable_arc_forward_parking: true
+ enable_clothoid_forward_parking: true
after_forward_parking_straight_distance: 2.0
forward_parking_velocity: 1.38
forward_parking_lane_departure_margin: 0.0
@@ -83,16 +84,15 @@
forward_parking_max_steer_angle: 0.4 # 22.9deg
forward_parking_max_steer_angle: 0.35 # 20deg
forward_parking_steer_rate_lim: 0.35
- forward_parking_use_clothoid: true
backward:
enable_arc_backward_parking: true
+ enable_clothoid_backward_parking: false # Not supported yet
after_backward_parking_straight_distance: 2.0
backward_parking_velocity: -1.38
backward_parking_lane_departure_margin: 0.0
backward_parking_path_interval: 1.0
backward_parking_max_steer_angle: 0.4 # 22.9deg
backward_parking_steer_rate_lim: 0.35
- backward_parking_use_clothoid: true
# freespace parking
freespace_parking:
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 a53f9eee3b..6bbb36791a 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
@@ -36,6 +36,7 @@
end_pose_curvature_threshold: 0.1
# geometric pull out
enable_geometric_pull_out: true
+ enable_clothoid_pull_out: true
geometric_collision_check_distance_from_end: 0.0
arc_path_interval: 1.0
divide_pull_out_path: true
@@ -45,7 +46,6 @@
backward_velocity: -1.0
pull_out_max_steer_angle: 0.4 # 22.9deg
pull_out_steer_rate_lim: 0.35
- pull_out_use_clothoid: true
# search start pose backward
enable_back: true
search_priority: "efficient_path" # "efficient_path" or "short_back_distance"