Merge pull request #1788 from tier4/sync-awf-latest

chore: sync awf-latest

Author: tier4-autoware-public-bot[bot]

planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml

@@ -7,6 +7,8 @@
 
   <maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
   <maintainer email="alqudah.mohammad@tier4.jp">Alqudah Mohammad</maintainer>
+  <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
+  <maintainer email="yuki.takagi@tier4.jp">Yuki Takagi</maintainer>
 
   <license>Apache License 2.0</license>
 

planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp

@@ -169,7 +169,7 @@ double calc_possible_min_dist_from_obj_to_traj_poly(
   const double object_possible_max_dist =
     calc_object_possible_max_dist_from_center(object->predicted_object.shape);
   const double possible_min_dist_to_traj_poly =
-    std::abs(object->get_dist_to_traj_lateral(traj_points)) - vehicle_info.vehicle_width_m -
+    std::abs(object->get_dist_to_traj_lateral(traj_points)) - vehicle_info.vehicle_width_m / 2.0 -
     object_possible_max_dist;
   return possible_min_dist_to_traj_poly;
 }

system/autoware_topic_relay_controller/config/topic_relay_controller.param.yaml

@@ -1,14 +1,14 @@
 /**:
   ros__parameters:
     topic: "/default"
-    topic_type: "std_msgs/msg/String" # unneccessary for /tf or /tf_static
+    topic_type: "std_msgs/msg/String" # unnecessary for /tf or /tf_static
     remap_topic: "/remap_default"
-    #frame_id: neccessary for /tf or /tf_static
-    #child_frame_id: neccessary for /tf or /tf_static
+    #frame_id: necessary for /tf or /tf_static
+    #child_frame_id: necessary for /tf or /tf_static
     qos_depth: 1
     transient_local: false # Change qos to transient_local. Default is volatile.
     best_effort: false # Change qos to best_effort. Default is reliable.
     enable_relay_control: true
-    srv_name: "/system/topic_relay_controller_default/operate" # neccessary for enable_relay_control is true
+    srv_name: "/system/topic_relay_controller_default/operate" # necessary for enable_relay_control is true
     enable_keep_publishing: false
-    #update_rate: #neccessary for enable_keep_publishing is true
+    #update_rate: #necessary for enable_keep_publishing is true