Merge pull request autowarefoundation#847 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

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

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

@@ -19,7 +19,9 @@
     turn_signal_shift_length_threshold: 0.3
     turn_signal_on_swerving: true
 
-    path_interval: 2.0
+    enable_akima_spline_first: false
+    input_path_interval: 2.0
+    output_path_interval: 2.0
 
     visualize_maximum_drivable_area: true
 
@@ -37,14 +39,51 @@
 
     # USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE.
     # https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt
+    # NOTE: The smaller the priority number is, the higher the module priority is.
+    ext_request_lane_change_left:
+      enable_module: true
+      enable_simultaneous_execution: true
+      priority: 6
+      max_module_size: 1
+
+    ext_request_lane_change_right:
+      enable_module: true
+      enable_simultaneous_execution: true
+      priority: 6
+      max_module_size: 1
+
+    lane_change_left:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 5
+      max_module_size: 1
+
+    lane_change_right:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 4
+      max_module_size: 1
+
     pull_out:
       enable_module: true
       enable_simultaneous_execution: false
-      priority: 1
+      priority: 0
       max_module_size: 1
 
     side_shift:
       enable_module: true
       enable_simultaneous_execution: false
-      priority: 0
+      priority: 2
+      max_module_size: 1
+
+    pull_over:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 1
+      max_module_size: 1
+
+    avoidance:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 3
       max_module_size: 1

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

@@ -87,6 +87,7 @@
       min_stop_distance: 5.0
       stop_time: 2.0
       hysteresis_buffer_distance: 2.0
+      prediction_time_resolution: 0.5
       enable_collision_check_at_prepare_phase: false
       use_predicted_path_outside_lanelet: false
       use_all_predicted_path: false

autoware_launch/launch/autoware.launch.xml

@@ -34,7 +34,7 @@
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <!-- Perception -->
-  <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
+  <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
 
   <!-- Global parameters -->

autoware_launch/launch/components/tier4_simulator_component.launch.xml

@@ -3,7 +3,6 @@
   <arg name="launch_dummy_perception"/>
   <arg name="launch_dummy_vehicle"/>
   <arg name="launch_dummy_localization"/>
-  <arg name="launch_planning_evaluator"/>
   <arg name="launch_diagnostic_converter"/>
   <arg name="perception/enable_detection_failure"/>
   <arg name="perception/enable_object_recognition"/>
@@ -16,7 +15,6 @@
     <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
     <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
     <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
-    <arg name="launch_planning_evaluator" value="$(var launch_planning_evaluator)"/>
     <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
     <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
     <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>

autoware_launch/launch/planning_simulator.launch.xml

@@ -62,14 +62,12 @@
     <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_dummy_localization" value="true"/>
-    <let name="launch_planning_evaluator" value="$(var scenario_simulation)"/>
     <let name="launch_diagnostic_converter" value="$(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="$(var launch_dummy_vehicle)"/>
       <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
-      <arg name="launch_planning_evaluator" value="$(var launch_planning_evaluator)"/>
       <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
       <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
       <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>

autoware_launch/rviz/autoware.rviz

@@ -1011,6 +1011,98 @@ Visualization Manager:
                         Constant Color: false
                         Scale: 0.30000001192092896
                         Value: true
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: false
+                      Name: PathReference_Avoidance
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_reference/avoidance
+                      Value: true
+                      View Path:
+                        Alpha: 0.3
+                        Color: 210; 110; 210
+                        Constant Color: true
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: false
+                      Name: PathReference_LaneChange
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_reference/lane_change
+                      Value: true
+                      View Path:
+                        Alpha: 0.3
+                        Color: 210; 210; 110
+                        Constant Color: true
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: false
+                      Name: PathReference_PullOver
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_reference/pull_over
+                      Value: true
+                      View Path:
+                        Alpha: 0.3
+                        Color: 110; 110; 210
+                        Constant Color: true
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: false
+                      Name: PathReference_PullOut
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_reference/pull_out
+                      Value: true
+                      View Path:
+                        Alpha: 0.3
+                        Color: 210; 110; 110
+                        Constant Color: true
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true