Merge pull request autowarefoundation#1003 from tier4/sync-tier4-upstream

chore: sync upstream

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

.github/workflows/build-and-test-differential.yaml

@@ -17,7 +17,7 @@ jobs:
   build-and-test-differential:
     needs: make-sure-label-is-present
     if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     strategy:
       fail-fast: false

.github/workflows/build-and-test.yaml

@@ -9,7 +9,7 @@ on:
 jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     strategy:
       fail-fast: false

.github/workflows/cancel-previous-workflows.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   cancel-previous-workflows:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Cancel previous runs
         uses: styfle/cancel-workflow-action@0.12.1

.github/workflows/github-release.yaml

@@ -15,7 +15,7 @@ on:
 
 jobs:
   github-release:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Set tag name
         id: set-tag-name

.github/workflows/pr-labeler.yaml

@@ -8,7 +8,7 @@ on:
 
 jobs:
   label:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/labeler@v4
         with:

.github/workflows/pre-commit-autoupdate.yaml

@@ -14,7 +14,7 @@ jobs:
   pre-commit-autoupdate:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

.github/workflows/pre-commit-optional.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   pre-commit-optional:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4

.github/workflows/pre-commit.yaml

@@ -6,7 +6,7 @@ on:
 jobs:
   pre-commit:
     if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

.github/workflows/spell-check-differential.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   spell-check-differential:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4

.github/workflows/sync-files.yaml

@@ -14,7 +14,7 @@ jobs:
   sync-files:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

.github/workflows/update-codeowners-from-packages.yaml

@@ -14,7 +14,7 @@ jobs:
   update-codeowners-from-packages:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

.github/workflows/update-sync-param-files.yaml

@@ -7,7 +7,7 @@ on:
 
 jobs:
   update-sync-param-files:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

.prettierignore

@@ -1,2 +1,3 @@
 *.param.yaml
 *.rviz
+**/diagnostic_graph_aggregator/

autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml

@@ -21,14 +21,14 @@
     # Point cloud partitioning
     detection_range_min_height: 0.0
     detection_range_max_height_margin: 0.0
-    voxel_grid_x: 0.05
-    voxel_grid_y: 0.05
-    voxel_grid_z: 100000.0
+    voxel_grid_x: 0.1
+    voxel_grid_y: 0.1
+    voxel_grid_z: 0.5
 
     # Point cloud cropping
-    expand_width: 0.1
-    path_footprint_extra_margin: 4.0
-    speed_calculation_expansion_margin: 0.5
+    expand_width: -0.2
+    path_footprint_extra_margin: 1.0
+    speed_calculation_expansion_margin: 0.7
 
     # Point cloud clustering
     cluster_tolerance: 0.15 #[m]
@@ -37,10 +37,10 @@
     maximum_cluster_size: 10000
 
     # RSS distance collision check
-    longitudinal_offset: 2.0
+    longitudinal_offset: 1.0
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0
-    collision_keeping_sec: 2.0
+    collision_keeping_sec: 3.0
     previous_obstacle_keep_time: 1.0
     aeb_hz: 10.0

autoware_launch/config/control/autoware_collision_detector/collision_detector.param.yaml

@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    use_pointcloud: false # use pointcloud as obstacle check
+    use_dynamic_object: true # use dynamic object as obstacle check
+    collision_distance: 0.1 # Distance at which an object is determined to have collided with ego [m]
+    nearby_filter_radius: 5.0 # Radius to filter nearby objects [m]
+    keep_ignoring_time: 10.0 # Time to keep filtering objects that first appeared in the vicinity
+    nearby_object_type_filters: # Classes subject to filtering for objects first appearing in the vicinity
+      filter_car: false
+      filter_truck: false
+      filter_bus: false
+      filter_trailer: false
+      filter_bicycle: false
+      filter_motorcycle: false
+      filter_pedestrian: false
+      filter_unknown: true

autoware_launch/config/control/control_validator/control_validator.param.yaml

@@ -9,5 +9,9 @@
 
     thresholds:
       max_distance_deviation: 1.0
-      max_reverse_velocity: 0.2
-      max_over_velocity_ratio: 0.1
+      rolling_back_velocity: 0.5
+      over_velocity_offset: 2.0
+      over_velocity_ratio: 0.2
+
+    vel_lpf_gain: 0.9 # Time constant 0.33
+    hold_velocity_error_until_stop: true

autoware_launch/config/control/trajectory_follower/1/longitudinal/pid.param.yaml

@@ -11,7 +11,7 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.5
+    stopping_state_stop_dist: 0.49
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1

autoware_launch/config/control/trajectory_follower/10/longitudinal/pid.param.yaml

@@ -11,7 +11,7 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.5
+    stopping_state_stop_dist: 0.49
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1

autoware_launch/config/control/trajectory_follower/2/longitudinal/pid.param.yaml

@@ -11,7 +11,7 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.5
+    stopping_state_stop_dist: 0.49
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1

autoware_launch/config/control/trajectory_follower/3/longitudinal/pid.param.yaml

@@ -11,7 +11,7 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.5
+    stopping_state_stop_dist: 0.49
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1

autoware_launch/config/control/trajectory_follower/4/longitudinal/pid.param.yaml

@@ -11,7 +11,7 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.5
+    stopping_state_stop_dist: 0.49
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1

autoware_launch/config/control/trajectory_follower/5/longitudinal/pid.param.yaml

@@ -11,7 +11,7 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.5
+    stopping_state_stop_dist: 0.49
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1

autoware_launch/config/control/trajectory_follower/6/longitudinal/pid.param.yaml

@@ -11,7 +11,7 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.5
+    stopping_state_stop_dist: 0.49
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1

autoware_launch/config/control/trajectory_follower/7/longitudinal/pid.param.yaml

@@ -11,7 +11,7 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.5
+    stopping_state_stop_dist: 0.49
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1

autoware_launch/config/control/trajectory_follower/8/longitudinal/pid.param.yaml

@@ -11,7 +11,7 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.5
+    stopping_state_stop_dist: 0.49
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1

autoware_launch/config/control/trajectory_follower/9/longitudinal/pid.param.yaml

@@ -11,7 +11,7 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.5
+    stopping_state_stop_dist: 0.49
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1

autoware_launch/config/control/trajectory_follower/awsim_jpt/longitudinal/pid.param.yaml

@@ -11,7 +11,7 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.5
+    stopping_state_stop_dist: 0.49
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1

autoware_launch/config/control/trajectory_follower/default/longitudinal/pid.param.yaml

@@ -11,7 +11,7 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.5
+    stopping_state_stop_dist: 0.49
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -5,7 +5,6 @@
       enable_yaw_bias_estimation: false
       predict_frequency: 50.0
       tf_rate: 50.0
-      publish_tf: true
       extend_state_step: 50
 
     pose_measurement:

autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml

@@ -4,6 +4,7 @@
     timeout_ms: 70.0
     match_threshold_ms: 50.0
     image_buffer_size: 15
+    point_project_to_unrectified_image: false
     debug_mode: false
     filter_scope_min_x: -100.0
     filter_scope_min_y: -100.0

autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml

@@ -14,7 +14,7 @@
     publish_debug_pcd: False
 
     # use dynamic map loading
-    use_dynamic_map_loading: True
+    use_dynamic_map_loading: False
 
     # time interval to check dynamic map loading
     timer_interval_ms: 100
@@ -24,3 +24,6 @@
 
     # radius map for dynamic map loading
     map_loader_radius: 150.0
+
+    # Threshold of grid size to split map pointcloud
+    max_map_grid_size: 100.0

autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml

@@ -12,8 +12,8 @@
     grid_length_y: 70.0
     grid_position_x: 0.0
     grid_position_y: 0.0
-    maximum_lidar_height_thres: 0.3
-    minimum_lidar_height_thres: -2.2
+    maximum_lidar_height_thres: 2.5  # [m] when use_points is true, ignore points with a z value above this (in the vehicle_frame)
+    minimum_lidar_height_thres: 0.0  # [m] when use_points is true, ignore points with a z value bellow this (in the vehicle_frame)
     use_wayarea: true
     use_parkinglot: true
     use_objects: true

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

@@ -59,7 +59,7 @@
         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)
-        lane_departure_check_expansion_margin: 0.0
+        lane_departure_check_expansion_margin: 0.2
 
         # shift parking
         shift_parking:
@@ -73,21 +73,21 @@
         # parallel parking path
         parallel_parking:
           path_interval: 1.0
-          max_steer_angle: 0.35  # 20deg
+          max_steer_angle: 0.4 #22.9deg
           forward:
             enable_arc_forward_parking: true
             after_forward_parking_straight_distance: 2.0
             forward_parking_velocity: 1.38
             forward_parking_lane_departure_margin: 0.0
             forward_parking_path_interval: 1.0
-            forward_parking_max_steer_angle: 0.35  # 20deg
+            forward_parking_max_steer_angle: 0.4  # 22.9deg
           backward:
             enable_arc_backward_parking: true
             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: 0.35  # 20deg
+            backward_parking_max_steer_angle: 0.4  # 22.9deg
 
         # freespace parking
         freespace_parking:

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

@@ -6,6 +6,7 @@
 
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       backward_length_buffer_for_blocking_object: 3.0 # [m]
+      backward_length_from_intersection: 5.0 # [m]
 
       lane_changing_lateral_jerk: 0.5              # [m/s3]
 

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

@@ -43,14 +43,14 @@
       lane_departure_margin: 0.2
       lane_departure_check_expansion_margin: 0.0
       backward_velocity: -1.0
-      pull_out_max_steer_angle: 0.26  # 15deg
+      pull_out_max_steer_angle: 0.4  # 22.9deg
       # search start pose backward
       enable_back: true
       search_priority: "short_back_distance"  # "efficient_path" or "short_back_distance"
       max_back_distance: 8.0
       backward_search_resolution: 2.0
       backward_path_update_duration: 3.0
-      ignore_distance_from_lane_end: 15.0
+      ignore_distance_from_lane_end: 0.0
       # turns signal
       prepare_time_before_start: 0.0
       # freespace planner

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

@@ -80,7 +80,7 @@
       # param for occlusions
       occlusion:
         enable: true  # if true, ego will slowdown around crosswalks that are occluded
-        occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space
+        occluded_object_velocity: 2.0 # [m/s] assumed velocity of objects that may come out of the occluded space
         slow_down_velocity: 1.0  # [m/s]
         time_buffer: 0.5  # [s] consecutive time with/without an occlusion to add/remove the slowdown
         min_size: 1.0  # [m] minimum size of an occlusion (square side size)

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

@@ -9,3 +9,4 @@
       hold_stop_margin_distance: 0.0
       distance_to_judge_over_stop_line: 0.5
       enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
+      suppress_pass_judge_when_stopping: false