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Merge pull request autowarefoundation#879 from tier4/feature/xx1-gen1_2-launcher
feat(autoware_launcher): update for xx1 gen2
2 parents 68ab822 + 7792f69 commit c86f45e

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10 files changed

+356
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‎autoware_launch/config/control/trajectory_follower/8/lateral/mpc.param.yaml

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/**:
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ros__parameters:
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# -- system --
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traj_resample_dist: 0.1 # path resampling interval [m]
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use_steer_prediction: false # flag for using steer prediction (do not use steer measurement)
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admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value
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admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value
8+
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# -- path smoothing --
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enable_path_smoothing: true # flag for path smoothing
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path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
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curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
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curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
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# -- trajectory extending --
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extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control
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# -- mpc optimization --
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qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp)
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mpc_prediction_horizon: 50 # prediction horizon step
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mpc_prediction_dt: 0.1 # prediction horizon period [s]
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mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q
23+
mpc_weight_heading_error: 0.0 # heading error weight in matrix Q
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mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q
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mpc_weight_steering_input: 1.0 # steering error weight in matrix R
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mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R
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mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R
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mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R
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mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R
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mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point
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mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point
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mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point
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mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point
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mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point
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mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point
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mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point
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mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point
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mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03)
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mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability
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mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability
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mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero
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mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration
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mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing
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mpc_min_prediction_length: 5.0 # minimum prediction length
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# -- vehicle model --
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vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
48+
input_delay: 0.1 # steering input delay time for delay compensation
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vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s]
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steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # steering angle rate limit list depending on curvature [deg/s]
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curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m]
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steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
53+
velocity_list_for_steer_rate_lim: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s]
54+
acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss]
55+
velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s]
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# -- lowpass filter for noise reduction --
58+
steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz]
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error_deriv_lpf_cutoff_hz: 5.0
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# stop state: steering command is kept in the previous value in the stop state.
62+
stop_state_entry_ego_speed: 0.2
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stop_state_entry_target_speed: 0.2
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converged_steer_rad: 0.1
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keep_steer_control_until_converged: true
66+
new_traj_duration_time: 1.0
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new_traj_end_dist: 0.3
68+
mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s]
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# steer offset
71+
steering_offset:
72+
enable_auto_steering_offset_removal: true
73+
update_vel_threshold: 5.56
74+
update_steer_threshold: 0.035
75+
average_num: 1000
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steering_offset_limit: 0.02

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

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/**:
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ros__parameters:
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delay_compensation_time: 0.40
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enable_smooth_stop: true
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enable_overshoot_emergency: false
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enable_large_tracking_error_emergency: false
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enable_slope_compensation: true
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enable_keep_stopped_until_steer_convergence: true
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# state transition
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drive_state_stop_dist: 0.5
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drive_state_offset_stop_dist: 1.0
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stopping_state_stop_dist: 0.5
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stopped_state_entry_duration_time: 0.1
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stopped_state_entry_vel: 0.01
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stopped_state_entry_acc: 0.1
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emergency_state_overshoot_stop_dist: 1.5
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emergency_state_traj_trans_dev: 3.0
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emergency_state_traj_rot_dev: 0.7854
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# drive state
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kp: 2.0
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ki: 0.02
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kd: 0.0
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max_out: 1.0
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min_out: -5.0
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max_p_effort: 0.5
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min_p_effort: -5.0
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max_i_effort: 0.3
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min_i_effort: -0.3
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max_d_effort: 0.0
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min_d_effort: 0.0
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lpf_vel_error_gain: 0.9
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enable_integration_at_low_speed: false
36+
current_vel_threshold_pid_integration: 0.5
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time_threshold_before_pid_integration: 2.0
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enable_brake_keeping_before_stop: false
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brake_keeping_acc: -0.2
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# smooth stop state
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smooth_stop_max_strong_acc: -0.8
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smooth_stop_min_strong_acc: -1.3
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smooth_stop_weak_acc: -0.4
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smooth_stop_weak_stop_acc: -0.8
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smooth_stop_strong_stop_acc: -3.4
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smooth_stop_max_fast_vel: 0.5
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smooth_stop_min_running_vel: 0.01
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smooth_stop_min_running_acc: 0.01
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smooth_stop_weak_stop_time: 4.0
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smooth_stop_weak_stop_dist: -0.3
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smooth_stop_strong_stop_dist: -0.5
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# stopped state
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stopped_vel: 0.0
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stopped_acc: -3.4
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stopped_jerk: -5.0
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59+
# emergency state
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emergency_vel: 0.0
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emergency_acc: -5.0
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emergency_jerk: -3.0
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# acceleration limit
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max_acc: 3.0
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min_acc: -5.0
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# jerk limit
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max_jerk: 3.5
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min_jerk: -5.0
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72+
# pitch
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use_trajectory_for_pitch_calculation: false
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lpf_pitch_gain: 0.95
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max_pitch_rad: 0.1
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min_pitch_rad: -0.1

‎autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml

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/**:
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ros__parameters:
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trt_precision: fp16
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encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
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encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
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head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
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head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
7-
trt_precision: fp16
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9+
model_params:
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class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
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paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
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point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
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max_voxel_size: 40000
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point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
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voxel_size: [0.32, 0.32, 8.0]
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downsample_factor: 1
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encoder_in_feature_size: 12
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yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
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has_twist: false
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densification_params:
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world_frame_id: "map"
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num_past_frames: 0
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post_process_params:
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# post-process params
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circle_nms_dist_threshold: 0.3
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iou_nms_target_class_names: ["CAR"]
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iou_nms_search_distance_2d: 10.0
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iou_nms_threshold: 0.1
14-
score_threshold: 0.45
15-
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
16-
densification_params:
17-
world_frame_id: "map"
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num_past_frames: 1
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score_threshold: 0.35
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omp_params:
2031
# omp params
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num_threads: 1

‎autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml

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1-
# sample grid map fusion parameters for sample sensor kit
21
/**:
32
ros__parameters:
43
# shared parameters
@@ -12,10 +11,6 @@
1211
map_length_x: 150.0 # [m]
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map_length_y: 150.0 # [m]
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15-
# downsample input pointcloud
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downsample_input_pointcloud: true
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downsample_voxel_size: 0.25 # [m]
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# each grid map parameters
2015
ogm_creation_config:
2116
height_filter:
@@ -24,7 +19,7 @@
2419
max_height: 2.0
2520
enable_single_frame_mode: true
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# use sensor pointcloud to filter obstacle pointcloud
27-
filter_obstacle_pointcloud_by_raw_pointcloud: false
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filter_obstacle_pointcloud_by_raw_pointcloud: true
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2924
grid_map_type: "OccupancyGridMapFixedBlindSpot"
3025
OccupancyGridMapFixedBlindSpot:
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4035
# Setting1: tune ogm creation parameters
4136
raw_pointcloud_topics: # put each sensor's pointcloud topic
4237
- "/sensing/lidar/top/pointcloud"
43-
- "/sensing/lidar/left/pointcloud"
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- "/sensing/lidar/right/pointcloud"
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- "/sensing/lidar/side_left/pointcloud"
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- "/sensing/lidar/side_right/pointcloud"
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- "/sensing/lidar/front_left/pointcloud"
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- "/sensing/lidar/front_right/pointcloud"
4542
fusion_input_ogm_topics:
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- "/perception/occupancy_grid_map/top_lidar/map"
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- "/perception/occupancy_grid_map/left_lidar/map"
48-
- "/perception/occupancy_grid_map/right_lidar/map"
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- "/perception/occupancy_grid_map/top/map"
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- "/perception/occupancy_grid_map/side_left/map"
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- "/perception/occupancy_grid_map/side_right/map"
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- "/perception/occupancy_grid_map/front_left/map"
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- "/perception/occupancy_grid_map/front_right/map"
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# reliability of each sensor (0.0 ~ 1.0) only work with "log-odds" and "dempster-shafer"
5049
input_ogm_reliabilities:
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- 1.0
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- 0.6
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- 0.6
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- 0.6
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- 0.6
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# Setting2: tune ogm fusion parameters
5657
## choose fusion method from ["overwrite", "log-odds", "dempster-shafer"]

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

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294294
# for debug
295295
debug:
296-
marker: false
296+
enable_other_objects_marker: true
297+
enable_other_objects_info: true
298+
enable_detection_area_marker: false
299+
enable_drivable_bound_marker: false
300+
enable_safety_check_marker: false
301+
enable_shift_line_marker: false
302+
enable_lane_marker: false
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enable_misc_marker: false

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

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@@ -3,10 +3,12 @@
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blind_spot:
44
use_pass_judge_line: true
55
stop_line_margin: 1.0 # [m]
6-
backward_length: 50.0 # [m]
7-
ignore_width_from_center_line: 0.0 # [m]
8-
max_future_movement_time: 10.0 # [second]
9-
threshold_yaw_diff: 0.523 # [rad]
6+
backward_detection_length: 100.0 # [m]
7+
ignore_width_from_center_line: 0.7 # [m]
108
adjacent_extend_width: 1.5 # [m]
119
opposite_adjacent_extend_width: 1.5 # [m]
12-
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.
10+
max_future_movement_time: 10.0 # [second]
11+
ttc_min: -5.0 # [s]
12+
ttc_max: 5.0 # [s]
13+
ttc_ego_minimal_velocity: 5.0 # [m/s]
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enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval

‎autoware_launch/launch/autoware.launch.xml

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@@ -22,6 +22,7 @@
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<arg name="launch_planning" default="true" description="launch planning"/>
2323
<arg name="launch_control" default="true" description="launch control"/>
2424
<arg name="launch_api" default="true" description="launch api"/>
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<!-- Global parameters -->
2627
<arg name="use_sim_time" default="false" description="use_sim_time"/>
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<!-- Vehicle -->
@@ -115,8 +116,11 @@
115116

116117
<!-- Perception -->
117118
<group if="$(var launch_perception)">
119+
<let name="occupancy_grid_map_method" value="multi_lidar_pointcloud_based_occupancy_grid_map" if="$(eval &quot;'aip_xx1_gen2' == '$(var sensor_model)'&quot;)"/>
120+
<let name="occupancy_grid_map_method" value="pointcloud_based_occupancy_grid_map" unless="$(eval &quot;'aip_xx1_gen2' == '$(var sensor_model)'&quot;)"/>
118121
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
119122
<arg name="data_path" value="$(var data_path)"/>
123+
<arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
120124
</include>
121125
</group>
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‎autoware_launch/launch/components/tier4_perception_component.launch.xml

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<arg name="lidar_detection_model" default="pointpainting" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
1717
<arg name="traffic_light_recognition/fusion_only" default="true" description="Whether to start only some of the signal recognition related nodes"/>
1818

19+
<!-- In the Gen2 sensor configuration, the traffic_light_recognition node is launched not through the conventional autoware.universe/launch/tier4_perception_launch but with its own custom launch file.
20+
This is because autoware.universe's launch files do not support an arbitrary number of cameras. If autoware.universe's launch files were to support it, it is recommended to use them instead. -->
21+
<include file="$(find-pkg-share autoware_launch)/launch/components/traffic_light_recognition/traffic_light.launch.xml"/>
22+
<!-- NOTE: Override by false to disable conventional traffic light recognition launch -->
23+
<let name="use_traffic_light_recognition" value="false"/>
24+
1925
<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
2026
<arg name="mode" value="$(var perception_mode)"/>
2127
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>

‎autoware_launch/launch/components/traffic_light_recognition/traffic_light.launch.xml

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<?xml version="1.0"?>
2+
<launch>
3+
<arg name="use_crosswalk_traffic_light_estimator" default="true" description="output pedestrian's traffic light signals"/>
4+
5+
<arg name="input/cloud" default="/sensing/lidar/top/pointcloud_raw" description="point cloud for occlusion prediction"/>
6+
<arg name="internal/traffic_signals" default="/perception/traffic_light_recognition/internal/traffic_signals"/>
7+
<arg name="fusion/traffic_signals" default="/perception/traffic_light_recognition/fusion/traffic_signals"/>
8+
<arg name="external/traffic_signals" default="/perception/traffic_light_recognition/external/traffic_signals"/>
9+
<arg name="output/traffic_signals" default="/perception/traffic_light_recognition/traffic_signals"/>
10+
<arg name="crosswalk_traffic_light_estimator_param_file" default="$(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml"/>
11+
12+
<group>
13+
<push-ros-namespace namespace="perception"/>
14+
<push-ros-namespace namespace="traffic_light_recognition"/>
15+
16+
<!-- traffic light occlusion predictor for some cameras -->
17+
<arg name="all_camera_namespaces" default="[camera6, camera5, camera2, camera0]"/>
18+
<include file="$(find-pkg-share autoware_launch)/launch/components/traffic_light_recognition/traffic_light_occlusion_predictor.launch.py">
19+
<arg name="all_camera_namespaces" value="$(var all_camera_namespaces)"/>
20+
</include>
21+
22+
<!-- traffic light multi camera fusion -->
23+
<group>
24+
<node pkg="traffic_light_multi_camera_fusion" exec="traffic_light_multi_camera_fusion_node" name="traffic_light_multi_camera_fusion" output="screen">
25+
<param name="camera_namespaces" value="$(var all_camera_namespaces)"/>
26+
<param name="perform_group_fusion" value="true"/>
27+
<remap from="~/input/vector_map" to="/map/vector_map"/>
28+
<remap from="~/output/traffic_signals" to="$(var fusion/traffic_signals)"/>
29+
</node>
30+
</group>
31+
32+
<!-- crosswalk traffic light estimator -->
33+
<group if="$(var use_crosswalk_traffic_light_estimator)">
34+
<node pkg="crosswalk_traffic_light_estimator" exec="crosswalk_traffic_light_estimator_node" name="crosswalk_traffic_light_estimator" output="screen">
35+
<remap from="~/input/vector_map" to="/map/vector_map"/>
36+
<remap from="~/input/route" to="/planning/mission_planning/route"/>
37+
<remap from="~/input/classified/traffic_signals" to="$(var fusion/traffic_signals)"/>
38+
<remap from="~/output/traffic_signals" to="$(var internal/traffic_signals)"/>
39+
<param from="$(var crosswalk_traffic_light_estimator_param_file)"/>
40+
</node>
41+
</group>
42+
43+
<!-- topic relay (only when crosswalk traffic light estimator is disabled) -->
44+
<group unless="$(var use_crosswalk_traffic_light_estimator)">
45+
<node pkg="topic_tools" exec="relay" name="fusion_signals_relay" output="screen">
46+
<param name="input_topic" value="$(var fusion/traffic_signals)"/>
47+
<param name="output_topic" value="$(var internal/traffic_signals)"/>
48+
<param name="type" value="autoware_auto_perception_msgs/msg/TrafficSignalArray"/>
49+
</node>
50+
</group>
51+
52+
<!-- V2X fusion -->
53+
<group>
54+
<include file="$(find-pkg-share traffic_light_arbiter)/launch/traffic_light_arbiter.launch.xml">
55+
<arg name="perception_traffic_signals" value="$(var internal/traffic_signals)"/>
56+
<arg name="external_traffic_signals" value="$(var external/traffic_signals)"/>
57+
<arg name="output_traffic_signals" value="$(var output/traffic_signals)"/>
58+
</include>
59+
</group>
60+
61+
<!-- visualizer -->
62+
<group>
63+
<include file="$(find-pkg-share traffic_light_visualization)/launch/traffic_light_map_visualizer.launch.xml"/>
64+
</group>
65+
</group>
66+
</launch>

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