Merge pull request autowarefoundation#880 from tier4/fix/xx1-gen2-params

fix: launch params

Author: N-Eiki

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

@@ -74,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate

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

@@ -72,5 +72,7 @@
     # pitch
     use_trajectory_for_pitch_calculation: false
     lpf_pitch_gain: 0.95
+    slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
+    adaptive_trajectory_velocity_th: 1.0
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1

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

@@ -1,32 +1,21 @@
 /**:
   ros__parameters:
-    trt_precision: fp16
     encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
     encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
     head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
     head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
-
-    model_params:
-      class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-      paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
-      point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
-      max_voxel_size: 40000
-      point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
-      voxel_size: [0.32, 0.32, 8.0]
-      downsample_factor: 1
-      encoder_in_feature_size: 12
-      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-      has_twist: false
-    densification_params:
-      world_frame_id: "map"
-      num_past_frames: 0
+    trt_precision: fp16
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.3
       iou_nms_target_class_names: ["CAR"]
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
-      score_threshold: 0.35
+      score_threshold: 0.45
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    densification_params:
+      world_frame_id: "map"
+      num_past_frames: 1
     omp_params:
       # omp params
       num_threads: 1

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

@@ -11,6 +11,10 @@
         map_length_x: 150.0 # [m]
         map_length_y: 150.0 # [m]
 
+        # downsample input pointcloud
+        downsample_input_pointcloud: true
+        downsample_voxel_size: 0.25 # [m]
+
       # each grid map parameters
       ogm_creation_config:
         height_filter:
@@ -19,7 +23,7 @@
           max_height: 2.0
         enable_single_frame_mode: true
         # use sensor pointcloud to filter obstacle pointcloud
-        filter_obstacle_pointcloud_by_raw_pointcloud: true
+        filter_obstacle_pointcloud_by_raw_pointcloud: false
 
         grid_map_type: "OccupancyGridMapFixedBlindSpot"
         OccupancyGridMapFixedBlindSpot:
@@ -35,16 +39,12 @@
         # Setting1: tune ogm creation parameters
         raw_pointcloud_topics: # put each sensor's pointcloud topic
           - "/sensing/lidar/top/pointcloud"
-          - "/sensing/lidar/side_left/pointcloud"
-          - "/sensing/lidar/side_right/pointcloud"
-          - "/sensing/lidar/front_left/pointcloud"
-          - "/sensing/lidar/front_right/pointcloud"
+          - "/sensing/lidar/left/pointcloud"
+          - "/sensing/lidar/right/pointcloud"
         fusion_input_ogm_topics:
-          - "/perception/occupancy_grid_map/top/map"
-          - "/perception/occupancy_grid_map/side_left/map"
-          - "/perception/occupancy_grid_map/side_right/map"
-          - "/perception/occupancy_grid_map/front_left/map"
-          - "/perception/occupancy_grid_map/front_right/map"
+          - "/perception/occupancy_grid_map/top_lidar/map"
+          - "/perception/occupancy_grid_map/left_lidar/map"
+          - "/perception/occupancy_grid_map/right_lidar/map"
         # reliability of each sensor (0.0 ~ 1.0) only work with "log-odds" and "dempster-shafer"
         input_ogm_reliabilities:
           - 1.0

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

@@ -293,11 +293,4 @@
 
       # for debug
       debug:
-        enable_other_objects_marker: true
-        enable_other_objects_info: true
-        enable_detection_area_marker: false
-        enable_drivable_bound_marker: false
-        enable_safety_check_marker: false
-        enable_shift_line_marker: false
-        enable_lane_marker: false
-        enable_misc_marker: false
+        marker: false

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

@@ -3,12 +3,10 @@
     blind_spot:
       use_pass_judge_line: true
       stop_line_margin: 1.0 # [m]
-      backward_detection_length: 100.0 # [m]
-      ignore_width_from_center_line: 0.7 # [m]
+      backward_length: 50.0 # [m]
+      ignore_width_from_center_line: 0.0 # [m]
+      max_future_movement_time: 10.0 # [second]
+      threshold_yaw_diff: 0.523 # [rad]
       adjacent_extend_width: 1.5 # [m]
       opposite_adjacent_extend_width: 1.5 # [m]
-      max_future_movement_time: 10.0 # [second]
-      ttc_min: -5.0 # [s]
-      ttc_max: 5.0 # [s]
-      ttc_ego_minimal_velocity: 5.0 # [m/s]
-      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
+      enable_rtc: false

autoware_launch/launch/autoware.launch.xml

@@ -121,6 +121,7 @@
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
       <arg name="data_path" value="$(var data_path)"/>
       <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
     </include>
   </group>
 

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -16,11 +16,14 @@
   <arg name="lidar_detection_model" default="pointpainting" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="traffic_light_recognition/fusion_only" default="true" description="Whether to start only some of the signal recognition related nodes"/>
 
-  <!-- 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.
-  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. -->
-  <include file="$(find-pkg-share autoware_launch)/launch/components/traffic_light_recognition/traffic_light.launch.xml"/>
+  <group if="$(eval sensor_model == 'aip_xx1_gen2')">
+    <!-- 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.
+    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. -->
+    <include file="$(find-pkg-share autoware_launch)/launch/components/traffic_light_recognition/traffic_light.launch.xml"/>
+  </group>
   <!-- NOTE: Override by false to disable conventional traffic light recognition launch -->
-  <let name="use_traffic_light_recognition" value="false"/>
+  <let name="use_traffic_light_recognition" value="false" unless="$(eval &quot;'aip_xx1_gen2' == '$(var sensor_model)'&quot;)"/>
+  <let name="use_traffic_light_recognition" value="true" if="$(eval &quot;'aip_xx1_gen2' == '$(var sensor_model)'&quot;)"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>