Update/enable slow down (autowarefoundation#39)

* enable slow down

* remove white space

.github/workflows/sync-upstream.yml

@@ -7,7 +7,7 @@ on:
 
 env:
   UPSTREAM_REPO: https://github.com/tier4/autoware_launcher.git
-  BASE_BRANCH: develop/ros2 
+  BASE_BRANCH: develop/ros2
   SYNC_TARGET_BRANCH: develop
   SYNC_BRANCH: sync-upstream
 

planning_launch/config/scenario_planning/common/common.param.yaml

@@ -2,10 +2,10 @@
   ros__parameters:
     # constraints param for normal driving
     normal:
-      min_acc: -0.5         # min deceleration [m/ss]
+      min_acc: -1.0         # min deceleration [m/ss]
       max_acc: 1.0          # max acceleration [m/ss]
-      min_jerk: -0.5        # min jerk [m/sss]
-      max_jerk: 1.0         # max jerk [m/sss]
+      min_jerk: -0.3        # min jerk [m/sss]
+      max_jerk: 0.3         # max jerk [m/sss]
 
     # constraints to be observed
     limit:

planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml

@@ -1,22 +1,22 @@
 /**:
   ros__parameters:
     stop_planner:
-      stop_margin: 5.0 # stop margin distance from obstacle on the path [m]
-      min_behavior_stop_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m]
+      stop_margin: 5.5 # stop margin distance from obstacle on the path [m]
+      min_behavior_stop_margin: 5.5 # stop margin distance when any other stop point is inserted in stop margin [m]
       step_length: 1.0 # step length for pointcloud search range [m]
-      extend_distance: 0.0 # extend trajectory to consider after goal obstacle in the extend_distance
-      expand_stop_range: 0.0 # margin of vehicle footprint [m]
+      extend_distance: 5.0 # extend trajectory to consider after goal obstacle in the extend_distance
+      expand_stop_range: 0.2 # margin of vehicle footprint [m]
 
     slow_down_planner:
       # slow down planner parameters
-      forward_margin: 5.0 # margin distance from slow down point to vehicle front [m]
-      backward_margin: 0.0 # margin distance from slow down point to vehicle rear [m]
-      expand_slow_down_range: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
+      forward_margin: 5.5 # margin distance from slow down point to vehicle front [m]
+      backward_margin: 0.5 # margin distance from slow down point to vehicle rear [m]
+      expand_slow_down_range: 0.7 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
       max_slow_down_vel: 1.38 # max slow down velocity [m/s]
       min_slow_down_vel: 0.28 # min slow down velocity [m/s]
 
       # slow down constraint parameters
-      consider_constraints: False # set "True", if no decel plan found under jerk/dec constrains, relax target slow down vel
+      consider_constraints: True # set "True", if no decel plan found under jerk/dec constrains, relax target slow down vel
       forward_margin_min: 1.0 # min margin for relaxing slow down margin [m/s]
       forward_margin_span: -0.1 # fineness param for relaxing slow down margin [m/s]
       jerk_min_slow_down: -0.6 # min slow down jerk constraint [m/sss]

planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py

@@ -171,7 +171,7 @@ def generate_launch_description():
             common_param,
             obstacle_stop_planner_param,
             obstacle_stop_planner_acc_param,
-            {'enable_slow_down': False}
+            {'enable_slow_down': True}
         ],
         extra_arguments=[
             {'use_intra_process_comms': LaunchConfiguration('use_intra_process')}