From 64ff1820fde0b879b0a2ffd63678859b38f9e719 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 19 Oct 2021 18:28:31 +0900 Subject: [PATCH] Update/enable slow down (#39) * enable slow down * remove white space --- .github/workflows/sync-upstream.yml | 2 +- .../scenario_planning/common/common.param.yaml | 6 +++--- .../obstacle_stop_planner.param.yaml | 16 ++++++++-------- .../motion_planning/motion_planning.launch.py | 2 +- 4 files changed, 13 insertions(+), 13 deletions(-) diff --git a/.github/workflows/sync-upstream.yml b/.github/workflows/sync-upstream.yml index 18edcca3e31db..a38761bac6a5c 100644 --- a/.github/workflows/sync-upstream.yml +++ b/.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 diff --git a/planning_launch/config/scenario_planning/common/common.param.yaml b/planning_launch/config/scenario_planning/common/common.param.yaml index a23570a5fc791..79674dc3db767 100644 --- a/planning_launch/config/scenario_planning/common/common.param.yaml +++ b/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: diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index 82a77203343f7..a25c8d53c3780 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/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] diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index d3a3f30493fd2..f64a2e28d51fc 100644 --- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/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')}