chore: update awsim-stable branch (#3233)

* fix(lidar_centerpoint): updated the config file for the centerpoint tiny v2 (#3096)

Fixed the cfg file regarding centerpoint tiny

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* feat(traffic_light_map_based_detector): change the vibration parameter of the Traffic Light Detector (#3189)

Change the vibration parameter of the Traffic Light Detector. 

Improve the accuracy of yellow signal recognition in AWSIM.

* fix: use centerpoint_tiny to centerpoint

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

* revert: "fix: use centerpoint_tiny to centerpoint"

This reverts commit efcf726.

---------

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
Co-authored-by: mackierx111 <mackierx111@gmail.com>

perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml

@@ -1,15 +1,15 @@
 /**:
   ros__parameters:
-    class_names: ["CAR", "PEDESTRIAN", "BICYCLE"]
+    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
     point_feature_size: 4
     max_voxel_size: 40000
-    point_cloud_range: [-89.6, -89.6, -3.0, 89.6, 89.6, 5.0]
-    voxel_size: [0.32, 0.32, 8.0]
+    point_cloud_range: [-76.8, -76.8, -2.0, 76.8, 76.8, 4.0]
+    voxel_size: [0.32, 0.32, 6.0]
     downsample_factor: 2
     encoder_in_feature_size: 9
     # post-process params
     circle_nms_dist_threshold: 0.5
     iou_nms_target_class_names: ["CAR"]
     iou_nms_search_distance_2d: 10.0
     iou_nms_threshold: 0.1
-    yaw_norm_thresholds: [0.3, 0.0, 0.3]
+    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]

perception/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
-    max_vibration_pitch: 0.01745329251   # -0.5 ~ 0.5 deg
-    max_vibration_yaw: 0.01745329251     # -0.5 ~ 0.5 deg
-    max_vibration_height: 0.1            # -0.05 ~ 0.05 m
-    max_vibration_width: 0.1             # -0.05 ~ 0.05 m
-    max_vibration_depth: 0.1             # -0.05 ~ 0.05 m
+    max_vibration_pitch: 0.00436332312   # -0.5 ~ 0.5 deg
+    max_vibration_yaw: 0.00436332312     # -0.5 ~ 0.5 deg
+    max_vibration_height: 0.01           # -0.05 ~ 0.05 m
+    max_vibration_width: 0.01            # -0.05 ~ 0.05 m
+    max_vibration_depth: 0.01            # -0.05 ~ 0.05 m