diff --git a/.github/ISSUE_TEMPLATE/bug.yaml b/.github/ISSUE_TEMPLATE/bug.yaml index 12a857998a..5c74f7c5e4 100644 --- a/.github/ISSUE_TEMPLATE/bug.yaml +++ b/.github/ISSUE_TEMPLATE/bug.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: Bug description: Report a bug body: diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml index 48765c24a7..deccbf336f 100644 --- a/.github/ISSUE_TEMPLATE/config.yml +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + blank_issues_enabled: false contact_links: - name: Question diff --git a/.github/ISSUE_TEMPLATE/task.yaml b/.github/ISSUE_TEMPLATE/task.yaml index cd8322f507..58307325ce 100644 --- a/.github/ISSUE_TEMPLATE/task.yaml +++ b/.github/ISSUE_TEMPLATE/task.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: Task description: Plan a task body: diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md deleted file mode 100644 index 97b0e95452..0000000000 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ /dev/null @@ -1,8 +0,0 @@ -**Note**: Confirm the [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/) before submitting a pull request. - -Click the `Preview` tab and select a PR template: - -- [Standard change](?expand=1&template=standard-change.md) -- [Small change](?expand=1&template=small-change.md) - -**Do NOT send a PR with this description.** diff --git a/.github/PULL_REQUEST_TEMPLATE/small-change.md b/.github/PULL_REQUEST_TEMPLATE/small-change.md deleted file mode 100644 index e15fdd992d..0000000000 --- a/.github/PULL_REQUEST_TEMPLATE/small-change.md +++ /dev/null @@ -1,44 +0,0 @@ -## Description - - - -## Tests performed - - - - -Not applicable. - -## Effects on system behavior - - - -Not applicable. - -## Interface changes - - - -## Pre-review checklist for the PR author - -The PR author **must** check the checkboxes below when creating the PR. - -- [ ] I've confirmed the [contribution guidelines]. -- [ ] The PR follows the [pull request guidelines]. - -## In-review checklist for the PR reviewers - -The PR reviewers **must** check the checkboxes below before approval. - -- [ ] The PR follows the [pull request guidelines]. - -## Post-review checklist for the PR author - -The PR author **must** check the checkboxes below before merging. - -- [ ] There are no open discussions or they are tracked via tickets. - -After all checkboxes are checked, anyone who has write access can merge the PR. - -[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/ -[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/ diff --git a/.github/PULL_REQUEST_TEMPLATE/standard-change.md b/.github/PULL_REQUEST_TEMPLATE/standard-change.md deleted file mode 100644 index 391af62975..0000000000 --- a/.github/PULL_REQUEST_TEMPLATE/standard-change.md +++ /dev/null @@ -1,63 +0,0 @@ -## Description - - - -## Related links - - - -## Tests performed - - - -## Notes for reviewers - - - -## Interface changes - - - -### ROS Topic Changes - - - - - - -### ROS Parameter Changes - - - - - -## Effects on system behavior - - - -## Pre-review checklist for the PR author - -The PR author **must** check the checkboxes below when creating the PR. - -- [ ] I've confirmed the [contribution guidelines]. -- [ ] The PR follows the [pull request guidelines]. - -## In-review checklist for the PR reviewers - -The PR reviewers **must** check the checkboxes below before approval. - -- [ ] The PR follows the [pull request guidelines]. -- [ ] The PR has been properly tested. -- [ ] The PR has been reviewed by the code owners. - -## Post-review checklist for the PR author - -The PR author **must** check the checkboxes below before merging. - -- [ ] There are no open discussions or they are tracked via tickets. -- [ ] The PR is ready for merge. - -After all checkboxes are checked, anyone who has write access can merge the PR. - -[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/ -[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/ diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml index 0264c03535..8fd9b7f4ae 100644 --- a/.github/dependabot.yaml +++ b/.github/dependabot.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + version: 2 updates: - package-ecosystem: github-actions diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md new file mode 100644 index 0000000000..4c4081a67e --- /dev/null +++ b/.github/pull_request_template.md @@ -0,0 +1,11 @@ +## Description + +## How was this PR tested? + +## Notes for reviewers + +None. + +## Effects on system behavior + +None. diff --git a/.github/stale.yml b/.github/stale.yml index bc99e4383c..ffce036c8d 100644 --- a/.github/stale.yml +++ b/.github/stale.yml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/probot/stale#usage # Number of days of inactivity before an Issue or Pull Request with the stale label is closed diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index 4deb334463..9972c966ea 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -1,4 +1,5 @@ -- repository: autowarefoundation/autoware +- repository: autowarefoundation/sync-file-templates + source-dir: sources files: - source: CODE_OF_CONDUCT.md - source: CONTRIBUTING.md @@ -7,27 +8,26 @@ - source: .github/ISSUE_TEMPLATE/bug.yaml - source: .github/ISSUE_TEMPLATE/config.yml - source: .github/ISSUE_TEMPLATE/task.yaml - - source: .github/PULL_REQUEST_TEMPLATE.md - - source: .github/PULL_REQUEST_TEMPLATE/small-change.md - - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md + - source: .github/pull_request_template.md - source: .github/dependabot.yaml - source: .github/stale.yml + - source: .github/workflows/comment-on-pr.yaml - source: .github/workflows/github-release.yaml - source: .github/workflows/pre-commit.yaml - source: .github/workflows/pre-commit-optional.yaml - source: .github/workflows/semantic-pull-request.yaml + - source: .github/workflows/spell-check-daily.yaml - source: .github/workflows/spell-check-differential.yaml - source: .github/workflows/sync-files.yaml - source: .markdown-link-check.json - source: .markdownlint.yaml - source: .pre-commit-config-optional.yaml - source: .prettierignore + pre-commands: | + sd "rviz\n" "rviz\n**/diagnostic_graph_aggregator/\n" {source} - source: .prettierrc.yaml - source: .yamllint.yaml - source: setup.cfg - -- repository: autowarefoundation/autoware_common - files: - source: .github/workflows/build-and-test.yaml - source: .github/workflows/build-and-test-differential.yaml - source: .github/workflows/cancel-previous-workflows.yaml diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 375e0cd5d6..0ebc08a92e 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: build-and-test-differential on: diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index fe0069d0a9..0af7487814 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: build-and-test on: diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml index bd2463d5a8..ee79ce0e4d 100644 --- a/.github/workflows/cancel-previous-workflows.yaml +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: cancel-previous-workflows on: diff --git a/.github/workflows/comment-on-pr.yaml b/.github/workflows/comment-on-pr.yaml new file mode 100644 index 0000000000..0f2ecf519d --- /dev/null +++ b/.github/workflows/comment-on-pr.yaml @@ -0,0 +1,29 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: comment-on-pr +on: + pull_request_target: + +jobs: + comment-on-pr: + runs-on: ubuntu-22.04 + permissions: + pull-requests: write + steps: + - name: Check out repository + uses: actions/checkout@v4 + + - name: Initial PR comment + uses: marocchino/sticky-pull-request-comment@v2 + with: + message: | + Thank you for contributing to the Autoware project! + + 🚧 If your pull request is in progress, [switch it to draft mode](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#converting-a-pull-request-to-a-draft). + + Please ensure: + - You've checked our [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/). + - Your PR follows our [pull request guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/). + - All required CI checks pass before [marking the PR ready for review](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#marking-a-pull-request-as-ready-for-review). diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index 4b1d7f47c6..bbe2ac512d 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: github-release on: diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml index 12f536c551..3d0867028f 100644 --- a/.github/workflows/pre-commit-optional.yaml +++ b/.github/workflows/pre-commit-optional.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit-optional on: diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml index 4d005e849b..15c8e86c4f 100644 --- a/.github/workflows/pre-commit.yaml +++ b/.github/workflows/pre-commit.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit on: diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml index 71224c224e..b56040b084 100644 --- a/.github/workflows/semantic-pull-request.yaml +++ b/.github/workflows/semantic-pull-request.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: semantic-pull-request on: diff --git a/.github/workflows/spell-check-daily.yaml b/.github/workflows/spell-check-daily.yaml new file mode 100644 index 0000000000..2ff647acf0 --- /dev/null +++ b/.github/workflows/spell-check-daily.yaml @@ -0,0 +1,26 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: spell-check-daily + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + spell-check-daily: + runs-on: ubuntu-22.04 + steps: + - name: Check out repository + uses: actions/checkout@v4 + + - name: Run spell-check + uses: autowarefoundation/autoware-github-actions/spell-check@v1 + with: + incremental-files-only: false + cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json + dict-packages: | + https://github.com/autowarefoundation/autoware-spell-check-dict + https://github.com/tier4/cspell-dicts diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml index f030a45251..e3af4327f2 100644 --- a/.github/workflows/spell-check-differential.yaml +++ b/.github/workflows/spell-check-differential.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: spell-check-differential on: @@ -13,4 +17,7 @@ jobs: - name: Run spell-check uses: autowarefoundation/autoware-github-actions/spell-check@v1 with: - cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json + cspell-json-url: https://raw.githubusercontent.com/autowarefoundation/autoware-spell-check-dict/main/.cspell.json + dict-packages: | + https://github.com/autowarefoundation/autoware-spell-check-dict + https://github.com/tier4/cspell-dicts diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml index 0cffbcd2a2..9224c1503e 100644 --- a/.github/workflows/sync-files.yaml +++ b/.github/workflows/sync-files.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: sync-files on: diff --git a/.markdownlint.yaml b/.markdownlint.yaml index 7b7359fe0c..584154b200 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules. default: true MD013: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index 8c9345e15f..ff325af5e8 100644 --- a/.pre-commit-config-optional.yaml +++ b/.pre-commit-config-optional.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + repos: - repo: https://github.com/tcort/markdown-link-check rev: v3.12.2 diff --git a/.prettierignore b/.prettierignore index 313b8cf1f9..e7a5e761a0 100644 --- a/.prettierignore +++ b/.prettierignore @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + *.param.yaml *.rviz **/diagnostic_graph_aggregator/ diff --git a/.prettierrc.yaml b/.prettierrc.yaml index e29bf32762..fe476936f7 100644 --- a/.prettierrc.yaml +++ b/.prettierrc.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + printWidth: 100 tabWidth: 2 overrides: diff --git a/.yamllint.yaml b/.yamllint.yaml index 2c7bd088e2..e0be62dbcb 100644 --- a/.yamllint.yaml +++ b/.yamllint.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + extends: default ignore: | diff --git a/autoware_launch/CHANGELOG.rst b/autoware_launch/CHANGELOG.rst index c1fe15a0e4..eb70402c40 100644 --- a/autoware_launch/CHANGELOG.rst +++ b/autoware_launch/CHANGELOG.rst @@ -2,6 +2,108 @@ Changelog for package autoware_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge remote-tracking branch 'origin/main' into release-0.40.0 +* refactor(obstacle_cruise_planner)!: refactor rviz and terminal info (`#1264 `_) +* fix(pointcloud_container.launch.py): autoware_glog_component (`#1260 `_) + Fixed autoware_glog_component +* chore(package.xml): bump version to 0.39.0 (`#1248 `_) (`#1261 `_) + Co-authored-by: Yutaka Kondo +* feat(lane_change): add new lane change parameter (`#1224 `_) + * add minimum prepare duration parameter + * increase min_prepare_duration to 1.0 s + * increase min prepare duration value, add new parameter + --------- +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#1246 `_) +* refactor(glog_component): prefix package and namespace with autoware (`#1245 `_) +* fix(rviz): fix a bug about visualizing ego model (`#1257 `_) + fix a visulization bug. +* feat(object_lanelet_filter): add configurable margin for object lanel… (`#1210 `_) + feat(object_lanelet_filter): add configurable margin for object lanelet filter + Co-authored-by: Sebastian Zęderowski +* refactor(system_diagnostic_monitor, dummy_diag_publisher, diagnostic_graph_aggregator): combine diag list setting directories (`#1253 `_) +* feat(autonomous_emergency_braking): add parameter to limit IMU path length and rename longitudinal offset (`#1251 `_) +* feat(lane_change): add delay lane change parameters (`#1256 `_) + add delay lane change parameters +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#1254 `_) +* fix(dynamic_obstacle_avoidance): improve avoidance for moving NPCs (`#1170 `_) +* fix(static_obstacle_avoidance): improve avoidance for parked NPCs (`#1129 `_) +* refactor(lane_change): refactor lane change parameters (`#1247 `_) + refactor lane change params +* change username +* feat(scan_ground_filter): update grid size for ground segmentation (`#1223 `_) + feat: update grid size for ground segmentation + The grid size for ground segmentation has been updated from 0.1 to 0.5. This change improves the performance with the new grid data structure. +* Update autoware_launch/CHANGELOG.rst + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* feat(autonomous_emergency_braking) add params for limiting imu path with lat deviation (`#1244 `_) + add params +* 0.39.0 +* update changelog +* youtalk username +* Merge commit '9d0e7055a' into release-0.39.0 +* feat(processing_time_checker): update processing time list (`#1236 `_) +* fix: default value for control_module_preset (`#1243 `_) +* fix: default value for control_module_preset (`#1242 `_) +* feat: add an option of odometry uncertainty consideration in multi_object_tracker_node (`#1196 `_) + feat: add an option of odometry uncertainty consideration in multi_object_tracker_node.param.yaml +* feat(control): use preset.yaml to control which modules to launch for control modules (`#1237 `_) + * add control_module_preset + * fix typo + --------- +* chore(system_diagnostic_monitor): sort paths (`#1230 `_) +* feat(freespace_planner): lower safety distance margin from 0.5 to 0.4m (`#1234 `_) +* feat(rviz): show velocity/steering factors (`#1235 `_) +* chore(crosswalk)!: delete wide crosswalk corresponding function (`#1233 `_) +* feat(goal_planner): loosen safety check to prevent unnecessary stop (`#1231 `_) +* feat(crosswalk): disable slowdowns when the crosswalk is occluded (`#1232 `_) +* chore(package.xml): bump version to 0.38.0 (`#1226 `_) (`#1229 `_) + * add changelog + * unify package.xml version to 0.37.0 + * 0.38.0 + * fix organization + --------- +* feat(psim, dummy_diag, diagnostic_graph_aggregator)!: launch dummy_diag_publisher (`#1220 `_) +* feat: change the old diagnostic_convertor to scenario_simulator_v2_adapter (`#1227 `_) + Co-authored-by: xtk8532704 <1041084556@qq.com> +* feat(costmap_generator): change lidar height thresholds to vehicle frame (`#1225 `_) +* revert(obstacle_cruise): disable ouside stop feature (`#1222 `_) +* feat(aeb): set global param to override autoware state check (`#1218 `_) + * set global param to override autoware state check + * change variable for a more generic name + * set var to false by default + * move param to control component launch + * change param name to be more straightforward + --------- +* fix(pid_longitudinal_controller): revive hysteresis of state transition (`#1219 `_) +* feat(detection_area)!: add retruction feature (`#1216 `_) +* feat(system_monitor): add on/off config for network traffic monitor (`#1186 `_) + feat(system_monitor): add config for network traffic monitor + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> +* feat(goal_planner): set lane departure check margin 0.20 (`#1214 `_) +* fix(autoware_ekf_localizer): removed `publish_tf` (`#1212 `_) + Removed `publish_tf` +* feat(rviz): add rviz config for debugging (`#1213 `_) + * feat(rviz): add rviz config for debugging + * feat(launch): select rviz config name + --------- +* feat(lane_change): enable cancel when ego in turn direction lane main (RT0-33893) (`#1209 `_) + RT0-33893 add dist from prev intersection +* fix: changed `loc_config_path` declaration from let to arg (`#1204 `_) + Changed loc_config_path declaration from let to arg +* chore: update fusion_common.param.yaml with new image projection sett… (`#1207 `_) + chore: update fusion_common.param.yaml with new image projection settings +* feat(goal_planner): set lane departure check margin 0.3 (`#1199 `_) +* feat(collision detector): add collision detector to launch/config (`#1205 `_) + * add collision_detector + * change collision detector default to false + --------- +* chore(diagnostic_graph_aggregator, system_diagnostic_monitor)!: change the config file directories from universe to autoware_launch (`#1201 `_) + * prepare dir + * copy files from universe +* Contributors: Ahmed Ebrahim, Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kazunori-Nakajima, Kem (TiankuiXian), Kosuke Takeuchi, Kyoichi Sugahara, Maxime CLEMENT, Ryohsuke Mitsudome, SakodaShintaro, Satoshi OTA, Sebastian Zęderowski, Taekjin LEE, Takayuki Murooka, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo, Zulfaqar Azmi, beyzanurkaya, danielsanchezaran, iwatake, mkquda + 0.39.0 (2024-11-25) ------------------- * autowarefoundation username diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index 710001ec58..b23c3bbdd4 100644 --- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -3,10 +3,13 @@ # Ego path calculation use_predicted_trajectory: true use_imu_path: true + limit_imu_path_lat_dev: false + limit_imu_path_length: true use_pointcloud_data: true use_predicted_object_data: false use_object_velocity_calculation: true check_autoware_state: true + imu_path_lat_dev_threshold: 1.75 min_generated_imu_path_length: 0.5 max_generated_imu_path_length: 10.0 imu_prediction_time_horizon: 1.5 @@ -37,7 +40,7 @@ maximum_cluster_size: 10000 # RSS distance collision check - longitudinal_offset: 1.0 + longitudinal_offset_margin: 1.0 t_response: 1.0 a_ego_min: -3.0 a_obj_min: -1.0 diff --git a/autoware_launch/config/control/preset/default_preset.yaml b/autoware_launch/config/control/preset/default_preset.yaml new file mode 100644 index 0000000000..74ba17b0a1 --- /dev/null +++ b/autoware_launch/config/control/preset/default_preset.yaml @@ -0,0 +1,39 @@ +launch: + # controller + - arg: + name: trajectory_follower_mode + default: trajectory_follower_node + # option: trajectory_follower_node + # smart_mpc_trajectory_follower + # none + + # external_cmd selector/converter + - arg: + name: launch_external_cmd_selector + default: "true" + - arg: + name: launch_external_cmd_converter + default: "true" + + # optional control checkers + - arg: + name: launch_lane_departure_checker + default: "true" + - arg: + name: launch_control_validator + default: "true" + - arg: + name: launch_autonomous_emergency_braking + default: "true" + - arg: + name: launch_collision_detector + default: "true" + - arg: + name: launch_obstacle_collision_checker + default: "false" + - arg: + name: launch_predicted_path_checker + default: "false" + - arg: + name: launch_control_evaluator + default: "true" diff --git a/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml b/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml new file mode 100644 index 0000000000..1ad7ce9ac9 --- /dev/null +++ b/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml @@ -0,0 +1,39 @@ +launch: + # controller + - arg: + name: trajectory_follower_mode + default: none + # option: trajectory_follower_node + # smart_mpc_trajectory_follower + # none + + # external_cmd selector/converter + - arg: + name: launch_external_cmd_selector + default: "false" + - arg: + name: launch_external_cmd_converter + default: "false" + + # optional control checkers + - arg: + name: launch_lane_departure_checker + default: "false" + - arg: + name: launch_control_validator + default: "true" + - arg: + name: launch_autonomous_emergency_braking + default: "false" + - arg: + name: launch_collision_detector + default: "false" + - arg: + name: launch_obstacle_collision_checker + default: "false" + - arg: + name: launch_predicted_path_checker + default: "false" + - arg: + name: launch_control_evaluator + default: "false" diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml index 99050d9738..d15b2c81cf 100644 --- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml @@ -19,3 +19,5 @@ enabled: false velocity_yaw_threshold: 0.785398 # [rad] (45 deg) object_speed_threshold: 3.0 # [m/s] + debug: false + lanelet_extra_margin: 0.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml index bd5fc5f356..f4a5d59c3c 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml @@ -11,7 +11,6 @@ post_process_params: # 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, 0.3, 0.3, 0.3, 0.0] diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml index bd5fc5f356..f4a5d59c3c 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml @@ -11,7 +11,6 @@ post_process_params: # 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, 0.3, 0.3, 0.3, 0.0] diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml index bd5fc5f356..f4a5d59c3c 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml @@ -11,7 +11,6 @@ post_process_params: # 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, 0.3, 0.3, 0.3, 0.0] diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml index 90a71a5bd1..89841193d5 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml @@ -9,7 +9,6 @@ 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: 0.45 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml index 47eaa800e6..979f8b9cc0 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml @@ -10,7 +10,6 @@ densification_world_frame_id: map # 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, 0.3, 0.3, 0.3, 0.0] # refers to the class_names diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml index fb6f1131e1..da9b694564 100644 --- a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml @@ -19,3 +19,5 @@ enabled: false velocity_yaw_threshold: 0.785398 # [rad] (45 deg) object_speed_threshold: 3.0 # [m/s] + debug: false + lanelet_extra_margin: 0.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml index 330a4605a1..a784fcb8c0 100644 --- a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml @@ -19,3 +19,5 @@ enabled: false velocity_yaw_threshold: 0.785398 # [rad] (45 deg) object_speed_threshold: 3.0 # [m/s] + debug: false + lanelet_extra_margin: 0.0 diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml index 006c179ae1..5a272a67e0 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -13,6 +13,7 @@ publish_rate: 10.0 world_frame_id: map enable_delay_compensation: true + consider_odometry_uncertainty: false # debug parameters publish_processing_time: true diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index 0237671ccf..cc7c52ed47 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -24,7 +24,7 @@ use_virtual_ground_point: True split_height_distance: 0.2 non_ground_height_threshold: 0.20 - grid_size_m: 0.1 + grid_size_m: 0.5 grid_mode_switch_radius: 20.0 gnd_grid_buffer_size: 4 detection_range_z_max: 2.5 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml index aa1fdb3048..9bba8c52dc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml @@ -56,10 +56,10 @@ object_path_base: min_longitudinal_polygon_margin: 3.0 # [m] - lat_offset_from_obstacle: 1.0 # [m] - margin_distance_around_pedestrian: 2.0 # [m] + lat_offset_from_obstacle: 0.3 # [m] + margin_distance_around_pedestrian: 0.8 # [m] predicted_path: - end_time_to_consider: 2.0 # [s] + end_time_to_consider: 1.0 # [s] threshold_confidence: 0.0 # [] not probability max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index 31e35dcad5..3480bb66e5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -23,9 +23,9 @@ th_moving_time: 2.0 # [s] longitudinal_margin: 0.0 # [m] lateral_margin: - soft_margin: 0.7 # [m] + soft_margin: 0.5 # [m] hard_margin: 0.2 # [m] - hard_margin_for_parked_vehicle: 0.7 # [m] + hard_margin_for_parked_vehicle: 0.2 # [m] max_expand_ratio: 0.0 # [-] FOR DEVELOPER envelope_buffer_margin: 0.1 # [m] FOR DEVELOPER th_error_eclipse_long_radius : 0.6 # [m] @@ -34,9 +34,9 @@ th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.7 + soft_margin: 0.5 hard_margin: 0.2 - hard_margin_for_parked_vehicle: 0.7 + hard_margin_for_parked_vehicle: 0.2 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 th_error_eclipse_long_radius : 0.6 @@ -45,9 +45,9 @@ th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.7 + soft_margin: 0.5 hard_margin: 0.2 - hard_margin_for_parked_vehicle: 0.7 + hard_margin_for_parked_vehicle: 0.2 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 th_error_eclipse_long_radius : 0.6 @@ -56,9 +56,9 @@ th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.7 + soft_margin: 0.5 hard_margin: 0.2 - hard_margin_for_parked_vehicle: 0.7 + hard_margin_for_parked_vehicle: 0.2 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 th_error_eclipse_long_radius : 0.6 @@ -67,7 +67,7 @@ th_moving_time: 1.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.7 + soft_margin: 0.5 hard_margin: -0.2 hard_margin_for_parked_vehicle: -0.2 max_expand_ratio: 0.0 @@ -76,33 +76,33 @@ bicycle: th_moving_speed: 0.28 th_moving_time: 1.0 - longitudinal_margin: 1.0 + longitudinal_margin: 0.6 lateral_margin: soft_margin: 0.7 hard_margin: 0.5 - hard_margin_for_parked_vehicle: 0.5 + hard_margin_for_parked_vehicle: 0.2 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 th_error_eclipse_long_radius : 0.6 motorcycle: th_moving_speed: 1.0 th_moving_time: 1.0 - longitudinal_margin: 1.0 + longitudinal_margin: 0.6 lateral_margin: - soft_margin: 0.7 + soft_margin: 0.5 hard_margin: 0.3 - hard_margin_for_parked_vehicle: 0.3 + hard_margin_for_parked_vehicle: 0.2 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 th_error_eclipse_long_radius : 0.6 pedestrian: th_moving_speed: 0.28 th_moving_time: 1.0 - longitudinal_margin: 1.0 + longitudinal_margin: 0.6 lateral_margin: soft_margin: 0.7 hard_margin: 0.5 - hard_margin_for_parked_vehicle: 0.5 + hard_margin_for_parked_vehicle: 0.2 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 th_error_eclipse_long_radius : 0.6 @@ -232,7 +232,7 @@ # avoidance distance parameters longitudinal: min_prepare_time: 1.0 # [s] - max_prepare_time: 3.0 # [s] + max_prepare_time: 2.0 # [s] min_prepare_distance: 1.0 # [m] min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER @@ -294,7 +294,7 @@ velocity: [1.39, 4.17, 11.1] # [m/s] max_accel_values: [0.5, 0.5, 0.5] # [m/ss] min_jerk_values: [0.2, 0.2, 0.2] # [m/sss] - max_jerk_values: [1.0, 1.0, 1.0] # [m/sss] + max_jerk_values: [3.0, 3.0, 3.0] # [m/sss] # longitudinal constraints longitudinal: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index a20fae6e6a..723e34e61a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -139,13 +139,13 @@ min_velocity: 1.0 min_acceleration: 1.0 max_velocity: 1.0 - time_horizon_for_front_object: 10.0 - time_horizon_for_rear_object: 10.0 + time_horizon_for_front_object: 5.0 + time_horizon_for_rear_object: 5.0 time_resolution: 0.5 delay_until_departure: 1.0 # For target object filtering target_filtering: - safety_check_time_horizon: 10.0 + safety_check_time_horizon: 5.0 safety_check_time_resolution: 1.0 # detection range object_check_forward_distance: 100.0 @@ -179,7 +179,7 @@ # safety check configuration enable_safety_check: true method: "integral_predicted_polygon" - keep_unsafe_time: 3.0 + keep_unsafe_time: 0.5 # collision check parameters publish_debug_marker: false rss_params: @@ -192,7 +192,7 @@ forward_margin: 1.0 backward_margin: 1.0 lat_margin: 1.0 - time_horizon: 10.0 + time_horizon: 5.0 # hysteresis factor to expand/shrink polygon with the value hysteresis_factor_expand_rate: 1.0 collision_check_yaw_diff_threshold: 3.1416 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 380fe6281e..27349f077d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -1,42 +1,40 @@ /**: ros__parameters: lane_change: - backward_lane_length: 200.0 #[m] - prepare_duration: 4.0 # [s] - + backward_lane_length: 200.0 backward_length_buffer_for_end_of_lane: 3.0 # [m] backward_length_buffer_for_blocking_object: 3.0 # [m] backward_length_from_intersection: 5.0 # [m] - lane_changing_lateral_jerk: 0.5 # [m/s3] - - minimum_lane_changing_velocity: 2.78 # [m/s] - prediction_time_resolution: 0.5 # [s] - longitudinal_acceleration_sampling_num: 5 - lateral_acceleration_sampling_num: 3 - - # side walk parked vehicle - object_check_min_road_shoulder_width: 0.5 # [m] - object_shiftable_ratio_threshold: 0.6 - # turn signal min_length_for_turn_signal_activation: 10.0 # [m] - length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position) - - # longitudinal acceleration - min_longitudinal_acc: -1.0 - max_longitudinal_acc: 1.0 - skip_process: - longitudinal_distance_diff_threshold: - prepare: 1.0 - lane_changing: 1.0 + # trajectory generation + trajectory: + max_prepare_duration: 4.0 + min_prepare_duration: 2.0 + lateral_jerk: 0.5 + min_longitudinal_acc: -1.0 + max_longitudinal_acc: 1.0 + th_prepare_length_diff: 1.0 + th_lane_changing_length_diff: 1.0 + min_lane_changing_velocity: 2.78 + lon_acc_sampling_num: 5 + lat_acc_sampling_num: 3 + lane_changing_decel_factor: 0.5 + + # delay lane change + delay_lane_change: + enable: true + check_only_parked_vehicle: false + min_road_shoulder_width: 0.5 # [m] + th_parked_vehicle_shift_ratio: 0.6 # safety check safety_check: allow_loose_check_for_cancel: true enable_target_lane_bound_check: true - collision_check_yaw_diff_threshold: 3.1416 + stopped_object_velocity_threshold: 1.0 # [m/s] execution: expected_front_deceleration: -1.0 expected_rear_deceleration: -1.0 @@ -93,14 +91,16 @@ pedestrian: true # collision check - enable_collision_check_for_prepare_phase: - general_lanes: false - intersection: true - turns: true - stopped_object_velocity_threshold: 1.0 # [m/s] - check_objects_on_current_lanes: false - check_objects_on_other_lanes: false - use_all_predicted_path: false + collision_check: + enable_for_prepare_phase: + general_lanes: false + intersection: true + turns: true + prediction_time_resolution: 0.5 + yaw_diff_threshold: 3.1416 + check_current_lanes: false + check_other_lanes: false + use_all_predicted_paths: false # lane change regulations regulation: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index b31506918a..49749cd129 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -4,8 +4,3 @@ backward_path_length: 5.0 behavior_output_path_interval: 1.0 stop_line_extend_length: 5.0 - max_accel: -2.8 - max_jerk: -5.0 - system_delay: 0.5 - delay_response_time: 0.5 - is_publish_debug_path: false # publish all debug path with lane id in each module diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml new file mode 100644 index 0000000000..aff2aec9cf --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + max_accel: -2.8 + max_jerk: -5.0 + system_delay: 0.5 + delay_response_time: 0.5 + is_publish_debug_path: false # publish all debug path with lane id in each module diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 5a0757401b..fe443ca476 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -13,8 +13,6 @@ # For the Lanelet2 map with no explicit stop lines stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk - # For the case where the crosswalk width is very wide - far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object). # For the case where the stop position is determined according to the object position. stop_distance_from_object_preferred: 3.0 # [m] stop_distance_from_object_limit: 3.0 # [m] @@ -79,7 +77,7 @@ # param for occlusions occlusion: - enable: true # if true, ego will slowdown around crosswalks that are occluded + enable: false # if true, ego will slowdown around crosswalks that are occluded occluded_object_velocity: 2.0 # [m/s] assumed velocity of objects that may come out of the occluded space slow_down_velocity: 1.0 # [m/s] time_buffer: 0.5 # [s] consecutive time with/without an occlusion to add/remove the slowdown diff --git a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml index d82a942035..1d7048ee39 100644 --- a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml @@ -9,7 +9,7 @@ th_stopped_velocity_mps: 0.01 th_course_out_distance_m: 1.0 th_obstacle_time_sec: 1.0 - vehicle_shape_margin_m: 0.5 + vehicle_shape_margin_m: 0.4 replan_when_obstacle_found: true replan_when_course_out: true diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml deleted file mode 100644 index 937cfdeb65..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml +++ /dev/null @@ -1,5 +0,0 @@ -files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml } - -edits: - - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml deleted file mode 100644 index c96dd5ed46..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml +++ /dev/null @@ -1,2 +0,0 @@ -files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml deleted file mode 100644 index 20c95af6e9..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml +++ /dev/null @@ -1,2 +0,0 @@ -files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-psim.yaml } diff --git a/autoware_launch/config/system/diagnostics/autoware-awsim.yaml b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml new file mode 100644 index 0000000000..4abae34a31 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml @@ -0,0 +1,5 @@ +files: + - { path: $(dirname)/autoware-main.yaml } + +edits: + - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/diagnostics/autoware-main.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml rename to autoware_launch/config/system/diagnostics/autoware-main.yaml index 30b6ce9bad..fbbfe384f2 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml +++ b/autoware_launch/config/system/diagnostics/autoware-main.yaml @@ -1,27 +1,13 @@ files: - - { path: $(dirname)/map.yaml } + - { path: $(dirname)/control.yaml } - { path: $(dirname)/localization.yaml } - - { path: $(dirname)/planning.yaml } + - { path: $(dirname)/map.yaml } - { path: $(dirname)/perception.yaml } - - { path: $(dirname)/control.yaml } - - { path: $(dirname)/vehicle.yaml } + - { path: $(dirname)/planning.yaml } - { path: $(dirname)/system.yaml } + - { path: $(dirname)/vehicle.yaml } units: - - path: /autoware/modes/stop - type: ok - - - path: /autoware/modes/autonomous - type: and - list: - - { type: link, link: /autoware/map } - - { type: link, link: /autoware/localization } - - { type: link, link: /autoware/planning } - - { type: link, link: /autoware/perception } - - { type: link, link: /autoware/control } - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - path: /autoware/modes/local type: and list: @@ -36,13 +22,21 @@ units: - { type: link, link: /autoware/system } - { type: link, link: /autoware/control/remote } - - path: /autoware/modes/emergency_stop + - path: /autoware/modes/stop + type: ok + + - path: /autoware/modes/autonomous type: and list: + - { type: link, link: /autoware/map } + - { type: link, link: /autoware/localization } + - { type: link, link: /autoware/planning } + - { type: link, link: /autoware/perception } + - { type: link, link: /autoware/control } - { type: link, link: /autoware/vehicle } - { type: link, link: /autoware/system } - - path: /autoware/modes/comfortable_stop + - path: /autoware/modes/pull_over type: and list: - { type: link, link: /autoware/map } @@ -53,7 +47,7 @@ units: - { type: link, link: /autoware/vehicle } - { type: link, link: /autoware/system } - - path: /autoware/modes/pull_over + - path: /autoware/modes/comfortable_stop type: and list: - { type: link, link: /autoware/map } @@ -64,6 +58,12 @@ units: - { type: link, link: /autoware/vehicle } - { type: link, link: /autoware/system } + - path: /autoware/modes/emergency_stop + type: and + list: + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + - path: /autoware/debug/tools type: and list: diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/diagnostics/control.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/control.yaml rename to autoware_launch/config/system/diagnostics/control.yaml diff --git a/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml new file mode 100644 index 0000000000..0ed824d3c8 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml @@ -0,0 +1,36 @@ +# Description: +# required_diags: +# : {is_active: , status: } +# name: diag name +# is_active: Force update or not +# status: diag status set by dummy diag publisher "OK, Warn, Error, Stale" +# +# Note: +# +# default values are: +# is_active: "true" +# status: "OK" +--- +/**: + ros__parameters: + required_diags: + # map + ## /autoware/map/topic_rate_check/pointcloud_map + "topic_state_monitor_pointcloud_map: map_topic_status": default + + # localization + ## /autoware/localization/scan_matching_status + "ndt_scan_matcher: scan_matching_status": default + + ## /autoware/localization/accuracy + "localization_error_monitor: ellipse_error_status": default + + ## /autoware/localization/sensor_fusion_status + "localization: ekf_localizer": default + + ## /autoware/localization/topic_rate_check/pose_twist_fusion + "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default + + # perception + ## /autoware/perception/topic_rate_check/pointcloud + "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default diff --git a/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml b/autoware_launch/config/system/diagnostics/hardware.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml rename to autoware_launch/config/system/diagnostics/hardware.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml b/autoware_launch/config/system/diagnostics/localization.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/localization.yaml rename to autoware_launch/config/system/diagnostics/localization.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/map.yaml b/autoware_launch/config/system/diagnostics/map.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/map.yaml rename to autoware_launch/config/system/diagnostics/map.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml b/autoware_launch/config/system/diagnostics/perception.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/perception.yaml rename to autoware_launch/config/system/diagnostics/perception.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml b/autoware_launch/config/system/diagnostics/planning.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/planning.yaml rename to autoware_launch/config/system/diagnostics/planning.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/diagnostics/system.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/system.yaml rename to autoware_launch/config/system/diagnostics/system.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml b/autoware_launch/config/system/diagnostics/vehicle.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml rename to autoware_launch/config/system/diagnostics/vehicle.yaml diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml deleted file mode 100644 index 43edd109b5..0000000000 --- a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# Description: -# required_diags: -# : {is_active: , status: } -# name: diag name -# is_active: Force update or not -# status: diag status set by dummy diag publisher "OK, Warn, Error, Stale" -# -# Note: -# -# default values are: -# is_active: "true" -# status: "OK" ---- -/**: - ros__parameters: - required_diags: - dummy_diag_empty: default diff --git a/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml b/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml index 033b20d234..526e413ea1 100644 --- a/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml +++ b/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml @@ -2,6 +2,7 @@ ros__parameters: update_rate: 10.0 processing_time_topic_name_list: + - /control/control_evaluator/debug/processing_time_ms - /control/control_validator/debug/processing_time_ms - /control/trajectory_follower/controller_node_exe/lateral/debug/processing_time_ms - /control/trajectory_follower/controller_node_exe/longitudinal/debug/processing_time_ms @@ -9,6 +10,9 @@ - /control/vehicle_cmd_gate/debug/processing_time_ms - /perception/object_recognition/prediction/map_based_prediction/debug/processing_time_ms - /perception/object_recognition/tracking/multi_object_tracker/debug/processing_time_ms + - /planning/mission_planning/mission_planner/debug/processing_time_ms + - /planning/mission_planning/route_selector/debug/processing_time_ms + - /planning/planning_evaluator/debug/processing_time_ms - /planning/planning_validator/debug/processing_time_ms - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_by_lane_change/processing_time_ms - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance/processing_time_ms @@ -37,6 +41,7 @@ - /planning/scenario_planning/lane_driving/motion_planning/path_optimizer/debug/processing_time_ms - /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/processing_time_ms - /planning/scenario_planning/parking/costmap_generator/debug/processing_time_ms + - /planning/scenario_planning/parking/freespace_planner/debug/processing_time_ms - /planning/scenario_planning/scenario_selector/debug/processing_time_ms - /planning/scenario_planning/velocity_smoother/debug/processing_time_ms - /simulation/shape_estimation/debug/processing_time_ms diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml deleted file mode 100644 index fc17c74173..0000000000 --- a/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml +++ /dev/null @@ -1,10 +0,0 @@ -files: - - { path: $(dirname)/autoware-main.yaml } - -edits: - - { type: remove, path: /autoware/map/topic_rate_check/pointcloud_map } - - { type: remove, path: /autoware/localization/scan_matching_status } - - { type: remove, path: /autoware/localization/accuracy } - - { type: remove, path: /autoware/localization/sensor_fusion_status } - - { type: remove, path: /autoware/localization/topic_rate_check/pose_twist_fusion } - - { type: remove, path: /autoware/perception/topic_rate_check/pointcloud } diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 95f15f59fb..b125d23186 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -9,6 +9,7 @@ + @@ -36,7 +37,7 @@ - + @@ -51,7 +52,7 @@ - + @@ -113,7 +114,9 @@ - + + + diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index d23a3c42c5..99cfe7484f 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -1,13 +1,13 @@ + + + - - - @@ -43,10 +43,7 @@ - - - diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 1f929543d4..a01a5fca17 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -44,7 +44,8 @@ - + + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 5bb8403dc2..31cc739683 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,7 +1,7 @@ - + @@ -14,7 +14,7 @@ - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index b1a5d6ee8b..c4fd15b41c 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -10,6 +10,7 @@ + @@ -51,6 +52,7 @@ + @@ -69,7 +71,7 @@ - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 8780578a6e..123bd01ed3 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -9,6 +9,7 @@ + @@ -43,6 +44,7 @@ + @@ -63,7 +65,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 798e6ec99b..3c56e11412 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -8,6 +8,7 @@ + @@ -18,7 +19,7 @@ - + @@ -58,6 +59,7 @@ + @@ -68,7 +70,7 @@ - + diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py index 650e555e27..a71527611f 100644 --- a/autoware_launch/launch/pointcloud_container.launch.py +++ b/autoware_launch/launch/pointcloud_container.launch.py @@ -39,8 +39,8 @@ def add_launch_arg(name: str, default_value=None): ) glog_component = ComposableNode( - package="glog_component", - plugin="GlogComponent", + package="autoware_glog_component", + plugin="autoware::glog_component::GlogComponent", name="glog_component", namespace="pointcloud_container", ) diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index 90c5db7082..1bb9f7e210 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -1,7 +1,7 @@ autoware_launch - 0.39.0 + 0.40.0 The autoware_launch package Yukihiro Saito @@ -12,7 +12,7 @@ ament_cmake_auto ad_api_adaptors - global_parameter_loader + autoware_global_parameter_loader python3-bson python3-tornado rviz2 diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index c53d5d62e6..aa633edcaf 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2068,7 +2068,7 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (ObstacleCruise) + Name: VirtualWall (ObstacleCruise Stop) Namespaces: {} Topic: @@ -2076,7 +2076,31 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -2199,30 +2223,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: CruiseVirtualWall - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: SlowDownVirtualWall - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: DebugMarker @@ -3690,6 +3690,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/debug/objects_of_interest/no_stopping_area Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleCruise + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/obstacle_cruise_planner + Value: true Enabled: true Name: Objects Of Interest Enabled: true diff --git a/autoware_launch/rviz/perception.rviz b/autoware_launch/rviz/perception.rviz index 79d0eff13e..635d3c9fb0 100644 --- a/autoware_launch/rviz/perception.rviz +++ b/autoware_launch/rviz/perception.rviz @@ -2685,7 +2685,7 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (ObstacleCruise) + Name: VirtualWall (ObstacleCruise Stop) Namespaces: {} Topic: @@ -2693,7 +2693,31 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -2816,30 +2840,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: CruiseVirtualWall - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: SlowDownVirtualWall - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: DebugMarker @@ -4435,6 +4435,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/debug/objects_of_interest/no_stopping_area Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleCruise + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/obstacle_cruise_planner + Value: true Enabled: true Name: Objects Of Interest Enabled: false diff --git a/autoware_launch/rviz/planning_bev.rviz b/autoware_launch/rviz/planning_bev.rviz index 449bb4567a..84b4ec1779 100644 --- a/autoware_launch/rviz/planning_bev.rviz +++ b/autoware_launch/rviz/planning_bev.rviz @@ -68,6 +68,8 @@ Panels: Name: LoggingLevelConfigureRvizPlugin - Class: rviz_plugins::RTCManagerPanel Name: RTCManagerPanel + - Class: rviz_plugins::VelocitySteeringFactorsPanel + Name: VelocitySteeringFactorsPanel Visualization Manager: Class: "" Displays: @@ -116,7 +118,7 @@ Visualization Manager: Depth: 5 Durability Policy: Volatile History Policy: Keep Last - Reliability Policy: Best Effort + Reliability Policy: Reliable Value: /robot_description Enabled: true Links: @@ -2519,16 +2521,39 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (ObstacleCruise) + Name: VirtualWall (ObstacleCruise Stop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) Namespaces: - stop_factor_text: true - stop_virtual_wall: true + {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -2651,32 +2676,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: CruiseVirtualWall - Namespaces: - slow_down_factor_text: true - slow_down_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: SlowDownVirtualWall - Namespaces: - slow_down_factor_text: true - slow_down_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: DebugMarker @@ -4238,6 +4237,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/debug/objects_of_interest/no_stopping_area Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleCruise + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/obstacle_cruise_planner + Value: true Enabled: true Name: Objects Of Interest Enabled: true diff --git a/autoware_launch/rviz/planning_tpv.rviz b/autoware_launch/rviz/planning_tpv.rviz index 53f755cd62..0b88e6724d 100644 --- a/autoware_launch/rviz/planning_tpv.rviz +++ b/autoware_launch/rviz/planning_tpv.rviz @@ -67,6 +67,8 @@ Panels: Name: LoggingLevelConfigureRvizPlugin - Class: rviz_plugins::RTCManagerPanel Name: RTCManagerPanel + - Class: rviz_plugins::VelocitySteeringFactorsPanel + Name: VelocitySteeringFactorsPanel Visualization Manager: Class: "" Displays: @@ -2731,16 +2733,39 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (ObstacleCruise) + Name: VirtualWall (ObstacleCruise Stop) Namespaces: - stop_factor_text: true - stop_virtual_wall: true + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -2863,31 +2888,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: CruiseVirtualWall - Namespaces: - slow_down_factor_text: true - slow_down_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: SlowDownVirtualWall - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: false Name: DebugMarker @@ -4450,6 +4450,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/debug/objects_of_interest/no_stopping_area Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleCruise + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/obstacle_cruise_planner + Value: true Enabled: true Name: Objects Of Interest Enabled: true diff --git a/autoware_launch/rviz/scenario_simulator.rviz b/autoware_launch/rviz/scenario_simulator.rviz index d0b57f225b..2c4af14446 100644 --- a/autoware_launch/rviz/scenario_simulator.rviz +++ b/autoware_launch/rviz/scenario_simulator.rviz @@ -2492,14 +2492,39 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (ObstacleCruise) - Namespaces: {} + Name: VirtualWall (ObstacleCruise Stop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down Value: true Enabled: true Name: VirtualWall @@ -2572,28 +2597,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: CruiseVirtualWall - Namespaces: {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: SlowDownVirtualWall - Namespaces: {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: DebugMarker diff --git a/setup.cfg b/setup.cfg index 5214751c7b..4d7d5e5b95 100644 --- a/setup.cfg +++ b/setup.cfg @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + [flake8] # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000