Merge pull request #481 from tier4/sync-awf-latest

chore: sync awf-latest

autoware_launch/rviz/autoware.rviz

@@ -1377,43 +1377,6 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/sideshift
                           Value: false
-                        - Class: rviz_common/Group
-                          Displays:
-                            - Class: rviz_default_plugins/MarkerArray
-                              Enabled: true
-                              Name: GoalSearchArea
-                              Namespaces:
-                                collision_polygons: true
-                              Topic:
-                                Depth: 5
-                                Durability Policy: Volatile
-                                History Policy: Keep Last
-                                Reliability Policy: Reliable
-                                Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/debug/parking_area
-                              Value: false
-                            - Alpha: 0.9990000128746033
-                              Arrow Length: 0.30000001192092896
-                              Axes Length: 0.30000001192092896
-                              Axes Radius: 0.009999999776482582
-                              Class: rviz_default_plugins/PoseArray
-                              Color: 255; 25; 0
-                              Enabled: false
-                              Head Length: 0.10000000149011612
-                              Head Radius: 0.20000000298023224
-                              Name: PullOverPathPoseArray
-                              Shaft Length: 0.20000000298023224
-                              Shaft Radius: 0.05000000074505806
-                              Shape: Arrow (3D)
-                              Topic:
-                                Depth: 5
-                                Durability Policy: Volatile
-                                Filter size: 10
-                                History Policy: Keep Last
-                                Reliability Policy: Reliable
-                                Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/debug/path_pose_array
-                              Value: false
-                          Enabled: false
-                          Name: PullOver
                       Enabled: false
                       Name: DebugMarker
                   Enabled: true

control_launch/config/shift_decider/shift_decider.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    park_on_goal: true

control_launch/launch/control.launch.py

@@ -56,6 +56,10 @@ def launch_setup(context, *args, **kwargs):
     with open(operation_mode_transition_manager_param_path, "r") as f:
         operation_mode_transition_manager_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
+    shift_decider_param_path = LaunchConfiguration("shift_decider_param_path").perform(context)
+    with open(shift_decider_param_path, "r") as f:
+        shift_decider_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+
     controller_component = ComposableNode(
         package="trajectory_follower_nodes",
         plugin="autoware::motion::control::trajectory_follower_nodes::Controller",
@@ -110,8 +114,12 @@ def launch_setup(context, *args, **kwargs):
         name="shift_decider",
         remappings=[
             ("input/control_cmd", "/control/trajectory_follower/control_cmd"),
+            ("input/state", "/autoware/state"),
             ("output/gear_cmd", "/control/shift_decider/gear_cmd"),
         ],
+        parameters=[
+            shift_decider_param,
+        ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
@@ -298,6 +306,14 @@ def add_launch_arg(name: str, default_value=None, description=None):
         ],
         "path to the parameter file of vehicle_cmd_gate",
     )
+    add_launch_arg(
+        "shift_decider_param_path",
+        [
+            FindPackageShare("control_launch"),
+            "/config/shift_decider/shift_decider_param.param.yaml",
+        ],
+        "path to the parameter file of shift_decider",
+    )
 
     # vehicle cmd gate
     add_launch_arg("use_emergency_handling", "false", "use emergency handling")

control_launch/launch/control.launch.xml

@@ -6,6 +6,7 @@
   <arg name="latlon_muxer_param_path" default="$(find-pkg-share control_launch)/config/trajectory_follower/latlon_muxer.param.yaml"/>
   <arg name="vehicle_cmd_gate_param_path" default="$(find-pkg-share control_launch)/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml"/>
   <arg name="operation_mode_transition_manager_param_path" default="$(find-pkg-share control_launch)/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml"/>
+  <arg name="shift_decider_param_path" default="$(find-pkg-share control_launch)/config/shift_decider/shift_decider.param.yaml"/>
 
   <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
     <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)" />
@@ -14,6 +15,7 @@
     <arg name="latlon_muxer_param_path" value="$(var latlon_muxer_param_path)"/>
     <arg name="vehicle_cmd_gate_param_path" value="$(var vehicle_cmd_gate_param_path)"/>
     <arg name="operation_mode_transition_manager_param_path" value="$(var operation_mode_transition_manager_param_path)"/>
+    <arg name="shift_decider_param_path" value="$(var shift_decider_param_path)"/>
   </include>
 
 </launch>

planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml

@@ -0,0 +1,29 @@
+/**:
+  ros__parameters:
+    module_list:
+      - "blind_spot"
+      - "crosswalk"
+      - "detection_area"
+      - "intersection"
+      - "no_stopping_area"
+      - "traffic_light"
+      - "lane_change_left"
+      - "lane_change_right"
+      - "avoidance_left"
+      - "avoidance_right"
+      - "pull_over"
+      - "pull_out"
+
+    default_enable_list:
+      - "blind_spot"
+      - "crosswalk"
+      - "detection_area"
+      - "intersection"
+      - "no_stopping_area"
+      - "traffic_light"
+      - "lane_change_left"
+      - "lane_change_right"
+      - "avoidance_left"
+      - "avoidance_right"
+      - "pull_over"
+      - "pull_out"

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

@@ -63,6 +63,7 @@
         visualize_sampling_num: 1
         enable_manual_warm_start: true
         enable_warm_start: true # false
+        is_fixed_point_single: false
 
       common:
         num_curvature_sampling_points: 5 # number of sampling points when calculating curvature
@@ -148,3 +149,8 @@
               num_for_calculation: 3
               front_radius_ratio: 1.0
               rear_radius_ratio: 1.0
+
+            bicycle_model:
+              num_for_calculation: 3
+              front_radius_ratio: 1.0
+              rear_radius_ratio: 1.0

planning_launch/launch/scenario_planning/lane_driving.launch.xml

@@ -17,9 +17,9 @@
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
-      <arg name="rtc_auto_approver_param_path" default="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver.param.yaml"/>
-      <include file="$(find-pkg-share rtc_auto_approver)/launch/rtc_auto_approver.launch.xml">
-        <arg name="param_path" value="$(var rtc_auto_approver_param_path)"/>
+      <arg name="rtc_auto_mode_manager_param_path" default="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml"/>
+      <include file="$(find-pkg-share rtc_auto_mode_manager)/launch/rtc_auto_mode_manager.launch.xml">
+        <arg name="param_path" value="$(var rtc_auto_mode_manager_param_path)"/>
       </include>
     </group>
 

planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py

@@ -142,6 +142,7 @@ def generate_launch_description():
             ("~/input/vector_map", LaunchConfiguration("map_topic_name")),
             ("~/input/perception", "/perception/object_recognition/objects"),
             ("~/input/odometry", "/localization/kinematic_state"),
+            ("~/input/accel", "/localization/acceleration"),
             ("~/input/scenario", "/planning/scenario_planning/scenario"),
             ("~/output/path", "path_with_lane_id"),
             ("~/output/turn_indicators_cmd", "/planning/turn_indicators_cmd"),
@@ -342,6 +343,7 @@ def generate_launch_description():
             ("~/input/path_with_lane_id", "path_with_lane_id"),
             ("~/input/vector_map", "/map/vector_map"),
             ("~/input/vehicle_odometry", "/localization/kinematic_state"),
+            ("~/input/accel", "/localization/acceleration"),
             ("~/input/dynamic_objects", "/perception/object_recognition/objects"),
             (
                 "~/input/no_ground_pointcloud",

planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -7,6 +7,7 @@
     <remap from="~/input/vector_map" to="$(var map_topic_name)" />
     <remap from="~/input/perception" to="/perception/object_recognition/objects" />
     <remap from="~/input/odometry" to="/localization/kinematic_state" />
+    <remap from="~/input/accel" to="/localization/acceleration"/>
     <remap from="~/output/path" to="path_with_lane_id" />
     <remap from="~/output/turn_indicators_cmd" to="/planning/turn_signal_cmd" />
     <remap from="~/output/hazard_lights_cmd" to="/planning/hazard_signal_cmd" />