Merge pull request #786 from tier4/sync-awf-latest-x2

chore: sync awf-latest-x2

.pre-commit-config.yaml

@@ -1,5 +1,5 @@
 ci:
-  autofix_commit_msg: "ci(pre-commit): autofix"
+  autofix_commit_msg: "style(pre-commit): autofix"
   autoupdate_commit_msg: "ci(pre-commit): autoupdate"
 
 repos:
@@ -37,7 +37,10 @@ repos:
     rev: v0.8.0
     hooks:
       - id: flake8-ros
+      - id: prettier-xacro
+      - id: prettier-launch-xml
       - id: prettier-package-xml
+      - id: ros-include-guard
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py

README.md

@@ -1,23 +1,3 @@
-# autoware_launcher
+# autoware_launch
 
-## Getting started
-
-### Using real vehicle
-
-```bash
-ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=[vehicle_name] sensor_model:=[sensor_name]
-```
-
-### Using planning simulator
-
-```bash
-ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map_folder vehicle_model:=[vehicle_name] sensor_model:=[sensor_name]
-```
-
-## Directory structure
-
-- [autoware_launch](./autoware_launch)
-- [control_launch](./control_launch)
-- [integration_launch](./integration_launch)
-- [planning_launch](./planning_launch)
-- [system_launch](./system_launch)
+A launch configuration repository for [Autoware](https://github.com/autowarefoundation/autoware), containing node configurations and their parameters.

autoware_launch/config/localization/ndt_scan_matcher.param.yaml

@@ -51,6 +51,7 @@
     num_threads: 4
 
     # The covariance of output pose
+    # Do note that this covariance matrix is empirically derived
     output_pose_covariance:
       [
         0.0225, 0.0,   0.0,   0.0,      0.0,      0.0,

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml

@@ -2,6 +2,7 @@
   ros__parameters:
     lane_change:
       lane_change_prepare_duration: 4.0         # [s]
+      lane_changing_safety_check_duration: 8.0  # [s]
 
       minimum_lane_change_prepare_distance: 2.0 # [m]
       minimum_lane_change_length: 16.5          # [m]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml

@@ -7,8 +7,6 @@
       - "intersection"
       - "no_stopping_area"
       - "traffic_light"
-      - "ext_request_lane_change_left"
-      - "ext_request_lane_change_right"
       - "lane_change_left"
       - "lane_change_right"
       - "avoidance_left"

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml

@@ -43,6 +43,9 @@
       enable_clipping_fixed_traj: false
       non_fixed_trajectory_length: 5.0 # length of the trajectory merging optimized mpt trajectory to original(not optimized) trajectory
 
+      vehicle_stop_margin_outside_drivable_area: 1.5 # vehicle stop margin to let the vehicle stop before the calculated stop point if it is calculated outside the drivable area [m] .
+                                                     # This margin will be realized with delta_arc_length_for_mpt_points m precision.
+
     object:  # avoiding object
       max_avoiding_objects_velocity_ms: 0.5 # maximum velocity for avoiding objects [m/s]
       max_avoiding_ego_velocity_ms: 6.0 # maximum ego velocity when avoiding objects [m/s]
@@ -149,6 +152,9 @@
               num: 3
               radius_ratio: 0.8
 
+            fitting_uniform_circle:
+              num: 3  # must be greater than 1
+
             rear_drive:
               num_for_calculation: 3
               front_radius_ratio: 1.0

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml

@@ -4,6 +4,8 @@
     lowpass_gain: 0.9                        # gain parameter for low pass filter [-]
     max_velocity: 20.0                       # max velocity [m/s]
     enable_slow_down: False                  # whether to use slow down planner [-]
+    enable_z_axis_obstacle_filtering: True   # filter obstacles in z axis (height) [-]
+    z_axis_filtering_buffer: 0.0             # additional buffer for z axis filtering [m]
     voxel_grid_x: 0.05                       # voxel grid x parameter for filtering pointcloud [m]
     voxel_grid_y: 0.05                       # voxel grid y parameter for filtering pointcloud [m]
     voxel_grid_z: 100000.0                   # voxel grid z parameter for filtering pointcloud [m]

autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml

@@ -0,0 +1,17 @@
+# Description:
+#   required_diags:
+#     <name>: {is_active: <is_active>, status: <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

system_launch/config/emergency_handler/emergency_handler.param.yaml → autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml

@@ -1,3 +1,5 @@
+# Default configuration for emergency handler
+---
 /**:
   ros__parameters:
     update_rate: 10

system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml → autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml

@@ -1,3 +1,4 @@
+# Description:
 #   name: diag name
 #   sf_at: diag level where it becomes Safe Fault
 #   lf_at: diag level where it becomes Latent Fault
@@ -21,8 +22,8 @@
         /autoware/control/control_command_gate/node_alive_monitoring: default
 
         /autoware/localization/node_alive_monitoring: default
-        /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/localization/performance_monitoring/localization_accuracy: default
+        # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        # /autoware/localization/performance_monitoring/localization_accuracy: default
 
         /autoware/map/node_alive_monitoring: default
 
@@ -35,7 +36,8 @@
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default
-        /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
 
         /autoware/vehicle/node_alive_monitoring: default
 
@@ -45,5 +47,6 @@
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default
+        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
 
         /autoware/vehicle/node_alive_monitoring: default

autoware_launch/config/system/system_monitor/net_monitor.param.yaml

@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+      devices: ["*"]
+      traffic_reader_port: 7636
+      monitor_program: "greengrass"
+      crc_error_check_duration: 1
+      crc_error_count_threshold: 1
+      reassembles_failed_check_duration: 1
+      reassembles_failed_check_count: 1

autoware_launch/launch/autoware.launch.xml

@@ -28,6 +28,8 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- System -->
   <arg name="system_run_mode" default="online" description="run mode in system"/>
+  <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
+  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -64,30 +66,17 @@
 
   <!-- System -->
   <group if="$(var launch_system)">
-    <include file="$(find-pkg-share system_launch)/launch/system.launch.xml">
-      <arg name="run_mode" value="$(var system_run_mode)"/>
-      <arg name="sensor_model" value="$(var sensor_model)"/>
-    </include>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_system_component.launch.xml"/>
   </group>
 
   <!-- Map -->
   <group if="$(var launch_map)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml">
-      <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
-      <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
-    </include>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml"/>
   </group>
 
   <!-- Sensing -->
   <group if="$(var launch_sensing)">
-    <include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml">
-      <arg name="launch_driver" value="$(var launch_sensing_driver)"/>
-      <arg name="sensor_model" value="$(var sensor_model)"/>
-      <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="perception_mode" value="$(var perception_mode)"/>
-    </include>
+    <include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml"/>
   </group>
 
   <!-- Localization -->
@@ -97,13 +86,7 @@
 
   <!-- Perception -->
   <group if="$(var launch_perception)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
-      <arg name="mode" value="$(var perception_mode)"/>
-      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
-    </include>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml"/>
   </group>
 
   <!-- Planning -->
@@ -121,8 +104,8 @@
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_autoware_api_component.launch.xml"/>
   </group>
 
-  <!-- Rviz -->
-  <group if="$(var rviz)">
-    <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"/>
+  <!-- Tools -->
+  <group>
+    <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)"/>
   </group>
 </launch>

autoware_launch/launch/components/tier4_localization_component.launch.xml

@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
-    <arg name="pointcloud_container_name" value="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
 
     <arg name="crop_box_filter_measurement_range_param_path" value="$(find-pkg-share autoware_launch)/config/localization/crop_box_filter_measurement_range.param.yaml"/>
     <arg name="voxel_grid_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/voxel_grid_filter.param.yaml"/>

autoware_launch/launch/components/tier4_map_component.launch.xml

@@ -1,11 +1,8 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="lanelet2_map_path"/>
-  <arg name="pointcloud_map_path"/>
-
   <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
-    <arg name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
-    <arg name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
+    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+    <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
 
     <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
     <arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -1,14 +1,8 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="mode"/>
-  <arg name="vehicle_param_file"/>
-  <arg name="use_pointcloud_container"/>
-  <arg name="pointcloud_container_name"/>
-  <arg name="enable_fine_detection"/>
-
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
-    <arg name="mode" value="$(var mode)"/>
-    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+    <arg name="mode" value="$(var perception_mode)"/>
+    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>

autoware_launch/launch/components/tier4_sensing_component.launch.xml

@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml">
+    <arg name="launch_driver" value="$(var launch_sensing_driver)"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+  </include>
+</launch>

autoware_launch/launch/components/tier4_system_component.launch.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
+    <arg name="run_mode" value="$(var system_run_mode)"/>
+    <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
+    <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+
+    <arg name="component_state_monitor_topic_path" value="$(find-pkg-share autoware_launch)/config/system/component_state_monitor/topics.yaml"/>
+    <arg name="emergency_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/emergency_handler/emergency_handler.param.yaml"/>
+    <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
+    <arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
+    <arg name="system_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"/>
+    <arg name="system_error_monitor_planning_simulator_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml"/>
+    <arg name="diagnostic_aggregator_vehicle_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml"/>
+    <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml"/>
+    <arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
+    <arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>
+    <arg name="system_monitor_hdd_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/hdd_monitor.param.yaml"/>
+    <arg name="system_monitor_mem_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/mem_monitor.param.yaml"/>
+    <arg name="system_monitor_net_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/net_monitor.param.yaml"/>
+    <arg name="system_monitor_ntp_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/ntp_monitor.param.yaml"/>
+    <arg name="system_monitor_process_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/process_monitor.param.yaml"/>
+    <arg name="system_monitor_voltage_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/voltage_monitor.param.yaml"/>
+  </include>
+</launch>

autoware_launch/launch/e2e_simulator.launch.xml

@@ -23,6 +23,7 @@
   <arg name="launch_vehicle_interface" default="false"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
+  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -50,6 +51,7 @@
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
+      <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
       <!-- Perception-->