Merge pull request #816 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    map_frame: map
+    arrival_check_angle_deg: 45.0
+    arrival_check_distance: 1.0
+    arrival_check_duration: 1.0
+    goal_angle_threshold_deg: 45.0
+    enable_correct_goal_pose: false

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

@@ -26,7 +26,7 @@
         pedestrian_lateral_margin: 0.0       # margin of pedestrian footprint [m]
         unknown_lateral_margin: 0.0          # margin of unknown footprint [m]
         step_length: 1.0                     # step length for pointcloud search range [m]
-        extend_distance: 0.0                 # extend trajectory to consider after goal obstacle in the extend_distance [m]
+        enable_stop_behind_goal_for_obstacle: True # enable extend trajectory after goal lane for obstacle detection
 
 
     slow_down_planner:

autoware_launch/launch/autoware.launch.xml

@@ -76,7 +76,7 @@
 
   <!-- Sensing -->
   <group if="$(var launch_sensing)">
-    <include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_sensing_component.launch.xml"/>
   </group>
 
   <!-- Localization -->

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -24,6 +24,9 @@
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml"
     />
 
+    <!-- mission planner -->
+    <arg name="mission_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>
+
     <!-- behavior path planner -->
     <arg
       name="side_shift_param_path"