Merge pull request #208 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

autoware_launch/config/localization/pose_initializer.param.yaml

@@ -1,7 +1,26 @@
 /**:
   ros__parameters:
-    gnss_enabled: true
-    ndt_enabled: true
-    ekf_enabled: true
-    yabloc_enabled: false
-    stop_check_enabled: true
+    gnss_pose_timeout: 3.0 # [sec]
+    stop_check_duration: 3.0 # [sec]
+
+    # from gnss
+    gnss_particle_covariance:
+      [
+        1.0, 0.0, 0.0,  0.0,  0.0,  0.0,
+        0.0, 1.0, 0.0,  0.0,  0.0,  0.0,
+        0.0, 0.0, 0.01, 0.0,  0.0,  0.0,
+        0.0, 0.0, 0.0,  0.01, 0.0,  0.0,
+        0.0, 0.0, 0.0,  0.0,  0.01, 0.0,
+        0.0, 0.0, 0.0,  0.0,  0.0,  10.0,
+      ]
+
+    # output
+    output_pose_covariance:
+      [
+        1.0, 0.0, 0.0,  0.0,  0.0,  0.0,
+        0.0, 1.0, 0.0,  0.0,  0.0,  0.0,
+        0.0, 0.0, 0.01, 0.0,  0.0,  0.0,
+        0.0, 0.0, 0.0,  0.01, 0.0,  0.0,
+        0.0, 0.0, 0.0,  0.0,  0.01, 0.0,
+        0.0, 0.0, 0.0,  0.0,  0.0,  0.2,
+      ]

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

@@ -11,16 +11,18 @@
 
       # avoidance module common setting
       enable_bound_clipping: false
-      enable_avoidance_over_same_direction: true
-      enable_avoidance_over_opposite_direction: true
       enable_update_path_when_object_is_gone: false
       enable_force_avoidance_for_stopped_vehicle: false
       enable_safety_check: true
       enable_yield_maneuver: true
       enable_yield_maneuver_during_shifting: false
       disable_path_update: false
-      use_hatched_road_markings: true
+
+      # drivable area setting
+      use_adjacent_lane: true
+      use_opposite_lane: true
       use_intersection_areas: true
+      use_hatched_road_markings: true
 
       # for debug
       publish_debug_marker: false

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml

@@ -25,8 +25,12 @@
         state_transit_margin_time: 1.0
         min_predicted_path_confidence: 0.05
         minimum_ego_predicted_velocity: 1.388 # [m/s]
-        collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
-        collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
+        normal:
+          collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
+          collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
+        relaxed:
+          collision_start_margin_time: 2.0
+          collision_end_margin_time: 0.0
         keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
 
       occlusion:

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml

@@ -13,9 +13,12 @@
         is_show_cv_window: false            # [-] whether to show open_cv debug window
         is_show_processing_time: false      # [-] whether to show processing time
       threshold:
+        detection_area_offset: 30.0
         detection_area_length: 100.0        # [m] the length of path to consider perception range
         stuck_vehicle_vel: 1.0              # [m/s] velocity below this value is assumed to stop
         lateral_distance: 1.5               # [m] maximum lateral distance to consider hidden collision
+        search_dist: 10.0
+        search_angle: 0.63                  # [rad] PI/5.0
       motion:
         safety_ratio: 0.8                   # [-] jerk/acceleration ratio for safety
         max_slow_down_jerk: -0.3            # [m/s^3] minimum jerk deceleration for safe brake.

autoware_launch/launch/autoware.launch.xml

@@ -38,8 +38,6 @@
   <!-- Perception -->
   <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
-  <!-- Localization -->
-  <arg name="localization_mode" default="lidar" description="select localization mode. lidar, camera"/>
 
   <!-- Global parameters -->
   <group scoped="false">
@@ -86,7 +84,6 @@
   <!-- Localization -->
   <group if="$(var launch_localization)">
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_localization_component.launch.xml"/>
-    <!-- <include file="$(find-pkg-share autoware_launch)/launch/components/map4_localization_component.launch.xml"/> -->
   </group>
 
   <!-- Perception -->

autoware_launch/launch/components/tier4_localization_component.launch.xml

@@ -1,35 +1,28 @@
 <?xml version="1.0"?>
 <launch>
   <let name="loc_config_path" value="$(find-pkg-share autoware_launch)/config/localization"/>
-  <let name="is_ndt_mode" value="$(eval &quot;'$(var localization_mode)'=='lidar'&quot;)"/>
-  <let name="is_yabloc_mode" value="$(eval &quot;'$(var localization_mode)'=='camera'&quot;)"/>
-
-  <group if="$(eval &quot;'$(var system_run_mode)'=='online'&quot;)" scoped="false">
-    <let name="pose_initializer_param_path" if="$(var is_ndt_mode)" value="$(var loc_config_path)/pose_initializer.param.yaml"/>
-    <let name="pose_initializer_param_path" if="$(var is_yabloc_mode)" value="$(var loc_config_path)/yabloc/pose_initializer.yabloc.param.yaml"/>
-  </group>
-
-  <group if="$(eval &quot;'$(var system_run_mode)'=='logging_simulation'&quot;)" scoped="false">
-    <let name="pose_initializer_param_path" if="$(var is_ndt_mode)" value="$(var loc_config_path)/pose_initializer.logging_simulator.lidar.param.yaml"/>
-    <let name="pose_initializer_param_path" if="$(var is_yabloc_mode)" value="$(var loc_config_path)/yabloc/pose_initializer.logging_simulator.yabloc.param.yaml"/>
-  </group>
+  <arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
+  <arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
 
   <group>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
-      <arg name="mode" value="$(var localization_mode)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="pose_source" value="$(var pose_source)"/>
+      <arg name="twist_source" value="$(var twist_source)"/>
+      <arg name="system_run_mode" value="$(var system_run_mode)"/>
 
       <!-- parameter paths for common -->
       <arg name="crop_box_filter_measurement_range_param_path" value="$(var loc_config_path)/crop_box_filter_measurement_range.param.yaml"/>
       <arg name="voxel_grid_downsample_filter_param_path" value="$(var loc_config_path)/voxel_grid_filter.param.yaml"/>
       <arg name="random_downsample_filter_param_path" value="$(var loc_config_path)/random_downsample_filter.param.yaml"/>
       <arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>
       <arg name="ekf_localizer_param_path" value="$(var loc_config_path)/ekf_localizer.param.yaml"/>
-      <arg name="pose_initializer_common_param_path" value="$(var loc_config_path)/pose_initializer_common.param.yaml"/>
-      <arg name="pose_initializer_param_path" value="$(var pose_initializer_param_path)"/>
+      <arg name="pose_initializer_param_path" value="$(var loc_config_path)/pose_initializer.param.yaml"/>
+
       <!-- parameter paths for ndt -->
       <arg name="ndt_scan_matcher_param_path" value="$(var loc_config_path)/ndt_scan_matcher.param.yaml"/>
+
       <!-- parameter paths for yabloc -->
       <arg name="camera_pose_initializer_param_path" value="$(var loc_config_path)/yabloc/camera_pose_initializer.param.yaml"/>
       <arg name="camera_particle_corrector_param_path" value="$(var loc_config_path)/yabloc/camera_particle_corrector.param.yaml"/>
@@ -40,6 +33,9 @@
       <arg name="undistort_param_path" value="$(var loc_config_path)/yabloc/undistort.param.yaml"/>
       <arg name="ground_server_param_path" value="$(var loc_config_path)/yabloc/ground_server.param.yaml"/>
       <arg name="ll2_decomposer_param_path" value="$(var loc_config_path)/yabloc/ll2_decomposer.param.yaml"/>
+
+      <!-- parameter paths for eagleye -->
+      <arg name="eagleye_param_path" value="$(find-pkg-share autoware_launch)/config/localization/eagleye_config.param.yaml"/>
     </include>
   </group>
 </launch>

autoware_launch/launch/components/tier4_simulator_component.launch.xml

@@ -35,8 +35,7 @@
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
     />
-    <arg name="pose_initializer_common_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer_common.param.yaml"/>
-    <arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.planning_simulator.param.yaml"/>
+    <arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.param.yaml"/>
     <arg name="laserscan_based_occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml"/>
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
     <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>