Merge pull request autowarefoundation#143 from tier4/sync-upstream

chore: sync upstream
TomohitoAndo · May 25, 2022 · eaddbe8 · eaddbe8
2 parents c8a603b + 9c9c886
commit eaddbe8
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Showing 2 changed files with 11 additions and 35 deletions.
diff --git a/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -265,7 +265,7 @@ def create_single_frame_obstacle_segmentation_components(self, input_topic, outp
             components.append(
                 self.get_additional_lidars_concatenated_component(
                     input_topics=[common_pipeline_output]
-                    + list(map(lambda x: f"{x}/pointcloud", additional_lidars)),
+                    + [f"{x}/pointcloud" for x in additional_lidars],
                     output_topic=relay_topic if use_ransac else output_topic,
                 )
             )

diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -83,28 +83,6 @@
 
     # advanced parameters to improve performance as much as possible
     advanced:
-      option:
-        # check if planned trajectory is outside drivable area
-        drivability_check:
-          # true: vehicle shape is considered as a set of circles
-          # false: vehicle shape is considered as footprint (= rectangle)
-          use_vehicle_circles: false
-
-          # parameters only when use_vehicle_circles is true
-          vehicle_circles:
-            use_manual_vehicle_circles: false
-            num_for_constraints: 4
-
-            # parameters only when use_manual_vehicle_circles is true
-            longitudinal_offsets: [-0.15, 0.88, 1.9, 2.95]
-            radius: 0.95
-
-            # parameters only when use_manual_vehicle_circles is false
-            radius_ratio: 0.9
-            # If this parameter is commented out, the parameter is calculated automatically
-            # based on the vehicle length and width
-            # num_for_radius: 4
-
       eb:
         common:
           num_joint_buffer_points: 3 # number of joint buffer points
@@ -161,15 +139,13 @@
             # two_step_soft_constraint: false
 
           vehicle_circles:
-            use_manual_vehicle_circles: false
-            num_for_constraints: 3
-
-            # parameters only when use_manual_vehicle_circles is true
-            longitudinal_offsets: [-0.15, 0.88, 1.9, 2.95]
-            radius: 0.95
-
-            # parameters only when use_manual_vehicle_circles is false
-            radius_ratio: 0.8
-            # If this parameter is commented out, the parameter is calculated automatically
-            # based on the vehicle length and width
-            # num_for_radius: 4
+            method: "rear_drive"
+
+            uniform_circle:
+              num: 3
+              radius_ratio: 0.8
+
+            rear_drive:
+              num_for_calculation: 3
+              front_radius_ratio: 1.0
+              rear_radius_ratio: 1.0