From 3e4aa01bed2ffb70a2cba7cc8c865d5e025af2a7 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Mon, 15 Jan 2024 14:25:40 +0900 Subject: [PATCH 1/8] feat(start_planner): shorten max backward distance (#734) Update start_planner.param.yaml --- .../start_planner/start_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 277771f13f..592302ce5d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -32,7 +32,7 @@ # search start pose backward enable_back: true search_priority: "efficient_path" # "efficient_path" or "short_back_distance" - max_back_distance: 30.0 + max_back_distance: 20.0 backward_search_resolution: 2.0 backward_path_update_duration: 3.0 ignore_distance_from_lane_end: 15.0 From e7c0f89b8bf22a1fab6954c67567ddd6fca6bbfc Mon Sep 17 00:00:00 2001 From: melike tanrikulu <41450930+meliketanrikulu@users.noreply.github.com> Date: Mon, 15 Jan 2024 08:55:03 +0300 Subject: [PATCH 2/8] refactor(ekf_localizer): add Simple1DFilter params to parameter file (#710) * feat(ekf_localizer): Add Simple1DFilter params to parameter file Signed-off-by: meliketanrikulu * Update autoware_launch/config/localization/ekf_localizer.param.yaml --------- Signed-off-by: meliketanrikulu Co-authored-by: Kento Yabuuchi --- autoware_launch/config/localization/ekf_localizer.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index c1bfdaa787..ebdf2828fc 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -23,6 +23,10 @@ proc_stddev_vx_c: 10.0 proc_stddev_wz_c: 5.0 + #Simple1DFilter parameters + z_filter_proc_dev: 1.0 + roll_filter_proc_dev: 0.01 + pitch_filter_proc_dev: 0.01 # for diagnostics pose_no_update_count_threshold_warn: 50 pose_no_update_count_threshold_error: 100 From 7e145bcaefbbc17cd225c22dba1898c25c37eae5 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 15 Jan 2024 18:10:11 +0900 Subject: [PATCH 3/8] feat(mpc): add parameter for debug trajectory publisher (#790) Signed-off-by: Takamasa Horibe --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 4222082d40..9998b6aadf 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -74,3 +74,5 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 + + debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate From 5b6dab34c6ff19929bbca0492b216115b6ebec86 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Tue, 16 Jan 2024 00:08:54 +0900 Subject: [PATCH 4/8] fix(image_projection_based_fusion): add image_porojection_based_fusion params (#789) add image_porojection_based_fusion params Signed-off-by: Shunsuke Miura --- .../roi_cluster_fusion.param.yaml | 12 ++++++++++++ .../roi_detected_object_fusion.param.yaml | 19 +++++++++++++++++++ .../roi_pointcloud_fusion.param.yaml | 5 +++++ .../tier4_perception_component.launch.xml | 12 ++++++++++++ 4 files changed, 48 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml create mode 100755 autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml new file mode 100644 index 0000000000..90ba841d53 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml @@ -0,0 +1,12 @@ +/**: + ros__parameters: + fusion_distance: 100.0 + trust_object_distance: 100.0 + trust_object_iou_mode: "iou" + non_trust_object_iou_mode: "iou_x" + use_cluster_semantic_type: false + only_allow_inside_cluster: true + roi_scale_factor: 1.1 + iou_threshold: 0.65 + unknown_iou_threshold: 0.1 + remove_unknown: true diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml new file mode 100755 index 0000000000..bd49dc6574 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml @@ -0,0 +1,19 @@ +/**: + ros__parameters: + # UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + passthrough_lower_bound_probability_thresholds: [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.50] + trust_distances: [50.0, 100.0, 100.0, 100.0, 100.0, 50.0, 50.0, 50.0] + min_iou_threshold: 0.5 + use_roi_probability: false + roi_probability_threshold: 0.5 + + can_assign_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN <-roi_msg + [1, 0, 0, 0, 0, 0, 0, 0, # UNKNOWN <-detected_objects + 0, 1, 1, 1, 1, 0, 0, 0, # CAR + 0, 1, 1, 1, 1, 0, 0, 0, # TRUCK + 0, 1, 1, 1, 1, 0, 0, 0, # BUS + 0, 1, 1, 1, 1, 0, 0, 0, # TRAILER + 0, 0, 0, 0, 0, 1, 1, 1, # MOTORBIKE + 0, 0, 0, 0, 0, 1, 1, 1, # BICYCLE + 0, 0, 0, 0, 0, 1, 1, 1] # PEDESTRIAN diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml new file mode 100644 index 0000000000..5b86b8e81d --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + fuse_unknown_only: true + min_cluster_size: 2 + cluster_2d_tolerance: 0.5 diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 3a968f0f27..21373c78e4 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -48,6 +48,18 @@ name="object_recognition_detection_fusion_sync_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml" /> + + + Date: Tue, 16 Jan 2024 16:09:29 +0900 Subject: [PATCH 5/8] fix: change the way to disable surround_obstacle_checker (#794) Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- .../launch/components/tier4_planning_component.launch.xml | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 3df13a108d..3512d722ec 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -112,7 +112,7 @@ launch: - arg: name: launch_surround_obstacle_checker - default: "true" + default: "false" # parking modules - arg: diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 06740146f5..3e9061da80 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -8,7 +8,6 @@ - From faef67ad27511d9bd604e3757203e119a7940967 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 16 Jan 2024 23:32:22 +0900 Subject: [PATCH 6/8] feat(avoidance/goal_planner): execute avoidance and pull over simultaneously (#782) Signed-off-by: kosuke55 --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 3 ++- .../behavior_path_planner/scene_module_manager.param.yaml | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 0618185dcf..d540a73940 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -122,7 +122,8 @@ motorcycle: true # [-] pedestrian: true # [-] # detection range - object_check_goal_distance: 20.0 # [m] + object_check_goal_distance: 20.0 # [m] + object_check_return_pose_distance: 20.0 # [m] # filtering parking objects threshold_distance_object_is_on_center: 1.0 # [m] object_check_shiftable_ratio: 0.6 # [-] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 0090a29926..584039ba5d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -53,7 +53,7 @@ goal_planner: enable_rtc: false - enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: true priority: 1 From 55cba841a135ae4f8482f0f6dac9032d79d00f2c Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 17 Jan 2024 17:43:42 +0900 Subject: [PATCH 7/8] fix(AbLC): fix module name inconsistency (#795) Signed-off-by: satoshi-ota --- .../avoidance_by_lane_change.param.yaml} | 0 .../behavior_path_planner/scene_module_manager.param.yaml | 2 +- .../launch/components/tier4_planning_component.launch.xml | 2 +- 3 files changed, 2 insertions(+), 2 deletions(-) rename autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/{avoidance_by_lc/avoidance_by_lc.param.yaml => avoidance_by_lane_change/avoidance_by_lane_change.param.yaml} (100%) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 584039ba5d..9853e220bc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -67,7 +67,7 @@ priority: 4 max_module_size: 1 - avoidance_by_lc: + avoidance_by_lane_change: enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 3e9061da80..4711f4b7f0 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -24,7 +24,7 @@ - + From d3811ef583fa07155c4c5565c3ec95ef816e75eb Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 17 Jan 2024 19:18:19 +0900 Subject: [PATCH 8/8] feat(rviz): add marker to show bpp internal state (#801) Signed-off-by: satoshi-ota --- autoware_launch/rviz/autoware.rviz | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index a0ade56821..064f87d3ff 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -3649,6 +3649,22 @@ Visualization Manager: Value: true Enabled: true Name: Objects Of Interest + - Class: rviz_plugins/StringStampedOverlayDisplay + Enabled: true + Font Size: 15 + Left: 1024 + Max Letter Num: 100 + Name: StringStampedOverlayDisplay + Text Color: 25; 255; 240 + Top: 128 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state + Value: true + Value height offset: 0 Enabled: true Name: Planning - Class: rviz_common/Group