feat(autoware_launch): move config from autoware.universe for planning (

#133)

* feat(autoware_launch): move config from autoware.universe for planning

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* remove unnecessary config

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add rtc

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* apply universe param change

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

autoware_launch/config/planning/scenario_planning/common/common.param.yaml

@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    # constraints param for normal driving
+    normal:
+      min_acc: -0.5         # min deceleration [m/ss]
+      max_acc: 1.0          # max acceleration [m/ss]
+      min_jerk: -0.5        # min jerk [m/sss]
+      max_jerk: 1.0         # max jerk [m/sss]
+
+    # constraints to be observed
+    limit:
+      min_acc: -2.5         # min deceleration limit [m/ss]
+      max_acc: 1.0          # max acceleration limit [m/ss]
+      min_jerk: -1.5        # min jerk limit [m/sss]
+      max_jerk: 1.5         # max jerk limit [m/sss]

autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml

@@ -0,0 +1,25 @@
+/**:
+  ros__parameters:
+    resample:
+      ds_resample: 0.1
+      num_resample: 1
+      delta_yaw_threshold: 0.785
+
+    latacc:
+      enable_constant_velocity_while_turning: false
+      constant_velocity_dist_threshold: 2.0
+
+    forward:
+      max_acc: 1.0
+      min_acc: -1.0
+      max_jerk: 0.3
+      min_jerk: -0.3
+      kp: 0.3
+
+    backward:
+      start_jerk: -0.1
+      min_jerk_mild_stop: -0.3
+      min_jerk: -1.5
+      min_acc_mild_stop: -1.0
+      min_acc: -2.5
+      span_jerk: -0.01

autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml

@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    jerk_weight: 0.1         # weight for "smoothness" cost for jerk
+    over_v_weight: 10000.0   # weight for "over speed limit" cost
+    over_a_weight: 500.0     # weight for "over accel limit" cost
+    over_j_weight: 200.0     # weight for "over jerk limit" cost
+    jerk_filter_ds: 0.1      # resampling ds for jerk filter

autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    pseudo_jerk_weight: 100.0 # weight for "smoothness" cost
+    over_v_weight: 100000.0   # weight for "over speed limit" cost
+    over_a_weight: 1000.0     # weight for "over accel limit" cost

autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    pseudo_jerk_weight: 200.0 # weight for "smoothness" cost
+    over_v_weight: 100000.0   # weight for "over speed limit" cost
+    over_a_weight: 5000.0     # weight for "over accel limit" cost

autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml

@@ -0,0 +1,58 @@
+/**:
+  ros__parameters:
+    # motion state constraints
+    max_velocity: 20.0      # max velocity limit [m/s]
+    stop_decel: 0.0         # deceleration at a stop point[m/ss]
+
+    # external velocity limit parameter
+    margin_to_insert_external_velocity_limit: 0.3   #  margin distance to insert external velocity limit [m]
+
+    # curve parameters
+    max_lateral_accel: 1.0             # max lateral acceleration limit [m/ss]
+    min_curve_velocity: 0.5            # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
+    decel_distance_before_curve: 3.5   # slow speed distance before a curve for lateral acceleration limit
+    decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit
+    min_decel_for_lateral_acc_lim_filter: -2.5  # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]
+
+    # engage & replan parameters
+    replan_vel_deviation: 5.53         # velocity deviation to replan initial velocity [m/s]
+    engage_velocity: 0.25              # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed)
+    engage_acceleration: 0.1           # engage acceleration [m/ss] (use this acceleration when engagement)
+    engage_exit_ratio: 0.5             # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity.
+    stop_dist_to_prohibit_engage: 0.5  # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]
+
+    # stop velocity
+    stopping_velocity: 2.778  # change target velocity to this value before v=0 point [m/s]
+    stopping_distance: 0.0    # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied.
+
+    # path extraction parameters
+    extract_ahead_dist: 200.0         # forward trajectory distance used for planning [m]
+    extract_behind_dist: 5.0          # backward trajectory distance used for planning [m]
+    delta_yaw_threshold: 1.0472       # Allowed delta yaw between ego pose and trajectory pose [radian]
+
+    # resampling parameters for optimization
+    max_trajectory_length: 200.0        # max trajectory length for resampling [m]
+    min_trajectory_length: 150.0        # min trajectory length for resampling [m]
+    resample_time: 2.0                  # resample total time for dense sampling [s]
+    dense_resample_dt: 0.2              # resample time interval for dense sampling [s]
+    dense_min_interval_distance: 0.1    # minimum points-interval length for dense sampling [m]
+    sparse_resample_dt: 0.5             # resample time interval for sparse sampling [s]
+    sparse_min_interval_distance: 4.0   # minimum points-interval length for sparse sampling [m]
+
+    # resampling parameters for post process
+    post_max_trajectory_length: 300.0        # max trajectory length for resampling [m]
+    post_min_trajectory_length: 30.0         # min trajectory length for resampling [m]
+    post_resample_time: 10.0                 # resample total time for dense sampling [s]
+    post_dense_resample_dt: 0.1              # resample time interval for dense sampling [s]
+    post_dense_min_interval_distance: 0.1    # minimum points-interval length for dense sampling [m]
+    post_sparse_resample_dt: 0.1             # resample time interval for sparse sampling [s]
+    post_sparse_min_interval_distance: 1.0   # minimum points-interval length for sparse sampling [m]
+
+    # steering angle rate limit parameters
+    max_steering_angle_rate: 40.0            # maximum steering angle rate [degree/s]
+    resample_ds: 0.1                         # distance between trajectory points [m]
+    curvature_threshold: 0.02                # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m]
+    curvature_calculation_distance: 1.0      # distance of points while curvature is calculating [m]
+
+    # system
+    over_stop_velocity_warn_thr: 1.389       # used to check if the optimization exceeds the input velocity on the stop point

autoware_launch/config/planning/scenario_planning/common/nearest_search.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    # ego
+    ego_nearest_dist_threshold: 3.0 # [m]
+    ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]

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

@@ -0,0 +1,77 @@
+# see AvoidanceParameters description in avoidance_module_data.hpp for description.
+/**:
+  ros__parameters:
+    avoidance:
+      resample_interval_for_planning: 0.3
+      resample_interval_for_output: 4.0
+      detection_area_right_expand_dist: 0.0
+      detection_area_left_expand_dist: 1.0
+
+      enable_avoidance_over_same_direction: true
+      enable_avoidance_over_opposite_direction: true
+      enable_update_path_when_object_is_gone: false
+
+      # For target object filtering
+      threshold_speed_object_is_stopped: 1.0      # [m/s]
+      threshold_time_object_is_moving: 1.0        # [s]
+
+      object_check_forward_distance: 150.0        # [m]
+      object_check_backward_distance: 2.0         # [m]
+
+      threshold_distance_object_is_on_center: 1.0 # [m]
+
+      object_check_shiftable_ratio: 0.6           # [-]
+      object_check_min_road_shoulder_width: 0.5   # [m]
+
+      # For lateral margin
+      object_envelope_buffer: 0.3                 # [m]
+      lateral_collision_margin: 1.0               # [m]
+      lateral_collision_safety_buffer: 0.7        # [m]
+
+      prepare_time: 2.0                           # [s]
+      min_prepare_distance: 1.0                   # [m]
+      min_avoidance_distance: 10.0                # [m]
+
+      min_nominal_avoidance_speed: 7.0  # [m/s]
+      min_sharp_avoidance_speed: 1.0    # [m/s]
+
+      road_shoulder_safety_margin: 0.5 # [m]
+
+      max_right_shift_length: 5.0
+      max_left_shift_length: 5.0
+
+      nominal_lateral_jerk: 0.2   # [m/s3]
+      max_lateral_jerk: 1.0       # [m/s3]
+
+      # For detection loss compensation
+      object_last_seen_threshold: 2.0   # [s]
+
+      # For prevention of large acceleration while avoidance
+      min_avoidance_speed_for_acc_prevention: 3.0  # [m/s]
+      max_avoidance_acceleration: 0.5  # [m/ss]
+
+      # bound clipping for objects
+      enable_bound_clipping: false
+
+      # for debug
+      publish_debug_marker: false
+      print_debug_info: false
+
+      # not enabled yet
+      longitudinal_collision_margin_min_distance: 0.0          # [m]
+      longitudinal_collision_margin_time: 0.0
+
+
+      # avoidance is performed for the object type with true
+      target_object:
+        car: true
+        truck: true
+        bus: true
+        trailer: true
+        unknown: false
+        bicycle: false
+        motorcycle: false
+        pedestrian: false
+
+      # ---------- advanced parameters ----------
+      avoidance_execution_lateral_threshold: 0.499

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

@@ -0,0 +1,17 @@
+/**:
+  ros__parameters:
+    backward_path_length: 5.0
+    forward_path_length: 300.0
+    backward_length_buffer_for_end_of_lane: 5.0
+    backward_length_buffer_for_end_of_pull_over: 5.0
+    backward_length_buffer_for_end_of_pull_out: 5.0
+    minimum_lane_change_length: 12.0
+    minimum_pull_over_length: 16.0
+    refine_goal_search_radius_range: 7.5
+    turn_signal_intersection_search_distance: 30.0
+    turn_signal_intersection_angle_threshold_deg: 15.0
+    turn_signal_minimum_search_distance: 10.0
+    turn_signal_search_time: 3.0
+    turn_signal_shift_length_threshold: 0.3
+    turn_signal_on_swerving: true
+    path_interval: 2.0

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

@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+    avoidance:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+    lane_change:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+    lane_following:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+    pull_out:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+    pull_over:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+    side_shift:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0

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

@@ -0,0 +1,19 @@
+/**:
+  ros__parameters:
+    lane_change:
+      min_stop_distance: 5.0
+      stop_time: 2.0
+      hysteresis_buffer_distance: 2.0
+      lane_change_prepare_duration: 4.0
+      lane_changing_duration: 8.0
+      lane_change_finish_judge_buffer: 3.0
+      minimum_lane_change_velocity: 5.6
+      prediction_duration: 8.0
+      prediction_time_resolution: 0.5
+      static_obstacle_velocity_thresh: 1.5
+      maximum_deceleration: 1.0
+      enable_abort_lane_change: true
+      enable_collision_check_at_prepare_phase: true
+      use_predicted_path_outside_lanelet: true
+      use_all_predicted_path: true
+      enable_blocked_by_obstacle: false

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

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    lane_following:
+      lane_change_prepare_duration: 2.0

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

@@ -0,0 +1,30 @@
+/**:
+  ros__parameters:
+    pull_out:
+      th_arrived_distance: 1.0
+      th_stopped_velocity: 0.01
+      th_stopped_time: 1.0
+      collision_check_margin: 1.0
+      pull_out_finish_judge_buffer: 1.0
+      # shift pull out
+      enable_shift_pull_out: true
+      shift_pull_out_velocity: 2.0
+      pull_out_sampling_num: 4
+      before_pull_out_straight_distance: 0.0
+      minimum_shift_pull_out_distance: 20.0
+      maximum_lateral_jerk: 2.0
+      minimum_lateral_jerk: 0.5
+      deceleration_interval: 15.0
+      # geometric pull out
+      enable_geometric_pull_out: true
+      geometric_pull_out_velocity: 1.0
+      arc_path_interval: 1.0
+      lane_departure_margin: 0.2
+      backward_velocity: -1.0
+      pull_out_max_steer_angle: 0.26  # 15deg
+      # search start pose backward
+      enable_back: true
+      search_priority: "efficient_path"  # "efficient_path" or "short_back_distance"
+      max_back_distance: 15.0
+      backward_search_resolution: 2.0
+      backward_path_update_duration: 3.0

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

@@ -0,0 +1,61 @@
+/**:
+  ros__parameters:
+    pull_over:
+      request_length: 200.0
+      th_arrived_distance: 1.0
+      th_stopped_velocity: 0.01
+      th_stopped_time: 2.0  # It must be greater than the state_machine's.
+      pull_over_velocity: 3.0
+      pull_over_minimum_velocity: 1.38
+      margin_from_boundary: 0.5
+      decide_path_distance: 10.0
+      maximum_deceleration: 1.0
+      # goal research
+      enable_goal_research: true
+      search_priority: "efficient_path" # "efficient_path" or "close_goal"
+      forward_goal_search_length: 20.0
+      backward_goal_search_length: 20.0
+      goal_search_interval: 2.0
+      longitudinal_margin: 3.0
+      # occupancy grid map
+      use_occupancy_grid: true
+      use_occupancy_grid_for_longitudinal_margin: false
+      occupancy_grid_collision_check_margin: 0.0
+      theta_size: 360
+      obstacle_threshold: 60
+      # object recognition
+      use_object_recognition: true
+      object_recognition_collision_check_margin: 1.0
+      # shift path
+      enable_shift_parking: true
+      pull_over_sampling_num: 4
+      maximum_lateral_jerk: 2.0
+      minimum_lateral_jerk: 0.5
+      deceleration_interval: 15.0
+      after_pull_over_straight_distance: 5.0
+      before_pull_over_straight_distance: 5.0
+      # parallel parking path
+      enable_arc_forward_parking: true
+      enable_arc_backward_parking: true
+      after_forward_parking_straight_distance: 2.0
+      after_backward_parking_straight_distance: 2.0
+      forward_parking_velocity: 1.38
+      backward_parking_velocity: -1.38
+      forward_parking_lane_departure_margin: 0.0
+      backward_parking_lane_departure_margin: 0.0
+      arc_path_interval: 1.0
+      pull_over_max_steer_angle: 0.35  # 20deg
+      # hazard on when parked
+      hazard_on_threshold_distance: 1.0
+      hazard_on_threshold_velocity: 0.5
+      # check safety with dynamic objects. Not used now.
+      pull_over_duration: 2.0
+      pull_over_prepare_duration: 4.0
+      min_stop_distance: 5.0
+      stop_time: 2.0
+      hysteresis_buffer_distance: 2.0
+      enable_collision_check_at_prepare_phase: false
+      use_predicted_path_outside_lanelet: false
+      use_all_predicted_path: false
+      # debug
+      print_debug_info: false

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

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    side_shift:
+      min_distance_to_start_shifting: 5.0
+      time_to_start_shifting: 1.0
+      shifting_lateral_jerk: 0.2
+      min_shifting_distance: 5.0
+      min_shifting_speed: 5.56

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

@@ -0,0 +1,19 @@
+/**:
+  ros__parameters:
+    launch_stop_line: true
+    launch_crosswalk: true
+    launch_traffic_light: true
+    launch_intersection: true
+    launch_blind_spot: true
+    launch_detection_area: true
+    launch_virtual_traffic_light: true
+    launch_occlusion_spot: true
+    launch_no_stopping_area: true
+    launch_run_out: false
+    forward_path_length: 1000.0
+    backward_path_length: 5.0
+    max_accel: -2.8
+    max_jerk: -5.0
+    system_delay: 0.5
+    delay_response_time: 0.5
+    is_publish_debug_path: false # publish all debug path with lane id in each module

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

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    blind_spot:
+      use_pass_judge_line: true
+      stop_line_margin: 1.0 # [m]
+      backward_length: 15.0 # [m]
+      ignore_width_from_center_line: 0.7 # [m]
+      max_future_movement_time: 10.0 # [second]