Merge pull request #505 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
autowarefoundation · Jun 8, 2023 · 96942ae · 96942ae
2 parents 45bed8d + 2c19a64
commit 96942ae
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Showing 14 changed files with 71 additions and 63 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -17,6 +17,7 @@
       enable_force_avoidance_for_stopped_vehicle: true
       enable_safety_check: true
       enable_yield_maneuver: true
+      enable_yield_maneuver_during_shifting: false
       disable_path_update: false
       use_hatched_road_markings: false
 

diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -31,6 +31,7 @@
 
     lateral_distance_max_threshold: 1.7
     longitudinal_distance_min_threshold: 3.0
+    longitudinal_velocity_delta_time: 0.8
 
     expected_front_deceleration: -1.0
     expected_rear_deceleration: -1.0

diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml b/...nning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml
@@ -8,8 +8,8 @@
                 <Action ID="GoalPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
-                <Condition ID="PullOut_Request"/>
-                <Action ID="PullOut_Plan" output="{output}"/>
+                <Condition ID="StartPlanner_Request"/>
+                <Action ID="StartPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
                 <Condition ID="SideShift_Request"/>
@@ -70,10 +70,10 @@
             <output_port name="output_candidate" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
         </Action>
         <Condition ID="LaneFollowing_Request"/>
-        <Action ID="PullOut_Plan">
+        <Action ID="StartPlanner_Plan">
             <output_port name="output"/>
         </Action>
-        <Condition ID="PullOut_Request"/>
+        <Condition ID="StartPlanner_Request"/>
         <Action ID="GoalPlanner_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
         </Action>

diff --git a/...g/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml b/...g/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml
@@ -8,8 +8,8 @@
                 <Action ID="GoalPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
-                <Condition ID="PullOut_Request"/>
-                <Action ID="PullOut_Plan" output="{output}"/>
+                <Condition ID="StartPlanner_Request"/>
+                <Action ID="StartPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
                 <Condition ID="LaneChange_Request"/>
@@ -62,10 +62,10 @@
             <output_port name="output_candidate" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
         </Action>
         <Condition ID="LaneFollowing_Request"/>
-        <Action ID="PullOut_Plan">
+        <Action ID="StartPlanner_Plan">
             <output_port name="output"/>
         </Action>
-        <Condition ID="PullOut_Request"/>
+        <Condition ID="StartPlanner_Request"/>
         <Action ID="GoalPlanner_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
         </Action>

diff --git a/...e_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml b/...e_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml
@@ -9,9 +9,9 @@
                 <Action ID="GoalPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
-                <Condition ID="PullOut_Request"/>
-                <Condition ID="PullOut_Ready"/>
-                <Action ID="PullOut_Plan" output="{output}"/>
+                <Condition ID="StartPlanner_Request"/>
+                <Condition ID="StartPlanner_Ready"/>
+                <Action ID="StartPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
                 <Condition ID="LaneChange_Request"/>
@@ -73,11 +73,11 @@
         </Action>
         <Condition ID="LaneFollowing_Ready"/>
         <Condition ID="LaneFollowing_Request"/>
-        <Action ID="PullOut_Plan">
+        <Action ID="StartPlanner_Plan">
             <output_port name="output"/>
         </Action>
-        <Condition ID="PullOut_Ready"/>
-        <Condition ID="PullOut_Request"/>
+        <Condition ID="StartPlanner_Ready"/>
+        <Condition ID="StartPlanner_Request"/>
         <Action ID="GoalPlanner_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
         </Action>

diff --git a/...or_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml b/...or_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml
@@ -8,8 +8,8 @@
                 <Action ID="GoalPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
-                <Condition ID="PullOut_Request"/>
-                <Action ID="PullOut_Plan" output="{output}"/>
+                <Condition ID="StartPlanner_Request"/>
+                <Action ID="StartPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
                 <Condition ID="SideShift_Request"/>
@@ -57,10 +57,10 @@
             <output_port name="output" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
         </Action>
         <Condition ID="LaneFollowing_Request"/>
-        <Action ID="PullOut_Plan">
+        <Action ID="StartPlanner_Plan">
             <output_port name="output"/>
         </Action>
-        <Condition ID="PullOut_Request"/>
+        <Condition ID="StartPlanner_Request"/>
         <Action ID="GoalPlanner_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
         </Action>

diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -31,7 +31,7 @@
       priority: 6
       max_module_size: 1
 
-    pull_out:
+    start_planner:
       enable_module: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false

diff --git a/.../lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml b/.../lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
@@ -31,7 +31,7 @@
       priority: 6
       max_module_size: 1
 
-    pull_out:
+    start_planner:
       enable_module: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false

diff --git a/...path_planner/pull_out/pull_out.param.yaml → ...er/start_planner/start_planner.param.yaml b/...path_planner/pull_out/pull_out.param.yaml → ...er/start_planner/start_planner.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    pull_out:
+    start_planner:
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0

diff --git a/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -1,18 +1,5 @@
 /**:
   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: false # disabled by default to not confuse newcomers
-    launch_occlusion_spot: false
-    launch_no_stopping_area: false
-    launch_run_out: false
-    launch_speed_bump: false
-    launch_out_of_lane: false
-    launch_no_drivable_lane: false
     forward_path_length: 1000.0
     backward_path_length: 5.0
     stop_line_extend_length: 5.0
@@ -21,3 +8,19 @@
     system_delay: 0.5
     delay_response_time: 0.5
     is_publish_debug_path: false # publish all debug path with lane id in each module
+    launch_modules:
+      - behavior_velocity_planner::CrosswalkModulePlugin
+      - behavior_velocity_planner::WalkwayModulePlugin
+      - behavior_velocity_planner::TrafficLightModulePlugin
+      - behavior_velocity_planner::IntersectionModulePlugin      # Intersection module should be before merge from private to declare intersection parameters.
+      - behavior_velocity_planner::MergeFromPrivateModulePlugin
+      - behavior_velocity_planner::BlindSpotModulePlugin
+      - behavior_velocity_planner::DetectionAreaModulePlugin
+      # behavior_velocity_planner::VirtualTrafficLightModulePlugin
+      # behavior_velocity_planner::NoStoppingAreaModulePlugin     # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom.
+      - behavior_velocity_planner::StopLineModulePlugin           # Permanent stop line module should be after no stopping area
+      # behavior_velocity_planner::OcclusionSpotModulePlugin
+      # behavior_velocity_planner::RunOutModulePlugin
+      # behavior_velocity_planner::SpeedBumpModulePlugin
+      # behavior_velocity_planner::OutOfLaneModulePlugin
+      # behavior_velocity_planner::NoDrivableLaneModulePlugin
diff --git a/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -11,7 +11,7 @@
       - "avoidance_left"
       - "avoidance_right"
       - "goal_planner"
-      - "pull_out"
+      - "start_planner"
       - "intersection_occlusion"
 
     default_enable_list:
@@ -25,5 +25,5 @@
       - "avoidance_left"
       - "avoidance_right"
       - "goal_planner"
-      - "pull_out"
+      - "start_planner"
       - "intersection_occlusion"
diff --git a/...lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml b/...lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml
@@ -13,7 +13,7 @@
       - "avoidance_left"
       - "avoidance_right"
       - "goal_planner"
-      - "pull_out"
+      - "start_planner"
       - "intersection_occlusion"
 
     default_enable_list:

diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -40,28 +40,31 @@
     <arg name="dynamic_avoidance_param_path" value="$(var behavior_path_config_path)/dynamic_avoidance/dynamic_avoidance.param.yaml"/>
     <arg name="lane_change_param_path" value="$(var behavior_path_config_path)/lane_change/lane_change.param.yaml"/>
     <arg name="goal_planner_param_path" value="$(var behavior_path_config_path)/goal_planner/goal_planner.param.yaml"/>
-    <arg name="pull_out_param_path" value="$(var behavior_path_config_path)/pull_out/pull_out.param.yaml"/>
+    <arg name="start_planner_param_path" value="$(var behavior_path_config_path)/start_planner/start_planner.param.yaml"/>
     <arg name="drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
     <arg name="scene_module_manager_param_path" value="$(var scene_module_manager_param_path)"/>
     <arg name="behavior_path_planner_tree_param_path" value="$(var behavior_path_config_path)/behavior_path_planner_tree.xml"/>
     <arg name="behavior_path_planner_param_path" value="$(var behavior_path_config_path)/behavior_path_planner.param.yaml"/>
 
     <!-- behavior velocity planner -->
-    <arg name="behavior_velocity_smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/Analytical.param.yaml"/>
-    <arg name="blind_spot_param_path" value="$(var behavior_velocity_config_path)/blind_spot.param.yaml"/>
-    <arg name="crosswalk_param_path" value="$(var behavior_velocity_config_path)/crosswalk.param.yaml"/>
-    <arg name="detection_area_param_path" value="$(var behavior_velocity_config_path)/detection_area.param.yaml"/>
-    <arg name="intersection_param_path" value="$(var behavior_velocity_config_path)/intersection.param.yaml"/>
-    <arg name="stop_line_param_path" value="$(var behavior_velocity_config_path)/stop_line.param.yaml"/>
-    <arg name="traffic_light_param_path" value="$(var behavior_velocity_config_path)/traffic_light.param.yaml"/>
-    <arg name="virtual_traffic_light_param_path" value="$(var behavior_velocity_config_path)/virtual_traffic_light.param.yaml"/>
-    <arg name="occlusion_spot_param_path" value="$(var behavior_velocity_config_path)/occlusion_spot.param.yaml"/>
-    <arg name="no_stopping_area_param_path" value="$(var behavior_velocity_config_path)/no_stopping_area.param.yaml"/>
-    <arg name="run_out_param_path" value="$(var behavior_velocity_config_path)/run_out.param.yaml"/>
-    <arg name="speed_bump_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
-    <arg name="out_of_lane_param_path" value="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
-    <arg name="no_drivable_lane_param_path" value="$(var behavior_velocity_config_path)/no_drivable_lane.param.yaml"/>
-    <arg name="behavior_velocity_planner_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
+    <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
+    <arg name="behavior_velocity_planner_common_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
+    <arg
+      name="behavior_velocity_planner_module_param_paths"
+      value="[$(var behavior_velocity_config_path)/blind_spot.param.yaml,
+              $(var behavior_velocity_config_path)/crosswalk.param.yaml,
+              $(var behavior_velocity_config_path)/detection_area.param.yaml,
+              $(var behavior_velocity_config_path)/intersection.param.yaml,
+              $(var behavior_velocity_config_path)/stop_line.param.yaml,
+              $(var behavior_velocity_config_path)/traffic_light.param.yaml,
+              $(var behavior_velocity_config_path)/virtual_traffic_light.param.yaml,
+              $(var behavior_velocity_config_path)/occlusion_spot.param.yaml,
+              $(var behavior_velocity_config_path)/no_stopping_area.param.yaml,
+              $(var behavior_velocity_config_path)/run_out.param.yaml,
+              $(var behavior_velocity_config_path)/speed_bump.param.yaml,
+              $(var behavior_velocity_config_path)/out_of_lane.param.yaml,
+              $(var behavior_velocity_config_path)/no_drivable_lane.param.yaml]"
+    />
 
     <!-- parking -->
     <arg name="freespace_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/>

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1133,13 +1133,13 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: false
-                      Name: PathReference_PullOut
+                      Name: PathReference_StartPlanner
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_reference/pull_out
+                        Value: /planning/path_reference/start_planner
                       Value: true
                       View Path:
                         Alpha: 0.3
@@ -1317,13 +1317,13 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true
-                      Name: PathChangeCandidate_PullOut
+                      Name: PathChangeCandidate_StartPlanner
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_candidate/pull_out
+                        Value: /planning/path_candidate/start_planner
                       Value: true
                       View Path:
                         Alpha: 0.30000001192092896
@@ -1462,15 +1462,15 @@ Visualization Manager:
                           Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
-                          Name: VirtualWall (PullOut)
+                          Name: VirtualWall (StartPlanner)
                           Namespaces:
                             {}
                           Topic:
                             Depth: 5
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/pull_out
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/start_planner
                           Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
@@ -1865,15 +1865,15 @@ Visualization Manager:
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
-                          Name: PullOut
+                          Name: StartPlanner
                           Namespaces:
                             {}
                           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/pull_out
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
@@ -2030,15 +2030,15 @@ Visualization Manager:
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
-                          Name: Info (PullOut)
+                          Name: Info (StartPlanner)
                           Namespaces:
                             {}
                           Topic:
                             Depth: 5
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_out
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/start_planner
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false