From 30b422a14c4a7249fb197fdc6630480ed69b63cc Mon Sep 17 00:00:00 2001
From: Takamasa Horibe <horibe.takamasa@gmail.com>
Date: Mon, 29 May 2023 16:08:05 +0900
Subject: [PATCH 1/6] refactor(autoware_launch): remove duplicated path in
 planning launch (#365)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
---
 .../tier4_planning_component.launch.xml       | 146 ++++++------------
 1 file changed, 45 insertions(+), 101 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 6db13f5259..2afb669018 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -8,6 +8,13 @@
   <arg name="use_surround_obstacle_check" default="true"/>
   <arg name="smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
 
+  <!-- variables -->
+  <arg name="behavior_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning"/>
+  <arg name="behavior_path_config_path" default="$(var behavior_config_path)/behavior_path_planner"/>
+  <arg name="behavior_velocity_config_path" default="$(var behavior_config_path)/behavior_velocity_planner"/>
+  <arg name="motion_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning"/>
+  <arg name="common_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
+
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
@@ -15,128 +22,65 @@
     <arg name="smoother_type" value="$(var smoother_type)"/>
 
     <!-- common -->
-    <arg name="common_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/common.param.yaml"/>
-    <arg name="nearest_search_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/nearest_search.param.yaml"/>
+    <arg name="common_param_path" value="$(var common_config_path)/common.param.yaml"/>
+    <arg name="nearest_search_param_path" value="$(var common_config_path)/nearest_search.param.yaml"/>
 
     <!-- rtc -->
-    <arg
-      name="rtc_auto_mode_manager_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml"
-    />
+    <arg name="rtc_auto_mode_manager_param_path" value="$(var behavior_config_path)/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml"/>
 
     <!-- mission planner -->
     <arg name="mission_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>
 
     <!-- behavior path planner -->
-    <arg
-      name="side_shift_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml"
-    />
-    <arg name="avoidance_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml"/>
-    <arg
-      name="avoidance_by_lc_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml"
-    />
-    <arg
-      name="dynamic_avoidance_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml"
-    />
-    <arg
-      name="lane_change_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml"
-    />
-    <arg
-      name="goal_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml"
-    />
-    <arg name="pull_out_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml"/>
-    <arg
-      name="drivable_area_expansion_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml"
-    />
-    <arg
-      name="scene_module_manager_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml"
-    />
-    <arg
-      name="behavior_path_planner_tree_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml"
-    />
-    <arg
-      name="behavior_path_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml"
-    />
+    <arg name="side_shift_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
+    <arg name="avoidance_param_path" value="$(var behavior_path_config_path)/avoidance/avoidance.param.yaml"/>
+    <arg name="avoidance_by_lc_param_path" value="$(var behavior_path_config_path)/avoidance_by_lc/avoidance_by_lc.param.yaml"/>
+    <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="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 behavior_path_config_path)/scene_module_manager.param.yaml"/>
+    <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="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
-    <arg name="blind_spot_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml"/>
-    <arg name="crosswalk_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml"/>
-    <arg
-      name="detection_area_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml"
-    />
-    <arg name="intersection_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml"/>
-    <arg name="stop_line_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml"/>
-    <arg name="traffic_light_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml"/>
-    <arg
-      name="virtual_traffic_light_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml"
-    />
-    <arg
-      name="occlusion_spot_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml"
-    />
-    <arg
-      name="no_stopping_area_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml"
-    />
-    <arg name="run_out_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml"/>
-    <arg name="speed_bump_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml"/>
-    <arg name="out_of_lane_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml"/>
-    <arg
-      name="behavior_velocity_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml"
-    />
+    <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="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
+    <arg name="behavior_velocity_planner_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.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"/>
 
     <!-- motion -->
-    <arg
-      name="obstacle_avoidance_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"
-    />
-    <arg name="path_sampler_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml"/>
-    <arg
-      name="obstacle_velocity_limiter_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml"
-    />
-    <arg
-      name="surround_obstacle_checker_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml"
-    />
-    <arg
-      name="obstacle_stop_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml"
-    />
-    <arg
-      name="obstacle_stop_planner_acc_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml"
-    />
-    <arg
-      name="obstacle_cruise_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"
-    />
+    <arg name="obstacle_avoidance_planner_param_path" value="$(var motion_config_path)/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"/>
+    <arg name="path_sampler_param_path" value="$(var motion_config_path)/path_sampler/path_sampler.param.yaml"/>
+    <arg name="obstacle_velocity_limiter_param_path" value="$(var motion_config_path)/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml"/>
+    <arg name="surround_obstacle_checker_param_path" value="$(var motion_config_path)/surround_obstacle_checker/surround_obstacle_checker.param.yaml"/>
+    <arg name="obstacle_stop_planner_param_path" value="$(var motion_config_path)/obstacle_stop_planner/obstacle_stop_planner.param.yaml"/>
+    <arg name="obstacle_stop_planner_acc_param_path" value="$(var motion_config_path)/obstacle_stop_planner/adaptive_cruise_control.param.yaml"/>
+    <arg name="obstacle_cruise_planner_param_path" value="$(var motion_config_path)/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"/>
     <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
     <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
     <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
     <arg name="smoother_type" value="$(var smoother_type)"/>
 
     <!-- motion velocity smoother -->
-    <arg name="motion_velocity_smoother_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
-    <arg name="smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/$(var smoother_type).param.yaml"/>
+    <arg name="motion_velocity_smoother_param_path" value="$(var common_config_path)/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
+    <arg name="smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/$(var smoother_type).param.yaml"/>
 
     <!-- planning validator -->
-    <arg name="planning_validator_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml"/>
+    <arg name="planning_validator_param_path" value="$(var common_config_path)/planning_validator/planning_validator.param.yaml"/>
   </include>
 </launch>

From 402b2ff0db017a27943df9d1f0de305ebbcd4e70 Mon Sep 17 00:00:00 2001
From: Ahmed Ebrahim <36835765+ahmeddesokyebrahim@users.noreply.github.com>
Date: Tue, 30 May 2023 11:08:25 +0300
Subject: [PATCH 2/6] feat: first draft proposal implementation for handling
 invalid lanelets (#235)

* feat: first draft proposal implementation for handling invalid lanelets

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

* style(pre-commit): autofix

* feat: adding invalid lanelet for rviz visualization

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

* feat: fixing review comment

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

* feat: changing module name from invalid_lanelet to no_drivable_lane

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

* feat: fixing merge conflict mistakes

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

* feat: fixing merge conflict mistakes

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

* feat: fixing merge conflicts

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

* feat: removing rtc handing

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

* feat(no_drivable_lane): reflecting refactoring changes to no_drivable_lane

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

---------

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../behavior_velocity_planner.param.yaml      |  1 +
 .../no_drivable_lane.param.yaml               |  5 ++++
 .../tier4_planning_component.launch.xml       |  1 +
 autoware_launch/rviz/autoware.rviz            | 24 +++++++++++++++++++
 4 files changed, 31 insertions(+)
 create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_drivable_lane.param.yaml

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
index 6f1341cb02..bbd7cd9592 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -12,6 +12,7 @@
     launch_run_out: false
     launch_speed_bump: false
     launch_out_of_lane: true
+    launch_no_drivable_lane: false
     forward_path_length: 1000.0
     backward_path_length: 5.0
     stop_line_extend_length: 5.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_drivable_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_drivable_lane.param.yaml
new file mode 100644
index 0000000000..d75acfc0b6
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_drivable_lane.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    no_drivable_lane:
+      stop_margin: 1.5 # Stop margin before the no drivable lane [m]
+      print_debug_info: false
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 2afb669018..fc868add66 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -58,6 +58,7 @@
     <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"/>
 
     <!-- parking -->
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 484ea7e8fd..a3db702f99 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1639,6 +1639,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane
                           Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (NoDrivableLane)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane
+                          Value: true
                       Enabled: true
                       Name: VirtualWall
                     - Class: rviz_common/Group
@@ -1909,6 +1921,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_avoidance
                           Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: NoDrivableLane
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane
+                          Value: false
                       Enabled: false
                       Name: DebugMarker
                     - Class: rviz_common/Group

From 0207a00964fca6fb549423a35b6f881a45ef06df Mon Sep 17 00:00:00 2001
From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date: Tue, 30 May 2023 17:34:38 +0900
Subject: [PATCH 3/6] feat(lane_change): check lateral offset at lc finish
 judgement (#375)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 .../behavior_path_planner/lane_change/lane_change.param.yaml    | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index fe24eca17d..2b736a947e 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -50,5 +50,7 @@
       aborting_time: 5.0                        # [s]
       abort_max_lateral_jerk: 100.0             # [m/s3]
 
+      finish_judge_lateral_threshold: 0.2        # [m]
+
       # debug
       publish_debug_marker: false

From d0b90397642ff17cd5d0ee6821805dcc43f05c03 Mon Sep 17 00:00:00 2001
From: beginningfan <103237402+beginningfan@users.noreply.github.com>
Date: Wed, 31 May 2023 15:36:44 +0800
Subject: [PATCH 4/6] fix(tier4_perception_component_launch): add
 sync_param_path (#350)

* fix(tier4_perception_component_launch): add sync_param_path

Signed-off-by: beginningfan <beginning.fan@autocore.ai>

* style(pre-commit): autofix

---------

Signed-off-by: beginningfan <beginning.fan@autocore.ai>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../object_recognition/detection/roi_sync.param.yaml         | 5 +++++
 .../launch/components/tier4_perception_component.launch.xml  | 1 +
 2 files changed, 6 insertions(+)
 create mode 100644 autoware_launch/config/perception/object_recognition/detection/roi_sync.param.yaml

diff --git a/autoware_launch/config/perception/object_recognition/detection/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/roi_sync.param.yaml
new file mode 100644
index 0000000000..21ba13787f
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/roi_sync.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
+    timeout_ms: 70.0
+    match_threshold_ms: 50.0
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index c0c2e4fc4c..4417dba4d8 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -21,6 +21,7 @@
       name="object_recognition_detection_pointcloud_map_filter_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml"
     />
+    <arg name="object_recognition_detection_fusion_sync_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/roi_sync.param.yaml"/>
     <arg
       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"

From a4bd169b87d54c6c3ace1f936207b2c59e68342c Mon Sep 17 00:00:00 2001
From: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Wed, 31 May 2023 17:32:39 +0900
Subject: [PATCH 5/6] feat(pull_out): support pull out normal lane (#377)

* add th_blinker_on_lateral_offset: 1.0

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* minimum_shift_pull_out_distance: 0.0

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* minimum_lateral_jerk: 0.1

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

---------

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 .../behavior_path_planner/pull_out/pull_out.param.yaml       | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
index 68000747b7..bd1ccd2065 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
@@ -4,15 +4,16 @@
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
+      th_blinker_on_lateral_offset: 1.0
       collision_check_margin: 1.0
       collision_check_distance_from_end: 1.0
       # shift pull out
       enable_shift_pull_out: true
       shift_pull_out_velocity: 2.0
       pull_out_sampling_num: 4
-      minimum_shift_pull_out_distance: 20.0
+      minimum_shift_pull_out_distance: 0.0
       maximum_lateral_jerk: 2.0
-      minimum_lateral_jerk: 0.5
+      minimum_lateral_jerk: 0.1
       deceleration_interval: 15.0
       # geometric pull out
       enable_geometric_pull_out: true

From c6312c7dcaa8fdcf17b54c11953b2c23861cd577 Mon Sep 17 00:00:00 2001
From: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Wed, 31 May 2023 23:44:26 +0900
Subject: [PATCH 6/6] feat(rtc_auto_mode_manager): delete
 external_request_lane_change from rtc auto mode manager config (#379)

---
 .../rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml      | 2 --
 1 file changed, 2 deletions(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
index af82a3461f..2e53b5d246 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -7,8 +7,6 @@
       - "intersection"
       - "no_stopping_area"
       - "traffic_light"
-      - "external_request_lane_change_left"
-      - "external_request_lane_change_right"
       - "lane_change_left"
       - "lane_change_right"
       - "avoidance_left"