feat(path_generator): add parameters #1343

sasakisasaki · 2025-03-04T08:09:13Z

Description

Adds following two parameters for autoware_path_generator package on the autoware.core side.

    refine_goal_search_radius_range: 7.5  # [m]
    search_radius_decrement: 1.0

This fix is for this autoware.core side PR: autowarefoundation/autoware_core#227. Thus, THIS PR MUST BE MERGED WITH THE autoware.core SIDE PR AT THE SAME TIME TOGETHER.

How was this PR tested?

The tests are performed by using the scenario evaluator. Please see the PR description in the following PR:
autowarefoundation/autoware_core#227

Notes for reviewers

Please do not enable auto merge as we need to be aware of the timing of merge as description above.

Effects on system behavior

The autoware.core side will have a feature that makes the path smooth (link to PR)

* This fix is for the following PR: autowarefoundation/autoware_core#227 Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

github-actions · 2025-03-04T08:09:23Z

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...ng/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml

…/behavior_planning/path_generator/path_generator.param.yaml Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

kosuke55

LGTM

sasakisasaki · 2025-03-11T01:58:54Z

Now let me merge with this autoware.core side PR

* feat(path_generator): add parameters (see below) * This fix is for the following PR: autowarefoundation/autoware_core#227 Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> --------- Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

* ci: cron weekdays except holidays (#51) * ci: cron week days * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * ci(sync-awf-upstream): fix failing CI (#53) ci: fix unexpected symbol: '=' * ci(sync-awf-upstream): change awf sync time (#56) ci: change awf sync time * chore: sync files (#122) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: shmpwk <shmpwk@users.noreply.github.com> * ci(dispatch-release-note): trigger by action_repository name (#150) feat(dispatch-release-note): trigger by action_repository name * chore: sync files (#181) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: shmpwk <shmpwk@users.noreply.github.com> * chore: sync files (#200) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: shmpwk <shmpwk@users.noreply.github.com> * chore: sync files (#202) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: shmpwk <shmpwk@users.noreply.github.com> * chore: update sync upstream script (#236) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * chore: add workflow to merge beta branch to tier4 main (#239) * chore: add workflow to merge beta branch to tier4 main Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: fix workflow name Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: fix job name and pr-label Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: fix variable name Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> --------- Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * chore: sync files (#251) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com> * chore: sync files (#255) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com> * feat(start_planner): add surround moving obstacle check (#723) update start_planner.param.yaml Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * feat: add github workflow of create-awf-latest.yml Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix(pointpainting): update parameter structure (#778) * fix(pointpainting): update parameter structure Signed-off-by: kminoda <koji.minoda@tier4.jp> * update roi_sync.param.yaml Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(rviz): hide traffic light regulatory element id (#777) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (#267) feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (#730) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * feat(start_planner): keep distance against front objects (#766) Add collision check margin from front object Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * feat(start_planner): define collision check margin as list (#770) * Update collision check margins in start planner configuration Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix(intersection): fix bugs (#781) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * feat(multi_object_tracker): fix typo in param name and change default value (#271) feat(multi_object_tracker): fix typo in param name and change default value (#785) * fix(multi_object_tracker): fix typo in param name * feat: update default param --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> * feat: add sync-awf-latest.yaml (#272) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: disable auto-merge of sync-awf-latest (#274) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat(start_planner): shorten max backward distance (#734) Update start_planner.param.yaml * feat: enable auto-merge in sync-awf-latest.yaml Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: sync files (#291) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com> * chore: sync files (#299) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com> * feat: use tier4/awf-latest for upstream sync Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: sync files (#315) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com> * chore: remove unnecessary workflows Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: update CODEOWNERS (#340) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * feat(ci): add sync-tier4-upstream-up-to-tag (#347) * feat(ci): add sync-tier4-upstream-up-to-tag * style(pre-commit): autofix * delete quote --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat: run sync-awf-latest every one hour (#365) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix: cherry-pick necessary changes from tier4/main (#368) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: sync files (#379) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * fix: add has_variance to pointpainting.param.yaml Signed-off-by: tzhong518 <sworgun@gmail.com> * chore: sync files (#391) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * ci: add comment-on-pr.yaml (#400) * chore: sync files (#427) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * chore: sync files (#440) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * Merge pull request #453 from tier4/feat/disable-aeb-diagnostics-check feat(aeb): disable aeb diagnostics check * feat(diagnostic_graph_utils): launch logging node for diagnostic_graph Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * ci: add sync-beta-upstream (#459) * ci: add sync-beta-upstream Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * ci: add sync-beta-upstream (#459) * ci: add sync-beta-upstream Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(behavior_path_planner): add yaw threshold param (autowarefoundation#1040) add yaw threshold param Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Revert "fix(api): disable rosbridge to fix duplicated node (#497)" This reverts commit 1b04604. * refactor(behavior_path_planner): remove unnecessary parameters (autowarefoundation#1172) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * refactor(system_monitor/ntp_monitor): add-missing-parameters (autowarefoundation#1174) refactor: add-missing-parameters Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * refactor(system_monitor/net_monitor): remove-missing-patameters (autowarefoundation#1175) refactor: remove-missing-patameters Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * feat(emergency_handler): delete package (autowarefoundation#1173) * feat(emergency_handler): delete package Signed-off-by: veqcc <ryuta.kambe@tier4.jp> * feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (autowarefoundation#1144) change the way to declare camera num Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * fix(perception): adopt awsim (tlr) camera topic (autowarefoundation#1177) Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * feat(system_error_monitor): delete system error monitor (autowarefoundation#1178) feat: delete system error monitor Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * feat(system_monitor): disable traffic monitor Signed-off-by: takeshi.iwanari <take.iwiw2222@gmail.com> * fix Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * Merge pull request #734 from tier4/feat/traffic_light-v2i feat(traffic_light_module): add v2i to behavior_velocity_traffic_light * feat(rviz): update autoware.rviz for motion_velocity_obstacle_<stop/slow_down/cruise>_module (autowarefoundation#1314) * feat: add motion_velocity_obstacle_stop/slow_down/cruise_module Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update autoware.rviz Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update rviz Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * disable obstacle_cruise_planner Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update motion velocity planner params Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add module.param.yaml Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * enable obstacle_cruise_planner Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat: use motion_velocity_obstacle_<stop/slow_down/cruise>_module (autowarefoundation#1315) Revert "enable obstacle_cruise_planner" This reverts commit cbd6873. * Added pr-label "run:build-and-test-differential" Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * feat(behavior_planning): add behavior_path_planner_type to launch path_generator (autowarefoundation#1342) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat(path_generator): add parameters (autowarefoundation#1343) * feat(path_generator): add parameters (see below) * This fix is for the following PR: autowarefoundation/autoware_core#227 Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> --------- Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * fix(planning): param update for sudden stop (autowarefoundation#1345) fix for x1 Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> * fix(sync-files): remove backport.yaml from source Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * chore: sync files (#448) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> --------- Signed-off-by: GitHub <noreply@github.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Signed-off-by: tzhong518 <sworgun@gmail.com> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> Signed-off-by: Hayato Mizushima <hayato-m126@users.noreply.github.com> Signed-off-by: takeshi.iwanari <take.iwiw2222@gmail.com> Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: shmpwk <shmpwk@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: github-actions <github-actions@github.com> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: tzhong518 <sworgun@gmail.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: danielsanchezaran <daniel.sanchez@tier4.jp> Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com> Co-authored-by: Ryuta Kambe <ryuta.kambe@tier4.jp> Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Co-authored-by: takeshi.iwanari <take.iwiw2222@gmail.com> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Kem (TiankuiXian) <1041084556@qq.com> Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Co-authored-by: SakodaShintaro <rgbygscrsedppbwg@gmail.com> Co-authored-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: Junya Sasaki <j2sasaki1990@gmail.com> Co-authored-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

feat(path_generator): add parameters (see below)

e1fabc8

* This fix is for the following PR: autowarefoundation/autoware_core#227 Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

sasakisasaki changed the title ~~feat(path_generator): add parameters (see below)~~ feat(path_generator): add parameters Mar 5, 2025

sasakisasaki added the run:build-and-test-differential label Mar 5, 2025

sasakisasaki mentioned this pull request Mar 5, 2025

feat(autoware_path_generator): function to smooth the path autowarefoundation/autoware_core#227

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kosuke55 marked this pull request as ready for review March 10, 2025 01:14

kosuke55 requested review from takayuki5168, rej55, satoshi-ota, shmpwk, kosuke55, yuki-takagi-66, mkquda, kyoichi-sugahara, zulfaqar-azmi-t4, maxime-clem, soblin and yhisaki as code owners March 10, 2025 01:14

kosuke55 reviewed Mar 10, 2025

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...ng/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml Outdated Show resolved Hide resolved

Update autoware_launch/config/planning/scenario_planning/lane_driving…

033f5cf

…/behavior_planning/path_generator/path_generator.param.yaml Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

kosuke55 approved these changes Mar 10, 2025

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sasakisasaki merged commit cea7f5a into autowarefoundation:main Mar 11, 2025
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tier4-autoware-public-bot bot mentioned this pull request Mar 11, 2025

chore: sync awf-latest tier4/autoware_launch#781

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SakodaShintaro mentioned this pull request Mar 11, 2025

chore: cherry pick/1343 tier4/autoware_launch#782

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feat(path_generator): add parameters #1343

feat(path_generator): add parameters #1343

sasakisasaki commented Mar 4, 2025 •

edited by kosuke55

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sasakisasaki commented Mar 11, 2025

feat(path_generator): add parameters #1343

feat(path_generator): add parameters #1343

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sasakisasaki commented Mar 4, 2025 • edited by kosuke55 Loading

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How was this PR tested?

Notes for reviewers

Effects on system behavior

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sasakisasaki commented Mar 11, 2025

sasakisasaki commented Mar 4, 2025 •

edited by kosuke55

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