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feat(autoware_launch): dynamic obstacle avoidance #299

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merged 7 commits into from
Apr 28, 2023
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Merged

feat(autoware_launch): dynamic obstacle avoidance #299

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0157f3e
add param
takayuki5168 Apr 14, 2023
af1be16
update launch
takayuki5168 Apr 14, 2023
e9cc029
update for dynamic avoidance
takayuki5168 Apr 26, 2023
0ac28eb
update
takayuki5168 Apr 26, 2023
7b52ea2
update
takayuki5168 Apr 27, 2023
93e92a1
disable dynamic avoidance module
takayuki5168 Apr 27, 2023
1a8923c
pre-commit
takayuki5168 Apr 27, 2023
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20 changes: 20 additions & 0 deletions ...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,20 @@
/**:
ros__parameters:
dynamic_avoidance:
# avoidance is performed for the object type with true
target_object:
car: true
truck: true
bus: true
trailer: true
unknown: false
bicycle: false
motorcycle: true
pedestrian: false

min_obstacle_vel: 1.0 # [m/s]

drivable_area_generation:
lat_offset_from_obstacle: 0.8 # [m]
time_to_avoid: 5.0 # [s]
max_lat_offset_to_avoid: 0.5 # [m]
7 changes: 7 additions & 0 deletions ...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
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Expand Up @@ -66,3 +66,10 @@
enable_simultaneous_execution_as_candidate_module: false
priority: 3
max_module_size: 1

dynamic_avoidance:
enable_module: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
priority: 7
max_module_size: 1
4 changes: 4 additions & 0 deletions autoware_launch/launch/components/tier4_planning_component.launch.xml
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Expand Up @@ -37,6 +37,10 @@
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"
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