golf-main

test localization_test init set projection type UTM to MGRS set use_localization true add perceeption update default values update ground remover params enable_z_axis_obstacle_filtering false add planning & control ground remover tune update mode transition param change global scope gr tune COMMITSIZ update rviz config disable slope compensation temporarily planning tune update param tune lateral and longitudinal controllers tune motion velocity smoother tune behavior velocity planner use uniform circle tune obstacle stop planner use pure pursuit use analytical filter for trajectory generation update rviz config tune ground remover rviz config set crop box size to 250 m decrease system delay update rviz config Revert "set crop box size to 250 m" This reverts commit e11f7cc. decrease min curve speed update rviz config test localization_test init set projection type UTM to MGRS set use_localization true add perceeption add planning & control COMMITSIZ update rviz config update rviz config rviz config set crop box size to 250 m update rviz config Revert "set crop box size to 250 m" This reverts commit e11f7cc. update rviz config add localization debug plugin to rviz correct avoidance_param name and update rviz cfg enable camera lidar fusion rviz config test localization_test init set projection type UTM to MGRS set use_localization true new rviz configs change voxel grid size localization util update voxel grid size for NDT set max linear and angular acc for golf fix ekf rot problem (set proc_stddev_yaw_c = 4) set max range for cropbox filter open other autoware modules rviz lastest version Revert "rviz lastest version" This reverts commit f9f5796. Revert "test" This reverts commit eb7a139. Revert "new rviz configs" This reverts commit ac65fa8. init camera_offset params longitudinal and velocity profile setup asd tmp tmp-day1-mehmetle ds sad md-change some params bk - control tune day 2 update param. tune update slope compensation new parameters tune params change map filter param update rviz param tune burdan devam good driving for demo tune ground remover deactivate stop_line module set speed bump velocity to 12 kmh set delay response to 500 ms rviz conf disable turn signal on swerving add an option for delay compensation tune euclidean clustering add an option for centerpoint score threshold add an option for disabling traffic light recognition init camera pipeline setup update rois input topic names update avoidance target objects add bag recorder package to launch add golf topics enable unknown object avoidance Merge pull request autowarefoundation#6 from leo-drive/memin/dev/fix-individual-params fix(autoware.launch.xml): read params from individual_params Merge pull request autowarefoundation#8 from leo-drive/berkay/main Planning & control related params
brkay54 · Sep 28, 2023 · bfd989d · bfd989d
1 parent 206d439
commit bfd989d
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diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
@@ -7,11 +7,11 @@
 
     # Node
     update_rate: 10.0
-    visualize_lanelet: false
-    include_right_lanes: false
+    visualize_lanelet: true
+    include_right_lanes: true
     include_left_lanes: false
     include_opposite_lanes: false
-    include_conflicting_lanes: false
+    include_conflicting_lanes: true
     boundary_types_to_detect: [road_border]
 
     # Core

diff --git a/...ig/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/...ig/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
@@ -2,7 +2,6 @@
   ros__parameters:
     transition_timeout: 10.0
     frequency_hz: 10.0
-
     # set true if you want to engage the autonomous driving mode while the vehicle is driving. If set to false, it will deny Engage in any situation where the vehicle speed is not zero. Note that if you use this feature without adjusting the parameters, it may cause issues like sudden deceleration. Before using, please ensure the engage condition and the vehicle_cmd_gate transition filter are appropriately adjusted.
     enable_engage_on_driving: false
 

diff --git a/autoware_launch/config/control/raw_vehicle_cmd_converter/config/converter.param.yaml b/autoware_launch/config/control/raw_vehicle_cmd_converter/config/converter.param.yaml
@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+    use_steer_ff: true
+    use_steer_fb: true
+    is_debugging: false
+    steer_pid:
+      kp: 150.0
+      ki: 15.0
+      kd: 0.0
+      max: 8.0
+      min: -8.0
+      max_p: 8.0
+      min_p: -8.0
+      max_i: 8.0
+      min_i: -8.0
+      max_d: 0.0
+      min_d: 0.0
+      invalid_integration_decay: 0.97
diff --git a/autoware_launch/config/control/raw_vehicle_cmd_converter/data/default/accel_map.csv b/autoware_launch/config/control/raw_vehicle_cmd_converter/data/default/accel_map.csv
@@ -0,0 +1,7 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.710,-0.063,-0.129,-0.205,-0.206,-0.208,-0.209,-0.210,-0.211,-0.259,-0.462
+0.100,0.858,0.857,0.632,0.257,0.029,0.029,0.023,-0.076,-0.115,-0.213,-0.279
+0.200,1.223,1.222,0.997,0.445,0.375,0.253,0.252,0.181,0.151,0.047,-0.030
+0.300,1.749,1.741,1.636,0.820,0.817,0.674,0.557,0.500,0.497,0.478,0.449
+0.400,2.646,2.362,2.325,1.680,1.129,1.043,0.955,0.935,0.908,0.894,0.801
+0.500,3.285,3.135,2.863,2.561,2.003,1.783,1.675,1.497,1.632,1.649,1.571
diff --git a/autoware_launch/config/control/raw_vehicle_cmd_converter/data/default/brake_map.csv b/autoware_launch/config/control/raw_vehicle_cmd_converter/data/default/brake_map.csv
@@ -0,0 +1,10 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.71,-0.063,-0.129,-0.205,-0.206,-0.208,-0.209,-0.21,-0.211,-0.259,-0.462
+0.1,0.2,-0.123,-0.151,-0.206,-0.398,-0.399,-0.4,-0.401,-0.621,-0.622,-0.623
+0.2,0.1,-0.126,-0.308,-0.364,-0.399,-0.4,-0.401,-0.709,-0.851,-0.901,-0.965
+0.3,0,-0.433,-0.716,-0.744,-0.853,-0.884,-0.966,-1.002,-1.265,-1.553,-1.637
+0.4,-0.737,-1.721,-1.734,-1.751,-1.787,-1.957,-1.958,-1.959,-1.96,-2.023,-2.107
+0.5,-0.738,-2.229,-2.23,-2.257,-2.258,-2.588,-2.661,-2.672,-2.673,-2.679,-2.68
+0.6,-0.993,-2.328,-2.344,-2.345,-2.348,-2.66,-2.72,-2.727,-2.728,-2.729,-2.73
+0.7,-1.251,-2.329,-2.345,-2.346,-2.349,-2.661,-2.722,-2.728,-2.729,-2.73,-2.731
+0.8,-2.107,-2.33,-2.7,-2.8,-2.9,-2.979,-2.961,-2.952,-2.953,-2.954,-2.955
diff --git a/autoware_launch/config/control/raw_vehicle_cmd_converter/data/default/steer_map.csv b/autoware_launch/config/control/raw_vehicle_cmd_converter/data/default/steer_map.csv
@@ -0,0 +1,14 @@
+default,-0.6,-0.5,-0.4,-0.3,-0.2,-0.1,0,0.1,0.2,0.3,0.4,0.5,0.6
+-12,-0.29,-0.3234236132,-0.3468991362,-0.37274847,-0.4288688461,-0.4696573,-0.4781014157,-0.49,-0.51,-0.52,-0.53,-0.54,-0.55
+-10,-0.2,-0.2451308686,-0.2667782734,-0.3090752469,-0.3575200568,-0.3874868999,-0.4041493831,-0.42,-0.43,-0.44,-0.45,-0.46,-0.47
+-8,-0.1,-0.1586739777,-0.2020698818,-0.2317654357,-0.2778998646,-0.3029839842,-0.3188172953,-0.32,-0.33,-0.34,-0.35,-0.36,-0.37
+-6,-0.0404761584,-0.0806574159,-0.1208386734,-0.1559621241,-0.1888907059,-0.210790018,-0.2322336736,-0.24,-0.25,-0.26,-0.27,-0.28,-0.29
+-4,0.01,-0.01428569928,-0.04,-0.06805018099,-0.09718925222,-0.1189509092,-0.1361293637,-0.14,-0.153044463,-0.1688321844,-0.18,-0.2,-0.22
+-2,0.06,0.05,0.03,0.01,-0.006091655083,-0.03546033903,-0.05319488695,-0.06097627388,-0.07576251508,-0.09165178816,-0.1,-0.12,-0.14
+0,0.11,0.09,0.07,0.05,0.03,0.01,-0.0004106386541,-0.01,-0.03,-0.05,-0.07,-0.09,-0.11
+2,0.15,0.13,0.11,0.09,0.07812978496,0.06023545297,0.04386326928,0.02314813566,0.003779338416,-0.01390526686,-0.0324840879,-0.05106290894,-0.06964172998
+4,0.24,0.22,0.2,0.1839795042,0.1649754952,0.1455879759,0.1274837062,0.1020632549,0.0861964856,0.06971503353,0.04541294018,0.01308869356,-0.01923555307
+6,0.33,0.31,0.29,0.274963497,0.2447295892,0.2337353319,0.2126138313,0.1767700907,0.1578757866,0.1440584148,0.1136331403,0.0827443595,0.05185557872
+8,0.43,0.41,0.39,0.3714915121,0.3299578073,0.3156403746,0.2997845963,0.2500495071,0.2339668568,0.2153133621,0.1815127859,0.156071251,0.1306297162
+10,0.5,0.49,0.48,0.4629455165,0.4210353203,0.3977027236,0.3865034288,0.3250957262,0.312237913,0.2885123051,0.2474220915,0.2123900615,0.1773580315
+12,0.56,0.54,0.53,0.5151036525,0.5046070554,0.4897214196,0.4687756354,0.4036994672,0.3812674227,0.3496883008,0.32482655,0.2783538423,0.2318811345
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml
@@ -1,16 +1,16 @@
 /**:
   ros__parameters:
-    ld_velocity_ratio: 2.4
+    ld_velocity_ratio: 3.0
     ld_lateral_error_ratio: 3.6
-    ld_curvature_ratio: 120.0
-    long_ld_lateral_error_threshold: 0.5
-    min_lookahead_distance: 4.35
-    max_lookahead_distance: 15.0
+    ld_curvature_ratio: 140.0
+    long_ld_lateral_error_threshold: 0.3
+    min_lookahead_distance: 4.7
+    max_lookahead_distance: 12.0
     converged_steer_rad: 0.1
     reverse_min_lookahead_distance: 7.0
     prediction_ds: 0.3
     prediction_distance_length: 21.0
     resampling_ds: 0.1
     curvature_calculation_distance: 4.0
-    enable_path_smoothing: false
+    enable_path_smoothing: true
     path_filter_moving_ave_num: 25
diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -1,57 +1,57 @@
 /**:
   ros__parameters:
-    delay_compensation_time: 0.17
+    delay_compensation_time: 0.3
 
-    enable_smooth_stop: true
-    enable_overshoot_emergency: true
-    enable_large_tracking_error_emergency: true
+    enable_smooth_stop: false
+    enable_overshoot_emergency: false
+    enable_large_tracking_error_emergency: false
     enable_slope_compensation: true
-    enable_keep_stopped_until_steer_convergence: true
+    enable_keep_stopped_until_steer_convergence: false
 
     # state transition
     drive_state_stop_dist: 0.5
-    drive_state_offset_stop_dist: 1.0
+    drive_state_offset_stop_dist: 1.5
     stopping_state_stop_dist: 0.5
     stopped_state_entry_duration_time: 0.1
-    stopped_state_entry_vel: 0.01
+    stopped_state_entry_vel: 0.05
     stopped_state_entry_acc: 0.1
     emergency_state_overshoot_stop_dist: 1.5
     emergency_state_traj_trans_dev: 3.0
     emergency_state_traj_rot_dev: 0.7854
 
     # drive state
-    kp: 1.0
-    ki: 0.1
+    kp: 1.2
+    ki: 1.0
     kd: 0.0
-    max_out: 1.0
-    min_out: -1.0
-    max_p_effort: 1.0
-    min_p_effort: -1.0
-    max_i_effort: 0.3
-    min_i_effort: -0.3
-    max_d_effort: 0.0
-    min_d_effort: 0.0
-    lpf_vel_error_gain: 0.9
-    current_vel_threshold_pid_integration: 0.5
-    enable_brake_keeping_before_stop: false
-    brake_keeping_acc: -0.2
+    max_out: 1.5
+    min_out: -1.5
+    max_p_effort: 1.5
+    min_p_effort: -1.5
+    max_i_effort: 0.7
+    min_i_effort: -0.7
+    max_d_effort: 0.3
+    min_d_effort: -0.3
+    lpf_vel_error_gain: 0.5
+    current_vel_threshold_pid_integration: 0.1
+    enable_brake_keeping_before_stop: true
+    brake_keeping_acc: -0.3
 
     # smooth stop state
     smooth_stop_max_strong_acc: -0.5
-    smooth_stop_min_strong_acc: -0.8
-    smooth_stop_weak_acc: -0.3
-    smooth_stop_weak_stop_acc: -0.8
-    smooth_stop_strong_stop_acc: -3.4
+    smooth_stop_min_strong_acc: -1.5
+    smooth_stop_weak_acc: -0.1
+    smooth_stop_weak_stop_acc: -0.5
+    smooth_stop_strong_stop_acc: -1.5
     smooth_stop_max_fast_vel: 0.5
     smooth_stop_min_running_vel: 0.01
     smooth_stop_min_running_acc: 0.01
     smooth_stop_weak_stop_time: 0.8
-    smooth_stop_weak_stop_dist: -0.3
-    smooth_stop_strong_stop_dist: -0.5
+    smooth_stop_weak_stop_dist: -0.1
+    smooth_stop_strong_stop_dist: -0.3
 
     # stopped state
     stopped_vel: 0.0
-    stopped_acc: -3.4
+    stopped_acc: -1.5
     stopped_jerk: -5.0
 
     # emergency state
@@ -60,15 +60,16 @@
     emergency_jerk: -3.0
 
     # acceleration limit
-    max_acc: 3.0
-    min_acc: -5.0
+    max_acc: 1.5
+    min_acc: -2.0
 
     # jerk limit
-    max_jerk: 2.0
+    max_jerk: 5.0
     min_jerk: -5.0
 
-    # pitch
+    # slope compensation
     use_trajectory_for_pitch_calculation: false
-    lpf_pitch_gain: 0.95
-    max_pitch_rad: 0.1
-    min_pitch_rad: -0.1
+    lpf_pitch_gain: 0.9
+    max_pitch_rad: 0.25
+    min_pitch_rad: -0.15
+
diff --git a/autoware_launch/config/control/trajectory_follower/trajectory_follower_node.param.yaml b/autoware_launch/config/control/trajectory_follower/trajectory_follower_node.param.yaml
@@ -1,4 +1,4 @@
 /**:
   ros__parameters:
-    ctrl_period: 0.03
+    ctrl_period: 0.033
     timeout_thr_sec: 0.5
diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -4,11 +4,11 @@
     system_emergency_heartbeat_timeout: 0.5
     use_emergency_handling: false
     check_external_emergency_heartbeat: false
-    use_start_request: false
+    use_start_request: true
     enable_cmd_limit_filter: true
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
-    emergency_acceleration: -2.4
+    emergency_acceleration: -5.0
     moderate_stop_service_acceleration: -1.5
     stopped_state_entry_duration_time: 0.1
     stop_check_duration: 1.0

diff --git a/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml b/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml
@@ -2,10 +2,10 @@
   ros__parameters:
     input_frame: "base_link"
     output_frame: "base_link"
-    min_x: -60.0
-    max_x: 60.0
-    min_y: -60.0
-    max_y: 60.0
+    min_x: -150.0
+    max_x: 150.0
+    min_y: -150.0
+    max_y: 150.0
     min_z: -30.0
-    max_z: 50.0
+    max_z: 100.0
     negative: False
diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -18,9 +18,9 @@
     twist_gate_dist: 10000.0
 
     # for process model
-    proc_stddev_yaw_c: 0.005
-    proc_stddev_vx_c: 10.0
-    proc_stddev_wz_c: 5.0
+    proc_stddev_yaw_c: 0.4
+    proc_stddev_vx_c: 8.0
+    proc_stddev_wz_c: 1.0
 
     # for diagnostics
     pose_no_update_count_threshold_warn: 50

diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     # Use dynamic map loading
-    use_dynamic_map_loading: true
+    use_dynamic_map_loading: false
 
     # Vehicle reference frame
     base_frame: "base_link"

diff --git a/autoware_launch/config/localization/voxel_grid_filter.param.yaml b/autoware_launch/config/localization/voxel_grid_filter.param.yaml
@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
-    voxel_size_x: 3.0
-    voxel_size_y: 3.0
-    voxel_size_z: 3.0
+    voxel_size_x: 1.75
+    voxel_size_y: 1.75
+    voxel_size_z: 1.75
diff --git a/autoware_launch/config/map/pointcloud_map_loader.param.yaml b/autoware_launch/config/map/pointcloud_map_loader.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     enable_whole_load: true
-    enable_downsampled_whole_load: false
+    enable_downsampled_whole_load: true
     enable_partial_load: true
     enable_differential_load: true
     enable_selected_load: false

diff --git a/...e_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml b/...e_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+
+    # distance threshold for compare compare
+    distance_threshold: 0.2
+
+    # publish voxelized map pointcloud for debug
+    publish_debug_pcd: False
+
+    # use dynamic map loading
+    use_dynamic_map_loading: False
+
+    # time interval to check dynamic map loading
+    timer_interval_ms: 100
+
+    # distance threshold for dynamic map update
+    map_update_distance_threshold: 10.0
+
+    # radius map for dynamic map loading
+    map_loader_radius: 150.0
diff --git a/...ch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml b/...ch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    max_cluster_size: 1000
-    min_cluster_size: 10
+    max_cluster_size: 10000
+    min_cluster_size: 1
     tolerance: 0.7
     use_height: false
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    input_frame: base_link
+    output_frame: base_link
+    voxel_size_x: 0.3
+    voxel_size_y: 0.3
+    voxel_size_z: 100.0
+    voxel_points_threshold: 1
diff --git a/...re_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml b/...re_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    input_frame: base_link
+    output_frame: base_link
+    voxel_size_x: 0.2
+    voxel_size_y: 0.2
+    voxel_size_z: 0.2
diff --git a/...ion/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/...ion/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
@@ -3,8 +3,8 @@
     tolerance: 0.7
     voxel_leaf_size: 0.3
     min_points_number_per_voxel: 1
-    min_cluster_size: 10
-    max_cluster_size: 3000
+    min_cluster_size: 1
+    max_cluster_size: 10000
     use_height: false
     input_frame: "base_link"
 

diff --git a/...perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml b/...perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
-    input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
+    input_offset_ms: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
     timeout_ms: 70.0
     match_threshold_ms: 50.0
diff --git a/...g/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml b/...g/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml
@@ -10,7 +10,7 @@
       BICYCLE : false
       PEDESTRIAN : false
 
-    upper_bound_x: 100.0
-    lower_bound_x: 0.0
-    upper_bound_y: 10.0
-    lower_bound_y: -10.0
+    upper_bound_x: 50.0
+    lower_bound_x: -5.0
+    upper_bound_y: 15.0
+    lower_bound_y: -15.0
diff --git a/...erception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/...erception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
@@ -5,7 +5,7 @@
     down_sample_voxel_size: 0.1
 
     # distance threshold for compare compare
-    distance_threshold: 0.5
+    distance_threshold: 0.7
 
     # ratio to reduce voxel_leaf_size and neighbor points distance threshold in z axis
     downsize_ratio_z_axis: 0.6
@@ -14,7 +14,7 @@
     publish_debug_pcd: False
 
     # use dynamic map loading
-    use_dynamic_map_loading: True
+    use_dynamic_map_loading: False
 
     # time interval to check dynamic map loading
     timer_interval_ms: 100

diff --git a/...ption/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/...ption/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
@@ -56,7 +56,7 @@
 
     min_iou_matrix: # If value is negative, it will be ignored.
       #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,   MOTORBIKE, BICYCLE, PEDESTRIAN
-      [0.0001,  0.1,   0.1,   0.1,    0.1,       0.1,       0.1,     0.1,       #UNKNOWN
+      [0.000,  0.1,   0.1,   0.1,    0.1,       0.1,       0.1,     0.1,       #UNKNOWN
           0.1,  0.1,   0.2,   0.2,    0.2,       0.1,       0.1,     0.1,       #CAR
           0.1,  0.2,   0.3,   0.3,    0.3,       0.1,       0.1,     0.1,       #TRUCK
           0.1,  0.2,   0.3,   0.3,    0.3,       0.1,       0.1,     0.1,       #BUS

diff --git a/...config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml b/...config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml
@@ -11,7 +11,7 @@ pcl_grid_map_extraction:
       y: 0.0
   cluster_extraction:
     cluster_tolerance: 0.2
-    min_num_points: 3
+    min_num_points: 1
     max_num_points: 1000000
   outlier_removal:
     is_remove_outliers: false