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 index 2d044e7cfd..3acec5a048 100644 --- 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/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml index a4e8ab2c83..0af8feabd4 100644 --- a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml +++ b/autoware_launch/config/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 new file mode 100644 index 0000000000..3e98b794d8 --- /dev/null +++ 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 new file mode 100644 index 0000000000..5a41cb3d33 --- /dev/null +++ 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 new file mode 100644 index 0000000000..d9965c50b1 --- /dev/null +++ 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 new file mode 100644 index 0000000000..3da0e0cd54 --- /dev/null +++ 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 index 0b8b464e9f..ff4712a7e5 100644 --- 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 index bc3213081d..39cf6164be 100644 --- 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 index dcd985bb4a..8afda3033d 100644 --- 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 index 191e894622..2a397d421f 100644 --- 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 index ad55423154..257137ad30 100644 --- 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 index 667217d259..4a97019408 100644 --- 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 index 718bc6ca3b..5ae49b11aa 100644 --- 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 index 51a7ee9d89..7b8bd9250d 100644 --- 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 index ba4c032d3e..26240e640c 100644 --- 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/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml new file mode 100644 index 0000000000..9946223e13 --- /dev/null +++ b/autoware_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/autoware_launch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml index 1411f766b4..f75229ab8f 100644 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml +++ b/autoware_launch/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 new file mode 100644 index 0000000000..aaf1c4c983 --- /dev/null +++ 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/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml new file mode 100644 index 0000000000..d781245d43 --- /dev/null +++ b/autoware_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/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml index 26b027f007..26ff9afed8 100644 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml +++ b/autoware_launch/config/perception/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/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml index 21ba13787f..c209705003 100644 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml +++ b/autoware_launch/config/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/autoware_launch/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml index 70afd9d31b..72331cf974 100644 --- a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml +++ b/autoware_launch/config/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/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml index 62b3074c15..e2952f269d 100644 --- a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml +++ b/autoware_launch/config/perception/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/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml index 13f2220655..a453f3da77 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml +++ b/autoware_launch/config/perception/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/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml index 781ccb806b..61e4cab35e 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml +++ b/autoware_launch/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 diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index b367fef386..ff65f51bc0 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -18,12 +18,12 @@ common_ground_filter: plugin: "ground_segmentation::ScanGroundFilterComponent" parameters: - global_slope_max_angle_deg: 10.0 - local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode + global_slope_max_angle_deg: 45.0 + local_slope_max_angle_deg: 45.0 # recommended 30.0 for non elevation_grid_mode split_points_distance_tolerance: 0.2 use_virtual_ground_point: True - split_height_distance: 0.2 - non_ground_height_threshold: 0.20 + split_height_distance: 0.35 + non_ground_height_threshold: 0.45 grid_size_m: 0.1 grid_mode_switch_radius: 20.0 gnd_grid_buffer_size: 4 diff --git a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml index 9b7dcffbc6..db684c2ce1 100644 --- a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml +++ b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml @@ -2,10 +2,10 @@ ros__parameters: map_frame: map arrival_check_angle_deg: 45.0 - arrival_check_distance: 1.0 - arrival_check_duration: 1.0 + arrival_check_distance: 3.0 + arrival_check_duration: 0.2 goal_angle_threshold_deg: 45.0 - enable_correct_goal_pose: false + enable_correct_goal_pose: true reroute_time_threshold: 10.0 minimum_reroute_length: 30.0 consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not. diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 6bb130e805..eb557c37d9 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -2,14 +2,14 @@ ros__parameters: # constraints param for normal driving normal: - min_acc: -1.0 # min deceleration [m/ss] + min_acc: -1.5 # min deceleration [m/ss] max_acc: 1.0 # max acceleration [m/ss] - min_jerk: -1.0 # min jerk [m/sss] + min_jerk: -1.5 # min jerk [m/sss] max_jerk: 1.0 # max jerk [m/sss] # constraints to be observed limit: - min_acc: -2.5 # min deceleration limit [m/ss] - max_acc: 1.0 # max acceleration limit [m/ss] - min_jerk: -1.5 # min jerk limit [m/sss] - max_jerk: 1.5 # max jerk limit [m/sss] + min_acc: -2.0 # min deceleration limit [m/ss] + max_acc: 1.5 # max acceleration limit [m/ss] + min_jerk: -2.0 # min jerk limit [m/sss] + max_jerk: 1.5 # max jerk limit [m/sss] diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml index 329714e3d3..e3d4027ee4 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml @@ -7,13 +7,13 @@ latacc: enable_constant_velocity_while_turning: false - constant_velocity_dist_threshold: 2.0 + constant_velocity_dist_threshold: 1.0 forward: max_acc: 1.0 - min_acc: -1.0 - max_jerk: 0.3 - min_jerk: -0.3 + min_acc: -1.5 + max_jerk: 0.9 + min_jerk: -1.5 kp: 0.3 backward: diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 235c76a5c1..5841e05e16 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: # motion state constraints - max_velocity: 20.0 # max velocity limit [m/s] + max_velocity: 8.34 # max velocity limit [m/s] stop_decel: 0.0 # deceleration at a stop point[m/ss] # external velocity limit parameter @@ -25,14 +25,14 @@ # engage & replan parameters replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] - engage_velocity: 0.25 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.1 # engage acceleration [m/ss] (use this acceleration when engagement) - engage_exit_ratio: 0.5 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. - stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] + engage_velocity: 0.1 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) + engage_acceleration: 0.4 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_exit_ratio: 0.05 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. + stop_dist_to_prohibit_engage: 2.0 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] # stop velocity - stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] - stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. + stopping_velocity: 0.0 # change target velocity to this value before v=0 point [m/s] + stopping_distance: 0.1 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. # path extraction parameters extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index c91ec0e88b..1a01aa2175 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -9,7 +9,7 @@ # avoidance module common setting enable_bound_clipping: false - enable_force_avoidance_for_stopped_vehicle: false + enable_force_avoidance_for_stopped_vehicle: true enable_yield_maneuver: true enable_yield_maneuver_during_shifting: false enable_cancel_maneuver: true @@ -17,7 +17,7 @@ # drivable area setting use_adjacent_lane: true - use_opposite_lane: true + use_opposite_lane: false use_intersection_areas: true use_hatched_road_markings: true @@ -98,7 +98,7 @@ safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 pedestrian: - is_target: true + is_target: false execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -167,7 +167,7 @@ max_left_shift_length: 5.0 # avoidance distance parameters longitudinal: - prepare_time: 2.0 # [s] + prepare_time: 4.0 # [s] remain_buffer_distance: 30.0 # [m] min_prepare_distance: 1.0 # [m] min_slow_down_speed: 1.38 # [m/s] @@ -202,10 +202,10 @@ constraints: # lateral constraints lateral: - velocity: [1.0, 1.38, 11.1] # [m/s] + velocity: [1.39, 5.6, 11.1] # [m/s] max_accel_values: [0.5, 0.5, 0.5] # [m/ss] min_jerk_values: [0.2, 0.2, 0.2] # [m/sss] - max_jerk_values: [1.0, 1.0, 1.0] # [m/sss] + max_jerk_values: [1.0, 0.5, 0.3] # [m/sss] # longitudinal constraints longitudinal: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 5de4c0d27b..98365baaa9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -20,7 +20,7 @@ turn_signal_minimum_search_distance: 10.0 turn_signal_search_time: 3.0 turn_signal_shift_length_threshold: 0.3 - turn_signal_on_swerving: true + turn_signal_on_swerving: false enable_akima_spline_first: false enable_cog_on_centerline: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 160ebdc180..0048acfcef 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -25,7 +25,7 @@ max_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit) resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used) expansion: - method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'. + method: lanelet # method used to expand the drivable area. Either 'lanelet' or 'polygon'. # 'lanelet': add lanelets overlapped by the ego footprints # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) 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 7a0ef047f7..d1600d7433 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 @@ -18,9 +18,9 @@ - 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::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::RunOutModulePlugin + - behavior_velocity_planner::SpeedBumpModulePlugin - behavior_velocity_planner::OutOfLaneModulePlugin # behavior_velocity_planner::NoDrivableLaneModulePlugin diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 0c12624f3b..ce760701b5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -61,7 +61,7 @@ object_filtering: crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk target_object: - unknown: true # [-] whether to look and stop by UNKNOWN objects + unknown: false # [-] whether to look and stop by UNKNOWN objects bicycle: true # [-] whether to look and stop by BICYCLE objects motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.) pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml index ef61bdb743..894c68dc1a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml @@ -2,12 +2,12 @@ ros__parameters: speed_bump: slow_start_margin: 1.0 - slow_end_margin: 1.0 + slow_end_margin: 0.0 print_debug_info: false # limits for speed bump height and slow down speed to create a linear equation speed_calculation: min_height: 0.05 # [m] max_height: 0.30 # [m] - min_speed: 1.39 # [m/s] = [5 kph] - max_speed: 2.78 # [m/s] = [10 kph] + min_speed: 2.5 # [m/s] = [9 kph] + max_speed: 3.34 # [m/s] = [12 kph] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index bb64006656..1ec231f4d3 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -57,7 +57,7 @@ # if collision_free_constraints.option.hard_constraint is true hard_clearance_from_road: 0.0 # clearance from road boundary[m] # if collision_free_constraints.option.soft_constraint is true - soft_clearance_from_road: 0.1 # clearance from road boundary[m] + soft_clearance_from_road: 0.2 # clearance from road boundary[m] # weight parameter for optimization weight: @@ -100,12 +100,12 @@ # how to represent footprint as circles vehicle_circles: - method: "fitting_uniform_circle" + method: "bicycle_model" bicycle_model: num_for_calculation: 3 - front_radius_ratio: 1.0 - rear_radius_ratio: 1.0 + front_radius_ratio: 1.1 + rear_radius_ratio: 1.1 uniform_circle: num: 3 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml index 73e7a578fe..df402728ed 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml @@ -13,12 +13,12 @@ obstacle_emergency_stop_acceleration: -5.0 emergency_stop_idling_time: 0.5 # supposed idling time to start emergency stop [s] min_dist_stop: 4.0 # minimum distance of emergency stop [m] - max_standard_acceleration: 0.5 # supposed maximum acceleration in active cruise control [m/ss] + max_standard_acceleration: 1.0 # supposed maximum acceleration in active cruise control [m/ss] min_standard_acceleration: -1.0 # supposed minimum acceleration (deceleration) in active cruise control standard_idling_time: 0.5 # supposed idling time to react object in active cruise control [s] - min_dist_standard: 4.0 # minimum distance in active cruise control [m] + min_dist_standard: 3.0 # minimum distance in active cruise control [m] obstacle_min_standard_acceleration: -1.5 # supposed minimum acceleration of forward obstacle [m/ss] - margin_rate_to_change_vel: 0.3 # margin to insert upper velocity [-] + margin_rate_to_change_vel: 0.1 # margin to insert upper velocity [-] use_time_compensation_to_calc_distance: true # pid parameter for ACC diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index c804cea577..71a924aebd 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -1,16 +1,16 @@ /**: ros__parameters: - chattering_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for chattering_threshold [s] + chattering_threshold: 1.0 # even if the obstacle disappears, the stop judgment continues for chattering_threshold [s] lowpass_gain: 0.9 # gain parameter for low pass filter [-] - max_velocity: 20.0 # max velocity [m/s] - enable_slow_down: False # whether to use slow down planner [-] + max_velocity: 8.34 # max velocity [m/s] + enable_slow_down: true # whether to use slow down planner [-] enable_z_axis_obstacle_filtering: True # filter obstacles in z axis (height) [-] - z_axis_filtering_buffer: 0.0 # additional buffer for z axis filtering [m] + z_axis_filtering_buffer: 0.05 # additional buffer for z axis filtering [m] voxel_grid_x: 0.05 # voxel grid x parameter for filtering pointcloud [m] voxel_grid_y: 0.05 # voxel grid y parameter for filtering pointcloud [m] voxel_grid_z: 100000.0 # voxel grid z parameter for filtering pointcloud [m] - use_predicted_objects: False # whether to use predicted objects [-] - publish_obstacle_polygon: False # whether to publish obstacle polygon [-] + use_predicted_objects: true # whether to use predicted objects [-] + publish_obstacle_polygon: true # whether to publish obstacle polygon [-] predicted_object_filtering_threshold: 1.5 # threshold for filtering predicted objects (valid only publish_obstacle_polygon true) [m] stop_planner: @@ -18,15 +18,15 @@ stop_position: max_longitudinal_margin: 5.0 # stop margin distance from obstacle on the path [m] max_longitudinal_margin_behind_goal: 3.0 # stop margin distance from obstacle behind goal on the path [m] - min_longitudinal_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m] - hold_stop_margin_distance: 0.0 # the ego keeps stopping if the ego is in this margin [m] + min_longitudinal_margin: 3.0 # stop margin distance when any other stop point is inserted in stop margin [m] + hold_stop_margin_distance: 5.0 # the ego keeps stopping if the ego is in this margin [m] # params for detection area detection_area: - lateral_margin: 0.0 # margin [m] - vehicle_lateral_margin: 0.0 # margin of vehicle footprint [m] - pedestrian_lateral_margin: 0.0 # margin of pedestrian footprint [m] - unknown_lateral_margin: 0.0 # margin of unknown footprint [m] + lateral_margin: 0.2 # margin [m] + vehicle_lateral_margin: 0.2 # margin of vehicle footprint [m] + pedestrian_lateral_margin: 0.2 # margin of pedestrian footprint [m] + unknown_lateral_margin: 0.1 # margin of unknown footprint [m] step_length: 1.0 # step length for pointcloud search range [m] enable_stop_behind_goal_for_obstacle: True # enable extend trajectory after goal lane for obstacle detection @@ -41,10 +41,10 @@ # params for detection area detection_area: - lateral_margin: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m] - vehicle_lateral_margin: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m] - pedestrian_lateral_margin: 1.0 # offset from pedestrian side edge for expanding the search area of the surrounding point cloud [m] - unknown_lateral_margin: 1.0 # offset from unknown side edge for expanding the search area of the surrounding point cloud [m] + lateral_margin: 0.3 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m] + vehicle_lateral_margin: 0.3 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m] + pedestrian_lateral_margin: 0.5 # offset from pedestrian side edge for expanding the search area of the surrounding point cloud [m] + unknown_lateral_margin: 0.3 # offset from unknown side edge for expanding the search area of the surrounding point cloud [m] # params for velocity target_velocity: diff --git a/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml b/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml new file mode 100644 index 0000000000..9e612cb967 --- /dev/null +++ b/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml @@ -0,0 +1,59 @@ +/**: + ros__parameters: + common: + database_storage: "mcap" # sqlite3 or mcap + maximum_record_time: 36000 # seconds + maximum_allowed_bag_storage_size: 7000.0 # GB + maximum_bag_file_size: 20.0 # GB + enable_only_auto_mode_recording: false # if enabled, recording occurs only "AUTO" mode + number_of_maximum_bags: 1000 # limit of stored bag file count + path: "/media/golf/DATA/TEMP/" # Path to bag file for saving + prefix: "logging_ros2bag_" # Prefix for folder name + minimum_acceptable_disk_space: 100 # GB + disk_space_threshold_action: "remove" # [remove, shutdown] remove files or shutdown node + raw_input_topics: # for rosbag-replay (logging) simulation + record_raw_input: true + raw_input_topics: + - /lucid_vision/front_camera/camera_info + - /lucid_vision/front_left_camera/camera_info + - /lucid_vision/front_right_camera/camera_info + - /lucid_vision/middle_left_camera/camera_info + - /lucid_vision/middle_right_camera/camera_info + - /lucid_vision/rear_camera/camera_info + - /lucid_vision/rear_left_camera/camera_info + - /lucid_vision/rear_right_camera/camera_info + - /perception/object_recognition/detection/front_right_camera/rois0 + - /perception/object_recognition/detection/front_camera/rois1 + - /perception/object_recognition/detection/front_left_camera/rois2 + - /perception/object_recognition/detection/middle_left_camera/rois3 + - /perception/object_recognition/detection/middle_right_camera/rois4 + - /perception/object_recognition/detection/rear_left_camera/rois5 + - /perception/object_recognition/detection/rear_right_camera/rois6 + - /perception/object_recognition/detection/rear_camera/rois7 + - /sensing/lidar/top/velodyne_packets + - /sensing/lidar/rear_right/velodyne_packets + - /sensing/lidar/rear_left/velodyne_packets + - /sensing/lidar/middle_right/velodyne_packets + - /sensing/lidar/middle_left/velodyne_packets + - /sensing/lidar/top/pointcloud_raw + - /sensing/gnss/sbg/ros/ekf_nav_sat_fix + - /sensing/gnss/sbg/ros/imu/data + - /sensing/gnss/sbg/ros/imu/mag + - /sensing/gnss/sbg/ros/nav_sat_fix + - /sensing/gnss/sbg/ros/pos_ecef + - /sensing/gnss/sbg/ros/temp + - /sensing/gnss/sbg/ros/twist_with_covariance_stamped + - /sensing/gnss/sbg/ros/utc_ref + - /sensing/gnss/sbg/status + - /vehicle/status/control_mode + - /vehicle/status/gear_status + - /vehicle/status/steering_status + - /vehicle/status/velocity_status + other_topics: # all other topics + record_other: true + other_topics: + - /perception/obstacle_segmentation/pointcloud + - /perception/object_recognition/objects + - /planning/scenario_planning/trajectory + - /planning/scenario_planning/lane_driving/behavior_planning/path + diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 5d98c9388f..64f425a4d5 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -4,7 +4,7 @@ - + @@ -31,15 +31,16 @@ - + + - + @@ -51,13 +52,14 @@ - - - - - - - + @@ -66,10 +68,10 @@ - - + + - + @@ -122,5 +124,9 @@ if="$(var rviz)" respawn="$(var rviz_respawn)" /> + + + + diff --git a/autoware_launch/launch/components/camera_components/all_camera.launch.xml b/autoware_launch/launch/components/camera_components/all_camera.launch.xml new file mode 100644 index 0000000000..0dc0907748 --- /dev/null +++ b/autoware_launch/launch/components/camera_components/all_camera.launch.xml @@ -0,0 +1,149 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autoware_launch/launch/components/camera_components/base_camera_container.launch.py b/autoware_launch/launch/components/camera_components/base_camera_container.launch.py new file mode 100755 index 0000000000..8696cc64a4 --- /dev/null +++ b/autoware_launch/launch/components/camera_components/base_camera_container.launch.py @@ -0,0 +1,177 @@ +# # Copyright 2020 Tier IV, Inc. All rights reserved. +# # +# # Licensed under the Apache License, Version 2.0 (the "License"); +# # you may not use this file except in compliance with the License. +# # You may obtain a copy of the License at +# # +# # http://www.apache.org/licenses/LICENSE-2.0 +# # +# # Unless required by applicable law or agreed to in writing, software +# # distributed under the License is distributed on an "AS IS" BASIS, +# # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# # See the License for the specific language governing permissions and +# # limitations under the License. + +import launch +from launch.actions import DeclareLaunchArgument +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition +from launch.substitutions.launch_configuration import LaunchConfiguration +from launch_ros.actions import ComposableNodeContainer +from launch_ros.descriptions import ComposableNode +from launch_ros.substitutions import FindPackageShare +from launch.actions import OpaqueFunction +import yaml + +def launch_setup(context, *args, **kwargs): + + output_topic= LaunchConfiguration("output_topic").perform(context) + + input_camera_info= LaunchConfiguration("input_camera_info").perform(context) + image_name=LaunchConfiguration("input_image").perform(context) + camera_container_name = LaunchConfiguration("camera_container_name").perform(context) + camera_ns = "/lucid_vision/" + image_name + + # tensorrt params + gpu_id = int(LaunchConfiguration("gpu_id").perform(context)) + mode= LaunchConfiguration("mode").perform(context) + calib_image_directory= FindPackageShare("tensorrt_yolo").perform(context) + "/calib_image/" + tensorrt_config_path = FindPackageShare('tensorrt_yolo').perform(context)+ "/config/" + LaunchConfiguration("yolo_type").perform(context) + ".param.yaml" + + with open(tensorrt_config_path, "r") as f: + tensorrt_yaml_param = yaml.safe_load(f)["/**"]["ros__parameters"] + + camera_param_path=FindPackageShare("arena_camera").perform(context)+"/param/"+image_name+".param.yaml" + with open(camera_param_path, "r") as f: + camera_yaml_param = yaml.safe_load(f)["/**"]["ros__parameters"] + + + container = ComposableNodeContainer( + name=camera_container_name, + namespace="/perception/object_detection", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + output="screen", + composable_node_descriptions=[ + ComposableNode( + package="arena_camera", + plugin="ArenaCameraNode", + name="arena_camera_node", + parameters=[{ + "camera_name": camera_yaml_param['camera_name'], + "frame_id": camera_yaml_param['frame_id'], + "pixel_format": camera_yaml_param['pixel_format'], + "serial_no": camera_yaml_param['serial_no'], + "camera_info_url": camera_yaml_param['camera_info_url'], + "fps": camera_yaml_param['fps'], + "horizontal_binning": camera_yaml_param['horizontal_binning'], + "vertical_binning": camera_yaml_param['vertical_binning'], + "use_default_device_settings": camera_yaml_param['use_default_device_settings'], + "exposure_auto": camera_yaml_param['exposure_auto'], + "exposure_target": camera_yaml_param['exposure_target'], + "gain_auto": camera_yaml_param['gain_auto'], + "gain_target": camera_yaml_param['gain_target'], + "gamma_target": camera_yaml_param['gamma_target'], + "enable_compressing": camera_yaml_param['enable_compressing'], + "enable_rectifying": camera_yaml_param['enable_rectifying'], + }], + remappings=[ + ], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ), + ComposableNode( + namespace=camera_ns, + package='image_proc', + plugin='image_proc::RectifyNode', + name='rectify_camera_image_node', + # Remap subscribers and publishers + remappings=[ + ('image', camera_ns+"/image"), + ('camera_info', input_camera_info), + ('image_rect', 'image_rect') + ], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ), + + ComposableNode( + namespace='/perception/object_recognition/detection', + package="tensorrt_yolo", + plugin="object_recognition::TensorrtYoloNodelet", + name="tensorrt_yolo", + parameters=[ + { + "mode": mode, + "gpu_id": gpu_id, + "onnx_file": FindPackageShare("tensorrt_yolo").perform(context) + "/data/" + LaunchConfiguration("yolo_type").perform(context) + ".onnx", + "label_file": FindPackageShare("tensorrt_yolo").perform(context) + "/data/" + LaunchConfiguration("label_file").perform(context), + "engine_file": FindPackageShare("tensorrt_yolo").perform(context) + "/data/"+ LaunchConfiguration("yolo_type").perform(context) + ".engine", + "calib_image_directory": calib_image_directory, + "calib_cache_file": FindPackageShare("tensorrt_yolo").perform(context) + "/data/" + LaunchConfiguration("yolo_type").perform(context) + ".cache", + "num_anchors": tensorrt_yaml_param['num_anchors'], + "anchors": tensorrt_yaml_param['anchors'], + "scale_x_y": tensorrt_yaml_param['scale_x_y'], + "score_threshold": tensorrt_yaml_param['score_threshold'], + "iou_thresh": tensorrt_yaml_param['iou_thresh'], + "detections_per_im": tensorrt_yaml_param['detections_per_im'], + "use_darknet_layer": tensorrt_yaml_param['use_darknet_layer'], + "ignore_thresh": tensorrt_yaml_param['ignore_thresh'], + } + ], + remappings=[ + ("in/image", camera_ns+"/image_rect"), + ("out/objects", output_topic), + ("out/image", output_topic + "/debug/image"), + ], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ), + ], + + ) + return [container] + + +def generate_launch_description(): + launch_arguments = [] + + def add_launch_arg(name: str, default_value=None, description=None): + # a default_value of None is equivalent to not passing that kwarg at all + launch_arguments.append( + DeclareLaunchArgument(name, default_value=default_value, description=description) + ) + add_launch_arg("mode","") + add_launch_arg("input_image","", description="input camera topic") + add_launch_arg("camera_container_name","") + add_launch_arg("input_camera_info", "", description="input camera info topic") + add_launch_arg("yolo_type","", description="yolo model type") + add_launch_arg("label_file","" ,description="tensorrt node label file") + add_launch_arg("gpu_id","", description="gpu setting") + add_launch_arg("use_intra_process", "", "use intra process") + add_launch_arg("use_multithread", "", "use multithread") + + + + set_container_executable = SetLaunchConfiguration( + "container_executable", + "component_container", + condition=UnlessCondition(LaunchConfiguration("use_multithread")), + ) + + set_container_mt_executable = SetLaunchConfiguration( + "container_executable", + "component_container_mt", + condition=IfCondition(LaunchConfiguration("use_multithread")), + ) + + return launch.LaunchDescription( + launch_arguments + + [set_container_executable, set_container_mt_executable] + + [OpaqueFunction(function=launch_setup)] + ) + diff --git a/autoware_launch/launch/components/test.launch.xml b/autoware_launch/launch/components/test.launch.xml new file mode 100644 index 0000000000..39e7c52d7e --- /dev/null +++ b/autoware_launch/launch/components/test.launch.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 8b29135048..aece1d1476 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -1,11 +1,11 @@ - + - + @@ -43,4 +43,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 342396934c..eb71a9aa59 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -2,7 +2,7 @@ - + + + + + + + + @@ -22,6 +29,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 7eb13135d3..5e14aa1b60 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -14,11 +14,11 @@ - - - + + + - + @@ -64,7 +64,7 @@ - + diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py index 87c46bce69..d168ffa951 100644 --- a/autoware_launch/launch/pointcloud_container.launch.py +++ b/autoware_launch/launch/pointcloud_container.launch.py @@ -48,7 +48,7 @@ def add_launch_arg(name: str, default_value=None): return LaunchDescription( [ - add_launch_arg("use_multithread", "false"), + add_launch_arg("use_multithread", "true"), add_launch_arg("container_name", "pointcloud_container"), set_container_executable, set_container_mt_executable, diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 00e924da39..babc4a8244 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -3,9 +3,10 @@ Panels: Help Height: 0 Name: Displays Property Tree Widget: - Expanded: ~ + Expanded: + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 Splitter Ratio: 0.557669460773468 - Tree Height: 397 + Tree Height: 140 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -13,7 +14,8 @@ Panels: Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz_common/Views - Expanded: ~ + Expanded: + - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: AutowareDateTimePanel @@ -35,7 +37,8 @@ Visualization Manager: Show Arrows: true Show Axes: true Show Names: true - Tree: {} + Tree: + {} Update Interval: 0 Value: false - Alpha: 0.5 @@ -60,9 +63,12 @@ Visualization Manager: Displays: - Class: rviz_plugins/SteeringAngle Enabled: true + Left: 64 + Length: 128 Name: SteeringAngle Scale: 17 Text Color: 25; 255; 240 + Top: 64 Topic: Depth: 5 Durability Policy: Volatile @@ -70,12 +76,15 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/steering_status Value: true + Value Scale: 0.14999249577522278 Value height offset: 0 - Class: rviz_plugins/ConsoleMeter Enabled: true + Left: 256 + Length: 128 Name: ConsoleMeter - Scale: 3 Text Color: 25; 255; 240 + Top: 64 Topic: Depth: 5 Durability Policy: Volatile @@ -83,17 +92,9 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/velocity_status Value: true + Value Scale: 0.14999249577522278 Value height offset: 0 - - Class: rviz_plugins/AccelerationMeter - Enabled: false - Name: AccelerationMeter - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/acceleration - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Class: rviz_plugins/VelocityHistory Color Border Vel Max: 3 Constant Color: @@ -124,159 +125,154 @@ Visualization Manager: Enabled: true Links: All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 0.999 - Show Axes: false - Show Trail: false - Value: true - camera0/camera_link: - Alpha: 0.999 + CAM_B/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - camera0/camera_optical_link: - Alpha: 0.999 + CAM_B/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - camera1/camera_link: - Alpha: 0.999 + CAM_BL/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - camera1/camera_optical_link: - Alpha: 0.999 + CAM_BL/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - camera2/camera_link: - Alpha: 0.999 + CAM_BR/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - camera2/camera_optical_link: - Alpha: 0.999 + CAM_BR/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - camera3/camera_link: - Alpha: 0.999 + CAM_F/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - camera3/camera_optical_link: - Alpha: 0.999 + CAM_F/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - camera4/camera_link: - Alpha: 0.999 + CAM_FL/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - camera4/camera_optical_link: - Alpha: 0.999 + CAM_FL/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - camera5/camera_link: - Alpha: 0.999 + CAM_FR/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - camera5/camera_optical_link: - Alpha: 0.999 + CAM_FR/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - gnss_link: - Alpha: 0.999 + CAM_ML/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - livox_front_left: - Alpha: 0.999 + CAM_ML/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - livox_front_left_base_link: - Alpha: 0.999 + CAM_MR/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - livox_front_right: - Alpha: 0.999 + CAM_MR/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - livox_front_right_base_link: - Alpha: 0.999 + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + GNSS_INS/gnss_ins_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - sensor_kit_base_link: - Alpha: 0.999 - Show Axes: false - Show Trail: false - tamagawa/imu_link: - Alpha: 0.999 + GNSS_INS_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - traffic_light_left_camera/camera_link: - Alpha: 0.999 + Link Tree Style: Links in Alphabetic Order + VLP16_BL: + Alpha: 1 Show Axes: false Show Trail: false Value: true - traffic_light_left_camera/camera_optical_link: - Alpha: 0.999 + VLP16_BL_base_link: + Alpha: 1 Show Axes: false Show Trail: false - traffic_light_right_camera/camera_link: - Alpha: 0.999 + Value: true + VLP16_BR: + Alpha: 1 Show Axes: false Show Trail: false Value: true - traffic_light_right_camera/camera_optical_link: - Alpha: 0.999 + VLP16_BR_base_link: + Alpha: 1 Show Axes: false Show Trail: false - velodyne_left: - Alpha: 0.999 + Value: true + VLP16_ML: + Alpha: 1 Show Axes: false Show Trail: false Value: true - velodyne_left_base_link: - Alpha: 0.999 + VLP16_ML_base_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - velodyne_rear: - Alpha: 0.999 + VLP16_MR: + Alpha: 1 Show Axes: false Show Trail: false Value: true - velodyne_rear_base_link: - Alpha: 0.999 + VLP16_MR_base_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - velodyne_right: - Alpha: 0.999 + VLS128_TOP: + Alpha: 1 Show Axes: false Show Trail: false Value: true - velodyne_right_base_link: - Alpha: 0.999 + VLS128_TOP_base_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - velodyne_top: - Alpha: 0.999 + base_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - velodyne_top_base_link: - Alpha: 0.999 + sensor_kit_base_link: + Alpha: 1 Show Axes: false Show Trail: false - Value: true + Mass Properties: + Inertia: false + Mass: false Name: VehicleModel TF Prefix: "" Update Interval: 0 @@ -289,8 +285,8 @@ Visualization Manager: Max Alpha: 0.5 Max Range: 100 Max Wave Alpha: 0.5 - Min Alpha: 0.01 - Min Wave Alpha: 0.01 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 Name: PolarGridDisplay Reference Frame: base_link Value: true @@ -298,18 +294,20 @@ Visualization Manager: Wave Velocity: 40 - Class: rviz_plugins/MaxVelocity Enabled: true + Left: 298 + Length: 48 Name: MaxVelocity Text Color: 255; 255; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/current_max_velocity + Top: 140 + Topic: /planning/scenario_planning/current_max_velocity Value: true + Value Scale: 0.25 - Class: rviz_plugins/TurnSignal Enabled: true + Height: 128 + Left: 98 Name: TurnSignal + Top: 175 Topic: Depth: 5 Durability Policy: Volatile @@ -317,6 +315,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/turn_indicators_status Value: true + Width: 256 Enabled: true Name: Vehicle - Class: rviz_plugins/MrmSummaryOverlayDisplay @@ -361,11 +360,12 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.02 + Size (m): 0.019999999552965164 Style: Points Topic: Depth: 5 Durability Policy: Transient Local + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /map/pointcloud_map @@ -379,28 +379,21 @@ Visualization Manager: center_lane_line: false center_line_arrows: false crosswalk_lanelets: true - crosswalk_areas: false lane_start_bound: false lanelet direction: true lanelet_id: false left_lane_bound: true - parking_lots: true - parking_space: true - pedestrian_marking: true right_lane_bound: true road_lanelets: false - speed_bump: true - stop_lines: true shoulder_center_lane_line: false + shoulder_center_line_arrows: true + shoulder_lane_start_bound: true + shoulder_lanelet direction: true shoulder_left_lane_bound: true shoulder_right_lane_bound: true shoulder_road_lanelets: false - traffic_light: true - traffic_light_id: false - traffic_light_triangle: true - walkway_lanelets: true - hatched_road_markings_bound: true - hatched_road_markings_area: false + speed_bump: true + stop_lines: true Topic: Depth: 5 Durability Policy: Transient Local @@ -414,7 +407,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.4 + - Alpha: 0.4000000059604645 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 5 @@ -436,18 +429,19 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.02 + Size (m): 0.019999999552965164 Style: Points Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /sensing/lidar/concatenated/pointcloud Use Fixed Frame: false Use rainbow: true Value: true - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Class: rviz_default_plugins/Polygon Color: 25; 255; 0 Enabled: false @@ -455,6 +449,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/lidar/crop_box_filter/crop_box_polygon @@ -493,6 +488,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/gnss/pose_with_covariance @@ -505,7 +501,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -535,11 +531,12 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/initial_pose_with_covariance - Value: true - - Alpha: 0.999 + Value: false + - Alpha: 0.9990000128746033 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -569,27 +566,29 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose_with_covariance - Value: true + Value: false - Buffer Size: 200 Class: rviz_plugins::PoseHistory Enabled: false Line: + Alpha: 0.9990000128746033 Color: 170; 255; 127 Value: true Width: 0.10000000149011612 - Alpha: 0.999 Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose - Value: true - - Alpha: 0.999 + Value: false + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -616,13 +615,14 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /localization/util/downsample/pointcloud Use Fixed Frame: true Use rainbow: true Value: false - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -649,6 +649,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/points_aligned @@ -658,7 +659,13 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MonteCarloInitialPose - Namespaces: {} + Namespaces: + initial_pose_index_color_marker: true + initial_pose_iteration_color_marker: true + initial_pose_transform_probability_color_marker: true + result_pose_index_color_marker: true + result_pose_iteration_color_marker: true + result_pose_transform_probability_color_marker: true Topic: Depth: 5 Durability Policy: Volatile @@ -674,14 +681,15 @@ Visualization Manager: Class: rviz_plugins::PoseHistory Enabled: true Line: + Alpha: 0.9990000128746033 Color: 0; 255; 255 Value: true Width: 0.10000000149011612 - Alpha: 0.999 Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_twist_fusion_filter/pose @@ -694,7 +702,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 15 @@ -716,11 +724,12 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 3 - Size (m): 0.02 + Size (m): 0.019999999552965164 Style: Points Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/obstacle_segmentation/pointcloud @@ -734,16 +743,16 @@ Visualization Manager: - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/DetectedObjects - Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -751,21 +760,23 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: DetectedObjects - Namespaces: {} + Namespaces: + {} PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 + Polygon Type: 3d TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -774,24 +785,25 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/detection/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true + Visualization Type: Normal Enabled: false Name: Detection - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/TrackedObjects - Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -799,21 +811,23 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: TrackedObjects - Namespaces: {} + Namespaces: + {} PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 + Polygon Type: 3d TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -822,24 +836,25 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/tracking/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true + Visualization Type: Normal Enabled: false Name: Tracking - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/PredictedObjects - Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: false Display Predicted Path Confidence: true @@ -847,21 +862,30 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: PredictedObjects - Namespaces: {} + Namespaces: + acceleration: true + label: true + path: true + path confidence: true + shape: true + twist: true + uuid: true + velocity: true PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 + Polygon Type: 3d TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -870,20 +894,22 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true + Visualization Type: Normal - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Maneuver - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/object_recognition/prediction/maneuver - Value: true + Value: false Enabled: true Name: Prediction Enabled: true @@ -907,7 +933,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MapBasedDetectionResult - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -952,11 +979,7 @@ Visualization Manager: Enabled: true Name: RouteArea Namespaces: - goal_lanelets: true - lane_start_bound: false - left_lane_bound: false - right_lane_bound: false - route_lanelets: true + {} Topic: Depth: 5 Durability Policy: Transient Local @@ -964,7 +987,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/mission_planning/route_marker Value: true - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Axes Length: 1 Axes Radius: 0.30000001192092896 Class: rviz_default_plugins/Pose @@ -979,6 +1002,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/mission_planning/echo_back_goal_pose @@ -994,18 +1018,37 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/trajectory Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -1021,16 +1064,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/path Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.4000000059604645 Color: 0; 0; 0 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.4000000059604645 Color: 0; 0; 0 @@ -1044,16 +1111,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/avoidance_by_lane_change - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 110; 10 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1067,16 +1158,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/avoidance - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 110; 210 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1090,16 +1205,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/lane_change_right - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 210; 110 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1113,16 +1252,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/lane_change_left - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 210; 110 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1136,16 +1299,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/goal_planner - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 110; 110; 210 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1159,16 +1346,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/start_planner - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 110; 110 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1182,16 +1393,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance_by_lane_change Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1205,16 +1440,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1228,16 +1487,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change_right Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1251,16 +1534,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change_left Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1274,16 +1581,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/external_request_lane_change_right Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1297,16 +1628,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/external_request_lane_change_left Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1320,16 +1675,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1343,16 +1722,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/start_planner Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1366,16 +1769,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/goal_planner Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1386,16 +1813,14 @@ Visualization Manager: Enabled: false Name: Bound Namespaces: - left_bound: true - right_bound: true + {} Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound - Value: true + Value: false - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray @@ -1594,8 +2019,7 @@ Visualization Manager: Enabled: true Name: VirtualWall (StopLine) Namespaces: - stop_factor_text: true - stop_virtual_wall: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1951,12 +2375,7 @@ Visualization Manager: Enabled: false Name: Info (Avoidance) Namespaces: - avoidable_target_objects_info: false - avoidable_target_objects_info_reason: false - avoidable_target_objects_envelope_polygon: false - unavoidable_target_objects_info: false - unavoidable_target_objects_info_reason: false - unavoidable_target_objects_envelope_polygon: false + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2073,18 +2492,37 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/trajectory Value: false + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -2279,6 +2717,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid @@ -2290,7 +2729,7 @@ Visualization Manager: Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates Use Timestamp: false Value: false - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Arrow Length: 0.30000001192092896 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 @@ -2306,11 +2745,12 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array Value: true - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Arrow Length: 0.5 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 @@ -2326,6 +2766,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/freespace_planner/debug/pose_array @@ -2355,7 +2796,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: PlanningErrorMarker - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2376,17 +2818,35 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /control/trajectory_follower/lateral/predicted_trajectory Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 1 Color: 255; 255; 255 Constant Color: true - Value: true Constant Width: true + Value: true Width: 0.05000000074505806 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 1 Color: 0; 0; 0 @@ -2396,7 +2856,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/MPC - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2407,7 +2868,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/PurePursuit - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2419,10 +2881,7 @@ Visualization Manager: Enabled: false Name: Debug/AEB Namespaces: - ego_path: true - ego_polygons: true - predicted_path: true - predicted_polygons: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2432,140 +2891,9 @@ Visualization Manager: Value: false Enabled: true Name: Control - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: ~ - Enabled: true - Name: Map - - Class: rviz_common/Group - Displays: ~ - Enabled: true - Name: Sensing - - Class: rviz_common/Group - Enabled: true - Name: Localization - Displays: - - Alpha: 0.9990000128746033 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 85; 255; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 85; 255; 127 - Max Intensity: 0 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: NDT pointclouds - Position Transformer: XYZ - Selectable: false - Size (Pixels): 10 - Size (m): 0.5 - Style: Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/points_aligned - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 255; 255; 255 - Color Transformer: "" - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: NDTLoadedPCDMap - Position Transformer: "" - Selectable: true - Size (Pixels): 3 - Size (m): 0.1 - Style: Flat Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/debug/loaded_pointcloud_map - Use Fixed Frame: true - Use rainbow: true - Value: true - - Buffer Size: 200 - Class: rviz_plugins::PoseHistory - Enabled: true - Line: - Alpha: 0.9990000128746033 - Color: 170; 255; 127 - Value: true - Width: 0.10000000149011612 - Name: NDTPoseHistory - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/pose - Value: true - - Buffer Size: 1000 - Class: rviz_plugins::PoseHistory - Enabled: true - Line: - Alpha: 0.9990000128746033 - Color: 0; 255; 255 - Value: true - Width: 0.10000000149011612 - Name: EKFPoseHistory - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_twist_fusion_filter/pose - Value: true - - Class: rviz_common/Group - Displays: ~ - Enabled: true - Name: Perception - - Class: rviz_common/Group - Displays: ~ - Enabled: true - Name: Planning - - Class: rviz_common/Group - Displays: ~ - Enabled: true - Name: Control - Enabled: false - Name: Debug Enabled: true Global Options: Background Color: 10; 10; 10 - Default Light: true Fixed Frame: map Frame Rate: 30 Name: root @@ -2578,15 +2906,15 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose - Theta std deviation: 0.2617993950843811 + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - Class: rviz_default_plugins/SetGoal Topic: Depth: 5 @@ -2601,26 +2929,47 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /rviz/routing/rough_goal - - Class: rviz_plugins/PedestrianInitialPoseTool + - Acceleration: 0 + Class: rviz_plugins/PedestrianInitialPoseTool + Interactive: false + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 0 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 1 Z std deviation: 0.029999999329447746 - - Class: rviz_plugins/CarInitialPoseTool + - Acceleration: 0 + Class: rviz_plugins/CarInitialPoseTool + H vehicle height: 2 + Interactive: false + L vehicle length: 4 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 3 + W vehicle width: 1.7999999523162842 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 0 Z std deviation: 0.029999999329447746 - - Class: rviz_plugins/BusInitialPoseTool + - Acceleration: 0 + Class: rviz_plugins/BusInitialPoseTool + H vehicle height: 3.5 + Interactive: false + L vehicle length: 10.5 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 0 + W vehicle width: 2.5 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 0 @@ -2633,6 +2982,9 @@ Visualization Manager: Z position: 0 - Class: rviz_plugins/DeleteAllObjectsTool Pose Topic: /simulation/dummy_perception_publisher/object_info + Transformation: + Current: + Class: rviz_default_plugins/TF Value: true Views: Current: @@ -2647,7 +2999,7 @@ Visualization Manager: Name: Current View Near Clip Distance: 0.009999999776482582 Scale: 10 - Target Frame: viewer + Target Frame: base_link Value: TopDownOrtho (rviz_default_plugins) X: 0 Y: 0 @@ -2688,16 +3040,18 @@ Visualization Manager: X: 0 Y: 0 Window Geometry: + AutowareDateTimePanel: + collapsed: false AutowareStatePanel: collapsed: false Displays: collapsed: false - Height: 1565 + Height: 1034 Hide Left Dock: false Hide Right Dock: false - Image: + InitialPoseButtonPanel: collapsed: false - QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: @@ -2706,6 +3060,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 2813 - X: 67 - Y: 27 + Width: 1916 + X: 0 + Y: 44