diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
index 4deb334463..6728792249 100644
--- a/.github/sync-files.yaml
+++ b/.github/sync-files.yaml
@@ -11,6 +11,7 @@
- source: .github/PULL_REQUEST_TEMPLATE/small-change.md
- source: .github/PULL_REQUEST_TEMPLATE/standard-change.md
- source: .github/dependabot.yaml
+ - source: .github/workflows/backport.yaml
- source: .github/stale.yml
- source: .github/workflows/github-release.yaml
- source: .github/workflows/pre-commit.yaml
diff --git a/.github/update-sync-param-files.py b/.github/update-sync-param-files.py
deleted file mode 100644
index 707909cdd1..0000000000
--- a/.github/update-sync-param-files.py
+++ /dev/null
@@ -1,80 +0,0 @@
-import argparse
-import dataclasses
-from pathlib import Path
-from typing import List
-from typing import Optional
-
-import git
-
-"""
-This module updates `sync-param-files.yaml` based on the launch parameter files in `autoware.universe`.
-"""
-
-REPO_NAME = "autowarefoundation/autoware.universe"
-REPO_URL = f"https://github.com/{REPO_NAME}.git"
-CLONE_PATH = Path("/tmp/autoware.universe")
-
-
-@dataclasses.dataclass
-class FileSyncConfig:
- source: str
- dest: str
- replace: Optional[bool] = None
- delete_orphaned: Optional[bool] = None
- pre_commands: Optional[str] = None
- post_commands: Optional[str] = None
-
-
-def create_tier4_launch_sync_configs(tier4_launch_package_path: Path) -> List[FileSyncConfig]:
- launch_package_name = tier4_launch_package_path.name
- launch_config_path = tier4_launch_package_path / "config"
-
- sync_configs = []
- for param_file_path in tier4_launch_package_path.glob("config/**/*.param.yaml"):
- relative_param_file_path = param_file_path.relative_to(launch_config_path)
-
- source = param_file_path.relative_to(CLONE_PATH)
- dest = Path("autoware_launch/config") / launch_package_name / relative_param_file_path
-
- sync_configs.append(FileSyncConfig(str(source), str(dest)))
-
- return sync_configs
-
-
-def dump_sync_config(section_name: str, sync_configs: List[FileSyncConfig]) -> List[str]:
- indent = 4 * " "
- lines = [f"{indent}# {section_name}\n"]
- for sync_config in sync_configs:
- lines.append(f"{indent}- source: {sync_config.source}\n")
- lines.append(f"{indent} dest: {sync_config.dest}\n")
- lines.append("\n")
- return lines
-
-
-def main():
- parser = argparse.ArgumentParser()
- parser.add_argument("sync_param_files_path", type=Path, help="path to sync-param-files.yaml")
- args = parser.parse_args()
-
- # Clone Autoware
- if not CLONE_PATH.exists():
- git.Repo.clone_from(REPO_URL, CLONE_PATH)
-
- # Create sync config for tier4_*_launch
- tier4_launch_package_paths = sorted(
- CLONE_PATH.glob("launch/tier4_*_launch"), key=lambda p: p.name
- )
- tier4_launch_sync_configs_map = {
- p.name: create_tier4_launch_sync_configs(p) for p in tier4_launch_package_paths
- }
-
- # Create sync-param-files.yaml
- with open(args.sync_param_files_path, "w") as f:
- f.write(f"- repository: {REPO_NAME}\n")
- f.write(" files:\n")
- for section_name, sync_config in tier4_launch_sync_configs_map.items():
- f.writelines(dump_sync_config(section_name, sync_config))
-
-
-if __name__ == "__main__":
- main()
diff --git a/.github/workflows/backport.yaml b/.github/workflows/backport.yaml
new file mode 100644
index 0000000000..7a9d63f79c
--- /dev/null
+++ b/.github/workflows/backport.yaml
@@ -0,0 +1,33 @@
+name: backport
+on:
+ pull_request_target:
+ types:
+ - closed
+ - labeled
+
+jobs:
+ backport:
+ runs-on: ubuntu-latest
+ # Only react to merged PRs for security reasons.
+ # See https://docs.github.com/en/actions/using-workflows/events-that-trigger-workflows#pull_request_target.
+ if: >
+ github.event.pull_request.merged
+ && (
+ github.event.action == 'closed'
+ || (
+ github.event.action == 'labeled'
+ && contains(github.event.label.name, 'backport')
+ )
+ )
+ steps:
+ - name: Generate token
+ id: generate-token
+ uses: tibdex/github-app-token@v1
+ with:
+ app_id: ${{ secrets.APP_ID }}
+ private_key: ${{ secrets.PRIVATE_KEY }}
+
+ - uses: tibdex/backport@v2
+ with:
+ github_token: ${{ steps.generate-token.outputs.token }}
+ title_template: "<%= title %> (backport #<%= number %>)"
diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml
deleted file mode 100644
index 01132cd0df..0000000000
--- a/.github/workflows/check-build-depends.yaml
+++ /dev/null
@@ -1,41 +0,0 @@
-name: check-build-depends
-
-on:
- pull_request:
- paths:
- - build_depends*.repos
-
-jobs:
- check-build-depends:
- runs-on: ubuntu-latest
- container: ${{ matrix.container }}
- strategy:
- fail-fast: false
- matrix:
- rosdistro:
- - galactic
- - humble
- include:
- - rosdistro: galactic
- container: ros:galactic
- build-depends-repos: build_depends.repos
- - rosdistro: humble
- container: ros:humble
- build-depends-repos: build_depends.repos
- steps:
- - name: Check out repository
- uses: actions/checkout@v3
-
- - name: Remove exec_depend
- uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
-
- - name: Get self packages
- id: get-self-packages
- uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
-
- - name: Build
- uses: autowarefoundation/autoware-github-actions/colcon-build@v1
- with:
- rosdistro: ${{ matrix.rosdistro }}
- target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
- build-depends-repos: ${{ matrix.build-depends-repos }}
diff --git a/.github/workflows/dispatch-release-note.yaml b/.github/workflows/dispatch-release-note.yaml
new file mode 100644
index 0000000000..89356b6abd
--- /dev/null
+++ b/.github/workflows/dispatch-release-note.yaml
@@ -0,0 +1,44 @@
+name: dispatch-release-note
+on:
+ push:
+ branches:
+ - beta/v*
+ - tier4/main
+ tags:
+ - v*
+ workflow_dispatch:
+ inputs:
+ beta-branch-or-tag-name:
+ description: The name of the beta branch or tag to write release note
+ type: string
+ required: true
+jobs:
+ dispatch-release-note:
+ runs-on: ubuntu-latest
+ name: release-repository-dispatch
+ steps:
+ - name: Set ref name
+ id: set-ref-name
+ run: |
+ if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
+ REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}"
+ else
+ REF_NAME="${{ github.ref_name }}"
+ fi
+ echo ::set-output name=ref-name::"${{ github.repository }}/'$REF_NAME'"
+ - name: Generate token
+ id: generate-token
+ uses: tibdex/github-app-token@v1
+ with:
+ app_id: ${{ secrets.APP_ID }}
+ private_key: ${{ secrets.PRIVATE_KEY }}
+
+ - name: Repository dispatch for release note
+ run: |
+ curl \
+ -X POST \
+ -H "Accept: application/vnd.github+json" \
+ -H "Authorization: token ${{ steps.generate-token.outputs.token }}" \
+ -H "X-GitHub-Api-Version: 2022-11-28" \
+ "https://api.github.com/repos/tier4/update-release-notes/dispatches" \
+ -d '{"event_type":"${{ steps.set-ref-name.outputs.ref-name }}"}'
diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml
index 93e05dc2c7..e754ecab24 100644
--- a/.github/workflows/pre-commit-optional.yaml
+++ b/.github/workflows/pre-commit-optional.yaml
@@ -9,8 +9,11 @@ jobs:
steps:
- name: Check out repository
uses: actions/checkout@v3
+ with:
+ fetch-depth: 0
- name: Run pre-commit
uses: autowarefoundation/autoware-github-actions/pre-commit@v1
with:
pre-commit-config: .pre-commit-config-optional.yaml
+ base-branch: origin/${{ github.base_ref }}
diff --git a/.github/workflows/sync-awf-latest-s1.yaml b/.github/workflows/sync-awf-latest-s1.yaml
new file mode 100644
index 0000000000..c14d001c61
--- /dev/null
+++ b/.github/workflows/sync-awf-latest-s1.yaml
@@ -0,0 +1,31 @@
+name: sync-awf-latest-s1
+
+on:
+ schedule:
+ - cron: 0 0 * * *
+ workflow_dispatch:
+
+jobs:
+ sync-awf-latest-s1:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Generate token
+ id: generate-token
+ uses: tibdex/github-app-token@v1
+ with:
+ app_id: ${{ secrets.APP_ID }}
+ private_key: ${{ secrets.PRIVATE_KEY }}
+
+ - name: Run sync-branches
+ uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+ with:
+ token: ${{ steps.generate-token.outputs.token }}
+ base-branch: awf-latest-s1
+ sync-pr-branch: sync-awf-latest-s1
+ sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
+ sync-target-branch: main
+ pr-title: "chore: sync awf-latest-s1"
+ pr-labels: |
+ bot
+ sync-awf-latest-s1
+ auto-merge-method: merge
diff --git a/.github/workflows/sync-awf-latest-x1.yaml b/.github/workflows/sync-awf-latest-x1.yaml
new file mode 100644
index 0000000000..c348e6d853
--- /dev/null
+++ b/.github/workflows/sync-awf-latest-x1.yaml
@@ -0,0 +1,31 @@
+name: sync-awf-latest-x1
+
+on:
+ schedule:
+ - cron: 0 0 * * *
+ workflow_dispatch:
+
+jobs:
+ sync-awf-latest-x1:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Generate token
+ id: generate-token
+ uses: tibdex/github-app-token@v1
+ with:
+ app_id: ${{ secrets.APP_ID }}
+ private_key: ${{ secrets.PRIVATE_KEY }}
+
+ - name: Run sync-branches
+ uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+ with:
+ token: ${{ steps.generate-token.outputs.token }}
+ base-branch: awf-latest-x1
+ sync-pr-branch: sync-awf-latest-x1
+ sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
+ sync-target-branch: main
+ pr-title: "chore: sync awf-latest-x1"
+ pr-labels: |
+ bot
+ sync-awf-latest-x1
+ auto-merge-method: merge
diff --git a/.github/workflows/sync-awf-latest-x2.yaml b/.github/workflows/sync-awf-latest-x2.yaml
new file mode 100644
index 0000000000..97ed22a5f7
--- /dev/null
+++ b/.github/workflows/sync-awf-latest-x2.yaml
@@ -0,0 +1,31 @@
+name: sync-awf-latest-x2
+
+on:
+ schedule:
+ - cron: 0 0 * * *
+ workflow_dispatch:
+
+jobs:
+ sync-awf-latest-x2:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Generate token
+ id: generate-token
+ uses: tibdex/github-app-token@v1
+ with:
+ app_id: ${{ secrets.APP_ID }}
+ private_key: ${{ secrets.PRIVATE_KEY }}
+
+ - name: Run sync-branches
+ uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+ with:
+ token: ${{ steps.generate-token.outputs.token }}
+ base-branch: awf-latest-x2
+ sync-pr-branch: sync-awf-latest-x2
+ sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
+ sync-target-branch: main
+ pr-title: "chore: sync awf-latest-x2"
+ pr-labels: |
+ bot
+ sync-awf-latest-x2
+ auto-merge-method: merge
diff --git a/.github/workflows/sync-awf-latest-xx1.yaml b/.github/workflows/sync-awf-latest-xx1.yaml
new file mode 100644
index 0000000000..6b6432b55e
--- /dev/null
+++ b/.github/workflows/sync-awf-latest-xx1.yaml
@@ -0,0 +1,31 @@
+name: sync-awf-latest-xx1
+
+on:
+ schedule:
+ - cron: 0 0 * * *
+ workflow_dispatch:
+
+jobs:
+ sync-awf-latest-xx1:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Generate token
+ id: generate-token
+ uses: tibdex/github-app-token@v1
+ with:
+ app_id: ${{ secrets.APP_ID }}
+ private_key: ${{ secrets.PRIVATE_KEY }}
+
+ - name: Run sync-branches
+ uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+ with:
+ token: ${{ steps.generate-token.outputs.token }}
+ base-branch: awf-latest-xx1
+ sync-pr-branch: sync-awf-latest-xx1
+ sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
+ sync-target-branch: main
+ pr-title: "chore: sync awf-latest-xx1"
+ pr-labels: |
+ bot
+ sync-awf-latest-xx1
+ auto-merge-method: merge
diff --git a/.github/workflows/sync-awf-upstream.yaml b/.github/workflows/sync-awf-upstream.yaml
new file mode 100644
index 0000000000..f0e6272286
--- /dev/null
+++ b/.github/workflows/sync-awf-upstream.yaml
@@ -0,0 +1,45 @@
+name: sync-awf-upstream
+
+on:
+ schedule:
+ - cron: 0 1 * * 1-5
+ workflow_dispatch:
+
+jobs:
+ sync-awf-upstream:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Generate token
+ id: generate-token
+ uses: tibdex/github-app-token@v1
+ with:
+ app_id: ${{ secrets.APP_ID }}
+ private_key: ${{ secrets.PRIVATE_KEY }}
+
+ - uses: actions/setup-node@v3
+ with:
+ node-version: 16
+
+ - run: npm install @holiday-jp/holiday_jp
+
+ - uses: actions/github-script@v6
+ id: is-holiday
+ with:
+ script: |
+ const holiday_jp = require(`${process.env.GITHUB_WORKSPACE}/node_modules/@holiday-jp/holiday_jp`)
+ core.setOutput('holiday', holiday_jp.isHoliday(new Date()));
+
+ - name: Run sync-branches
+ uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+ if: ${{ steps.is-holiday.outputs.holiday != 'true' || github.event_name == 'workflow_dispatch' }}
+ with:
+ token: ${{ steps.generate-token.outputs.token }}
+ base-branch: tier4/main
+ sync-pr-branch: sync-awf-upstream
+ sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
+ sync-target-branch: main
+ pr-title: "chore: sync awf/autoware_launch"
+ pr-labels: |
+ bot
+ sync-awf-upstream
+ auto-merge-method: merge
diff --git a/.github/workflows/sync-tier4-upstream.yaml b/.github/workflows/sync-tier4-upstream.yaml
new file mode 100644
index 0000000000..b7dc824f8a
--- /dev/null
+++ b/.github/workflows/sync-tier4-upstream.yaml
@@ -0,0 +1,31 @@
+name: sync-tier4-upstream
+
+on:
+ schedule:
+ - cron: 0 0 * * *
+ workflow_dispatch:
+
+jobs:
+ sync-tier4-upstream:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Generate token
+ id: generate-token
+ uses: tibdex/github-app-token@v1
+ with:
+ app_id: ${{ secrets.APP_ID }}
+ private_key: ${{ secrets.PRIVATE_KEY }}
+
+ - name: Run sync-branches
+ uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+ with:
+ token: ${{ steps.generate-token.outputs.token }}
+ base-branch: tier4/main
+ sync-pr-branch: sync-tier4-upstream
+ sync-target-repository: https://github.com/tier4/autoware_launch.git
+ sync-target-branch: tier4/main
+ pr-title: "chore: sync upstream"
+ pr-labels: |
+ bot
+ sync-tier4-upstream
+ auto-merge-method: merge
diff --git a/.github/workflows/update-sync-param-files.yaml b/.github/workflows/update-sync-param-files.yaml
deleted file mode 100644
index 00203870c5..0000000000
--- a/.github/workflows/update-sync-param-files.yaml
+++ /dev/null
@@ -1,52 +0,0 @@
-name: update-sync-param-files
-
-on:
- schedule:
- - cron: 0 0 * * *
- workflow_dispatch:
-
-jobs:
- update-sync-param-files:
- runs-on: ubuntu-latest
- steps:
- - name: Generate token
- id: generate-token
- uses: tibdex/github-app-token@v1
- with:
- app_id: ${{ secrets.APP_ID }}
- private_key: ${{ secrets.PRIVATE_KEY }}
-
- - name: Check out repository
- uses: actions/checkout@v3
-
- - name: Install GitPython
- run: |
- pip3 install GitPython
- shell: bash
-
- - name: Generate sync-param-files.yaml
- run: |
- python3 .github/update-sync-param-files.py .github/sync-param-files.yaml
-
- - name: Create PR
- id: create-pr
- uses: peter-evans/create-pull-request@v5
- with:
- token: ${{ steps.generate-token.outputs.token }}
- base: ${{ github.event.repository.default_branch }}
- branch: update-sync-param-files
- title: "chore: update sync-param-files.yaml"
- commit-message: "chore: update sync-param-files.yaml"
- body: ${{ steps.create-pr-body.outputs.body }}
-
- - name: Check outputs
- run: |
- echo "Pull Request Number - ${{ steps.create-pr.outputs.pull-request-number }}"
- echo "Pull Request URL - ${{ steps.create-pr.outputs.pull-request-url }}"
- shell: bash
-
- - name: Enable auto-merge
- if: ${{ steps.create-pr.outputs.pull-request-operation == 'created' }}
- run: gh pr merge --squash --auto "${{ steps.create-pr.outputs.pull-request-number }}"
- env:
- GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}
diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml
index eb008730c1..3b43f9ae11 100644
--- a/.pre-commit-config-optional.yaml
+++ b/.pre-commit-config-optional.yaml
@@ -1,6 +1,6 @@
repos:
- repo: https://github.com/tcort/markdown-link-check
- rev: v3.11.1
+ rev: v3.11.2
hooks:
- id: markdown-link-check
args: [--quiet, --config=.markdown-link-check.json]
diff --git a/NOTICE b/NOTICE
deleted file mode 100644
index 102575d7d8..0000000000
--- a/NOTICE
+++ /dev/null
@@ -1,8 +0,0 @@
-autowarefoundation/autoware_launch
-Copyright 2021 The Autoware Foundation
-
-This product includes software developed at
-The Autoware Foundation (https://www.autoware.org/).
-
-This product includes code developed by TIER IV.
-Copyright 2020 TIER IV, Inc.
diff --git a/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml b/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml
index 6556656cc8..3de702aa00 100644
--- a/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml
+++ b/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml
@@ -1,4 +1,4 @@
/**:
ros__parameters:
update_rate: 10.0
- initial_selector_mode: "local" # ["local", "remote"]
+ initial_selector_mode: "remote" # ["local", "remote"]
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 008832b1ca..d381c47b47 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
@@ -3,10 +3,10 @@
# Node
update_rate: 10.0
visualize_lanelet: false
- include_right_lanes: false
- include_left_lanes: false
- include_opposite_lanes: false
- include_conflicting_lanes: false
+ include_right_lanes: true
+ include_left_lanes: true
+ include_opposite_lanes: true
+ include_conflicting_lanes: true
road_border_departure_checker: false
# Core
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
index 4222082d40..8e28e37780 100644
--- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -45,8 +45,8 @@
# -- vehicle model --
vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
- input_delay: 0.24 # steering input delay time for delay compensation
- vehicle_model_steer_tau: 0.3 # steering dynamics time constant (1d approximation) [s]
+ input_delay: 0.17 # steering input delay time for delay compensation
+ vehicle_model_steer_tau: 0.15 # steering dynamics time constant (1d approximation) [s]
steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0] # steering angle rate limit list depending on curvature [deg/s]
curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m]
steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0] # steering angle rate limit list depending on velocity [deg/s]
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..2fdb829aed 100644
--- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -1,6 +1,6 @@
/**:
ros__parameters:
- delay_compensation_time: 0.17
+ delay_compensation_time: 0.15
enable_smooth_stop: true
enable_overshoot_emergency: true
@@ -56,16 +56,16 @@
# emergency state
emergency_vel: 0.0
- emergency_acc: -5.0
- emergency_jerk: -3.0
+ emergency_acc: -2.5
+ emergency_jerk: -1.5
# acceleration limit
- max_acc: 3.0
- min_acc: -5.0
+ max_acc: 1.86
+ min_acc: -3.36
# jerk limit
max_jerk: 2.0
- min_jerk: -5.0
+ min_jerk: -2.0
# pitch
use_trajectory_for_pitch_calculation: false
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 92844c61f6..3d4d41a50f 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
@@ -2,9 +2,9 @@
ros__parameters:
update_rate: 10.0
system_emergency_heartbeat_timeout: 0.5
- use_emergency_handling: false
+ use_emergency_handling: true
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
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..be5a50ef0f 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: -100.0
+ max_x: 100.0
+ min_y: -100.0
+ max_y: 100.0
min_z: -30.0
max_z: 50.0
negative: False
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..a626bc0269 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: [50.0, 66.67, 83.33, 0.0, 16.67, 33.33]
timeout_ms: 70.0
match_threshold_ms: 50.0
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..c0cad93c6a 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
@@ -1,6 +1,6 @@
/**:
ros__parameters:
- additional_lidars: []
+ additional_lidars: ["front_upper", "front_lower"]
ransac_input_topics: []
use_single_frame_filter: False
use_time_series_filter: True
@@ -11,7 +11,7 @@
max_x: 150.0
min_y: -70.0
max_y: 70.0
- max_z: 2.5
+ max_z: 3.2
min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
negative: False
@@ -19,14 +19,74 @@
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
+ local_slope_max_angle_deg: 25.0 # 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
+ grid_size_m: 0.2
+ grid_mode_switch_radius: 20.0
+ gnd_grid_buffer_size: 5
+ detection_range_z_max: 3.2
+ elevation_grid_mode: true
+ center_pcl_shift: 0.0
+
+ # common_ground_filter:
+ # plugin: "ground_segmentation::RayGroundFilterComponent"
+ # parameters:
+ # general_max_slope: 10.0
+ # local_max_slope: 10.0
+ # min_height_threshold: 0.2
+
+ front_upper_crop_box_filter:
+ parameters:
+ min_x: -50.0
+ max_x: 100.0
+ min_y: -50.0
+ max_y: 50.0
+ max_z: 3.2 # recommended 2.5 for non elevation_grid_mode
+ min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+ negative: False
+
+ front_upper_ground_filter:
+ plugin: "ground_segmentation::ScanGroundFilterComponent"
+ parameters:
+ global_slope_max_angle_deg: 10.0
+ local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode
+ split_points_distance_tolerance: 0.20 # recommended 0.045 for non elevation_grid_mode
+ split_height_distance: 0.2 # recommended 0.15 for non elevation_grid_mode
+ use_virtual_ground_point: False
+ non_ground_height_threshold: 0.1
+ grid_size_m: 0.1
+ grid_mode_switch_radius: 20.0
+ gnd_grid_buffer_size: 4
+ detection_range_z_max: 3.2
+ center_pcl_shift: 0.0
+ elevation_grid_mode: true
+
+ front_lower_crop_box_filter:
+ parameters:
+ min_x: -50.0
+ max_x: 100.0
+ min_y: -50.0
+ max_y: 50.0
+ max_z: 3.2 # recommended 2.5 for non elevation_grid_mode
+ min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+ negative: False
+
+ front_lower_ground_filter:
+ plugin: "ground_segmentation::ScanGroundFilterComponent"
+ parameters:
+ global_slope_max_angle_deg: 10.0
+ local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode
+ split_points_distance_tolerance: 0.20 # recommended 0.1 for non elevation_grid_mode
+ split_height_distance: 0.2 # recommended 0.05 for non elevation_grid_mode
+ use_virtual_ground_point: False
+ non_ground_height_threshold: 0.1
grid_size_m: 0.1
grid_mode_switch_radius: 20.0
gnd_grid_buffer_size: 4
- detection_range_z_max: 2.5
+ detection_range_z_max: 3.2
+ center_pcl_shift: 0.0
elevation_grid_mode: true
- use_recheck_ground_cluster: true
+ use_recheck_ground_cluster: false
diff --git a/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml b/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml
index 5dc2b62eaa..f6263c621a 100644
--- a/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml
+++ b/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml
@@ -2,4 +2,4 @@
ros__parameters:
external_time_tolerance: 5.0
perception_time_tolerance: 1.0
- external_priority: false
+ external_priority: true
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..232610713f 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
@@ -17,8 +17,8 @@
kp: 0.3
backward:
- start_jerk: -0.1
- min_jerk_mild_stop: -0.3
+ start_jerk: -0.3
+ min_jerk_mild_stop: -0.5
min_jerk: -1.5
min_acc_mild_stop: -1.0
min_acc: -2.5
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 868b1bd15c..1758330718 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: 9.72 # max velocity limit [m/s]
stop_decel: 0.0 # deceleration at a stop point[m/ss]
# external velocity limit parameter
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..97658262a0 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
@@ -161,8 +161,8 @@
lateral_execution_threshold: 0.09 # [m]
lateral_small_shift_threshold: 0.101 # [m]
lateral_avoid_check_threshold: 0.1 # [m]
- soft_road_shoulder_margin: 0.3 # [m]
- hard_road_shoulder_margin: 0.3 # [m]
+ soft_road_shoulder_margin: 0.8 # [m]
+ hard_road_shoulder_margin: 0.8 # [m]
max_right_shift_length: 5.0
max_left_shift_length: 5.0
# avoidance distance parameters
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 1609cdbc60..122b8bdcaf 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
@@ -7,15 +7,15 @@
# Dynamic expansion by projecting the ego footprint along the path
dynamic_expansion:
- enabled: false
+ enabled: true
ego:
extra_footprint_offset:
- front: 0.5 # [m] extra length to add to the front of the ego footprint
+ front: 1.0 # [m] extra length to add to the front of the ego footprint
rear: 0.5 # [m] extra length to add to the rear of the ego footprint
left: 0.5 # [m] extra length to add to the left of the ego footprint
right: 0.5 # [m] extra length to add to the rear of the ego footprint
dynamic_objects:
- avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects
+ avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects
extra_footprint_offset:
front: 0.5 # [m] extra length to add to the front of the dynamic object footprint
rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
@@ -33,5 +33,5 @@
- road_border
distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid
compensate:
- enable: true # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction
+ enable: false # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction
extra_distance: 3.0 # [m] extra distance to add to the compensation
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 372ed9041c..b9f03f6b9f 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -2,14 +2,14 @@
ros__parameters:
lane_change:
backward_lane_length: 200.0 #[m]
- prepare_duration: 4.0 # [s]
+ prepare_duration: 3.0 # [s]
- backward_length_buffer_for_end_of_lane: 3.0 # [m]
- lane_change_finish_judge_buffer: 2.0 # [m]
+ backward_length_buffer_for_end_of_lane: 0.5 # [m]
+ lane_change_finish_judge_buffer: 0.0 # [m]
- lane_changing_lateral_jerk: 0.5 # [m/s3]
+ lane_changing_lateral_jerk: 0.75 # [m/s3]
- minimum_lane_changing_velocity: 2.78 # [m/s]
+ minimum_lane_changing_velocity: 1.0 # [m/s]
prediction_time_resolution: 0.5 # [s]
longitudinal_acceleration_sampling_num: 5
lateral_acceleration_sampling_num: 3
@@ -42,7 +42,7 @@
lateral_acceleration:
velocity: [0.0, 4.0, 10.0]
min_values: [0.15, 0.15, 0.15]
- max_values: [0.5, 0.5, 0.5]
+ max_values: [1.25, 1.25, 1.25]
# target object
target_object:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
index 65582656b9..c48943bc9d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -7,7 +7,7 @@
enable_module: false
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
- enable_simultaneous_execution_as_candidate_module: true
+ enable_simultaneous_execution_as_candidate_module: false
priority: 7
max_module_size: 1
@@ -15,7 +15,7 @@
enable_module: false
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
- enable_simultaneous_execution_as_candidate_module: true
+ enable_simultaneous_execution_as_candidate_module: false
priority: 7
max_module_size: 1
@@ -23,7 +23,7 @@
enable_module: true
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
- enable_simultaneous_execution_as_candidate_module: true
+ enable_simultaneous_execution_as_candidate_module: false
priority: 6
max_module_size: 1
@@ -31,20 +31,20 @@
enable_module: true
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
- enable_simultaneous_execution_as_candidate_module: true
+ enable_simultaneous_execution_as_candidate_module: false
priority: 6
max_module_size: 1
start_planner:
enable_module: true
enable_rtc: true
- enable_simultaneous_execution_as_approved_module: true
+ enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
priority: 0
max_module_size: 1
side_shift:
- enable_module: true
+ enable_module: false
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
@@ -62,7 +62,7 @@
avoidance:
enable_module: true
enable_rtc: true
- enable_simultaneous_execution_as_approved_module: true
+ enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
priority: 5
max_module_size: 1
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
index bea78664c6..7317221820 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -26,7 +26,7 @@
backward_velocity: -1.0
pull_out_max_steer_angle: 0.26 # 15deg
# search start pose backward
- enable_back: true
+ enable_back: false
search_priority: "efficient_path" # "efficient_path" or "short_back_distance"
max_back_distance: 30.0
backward_search_resolution: 2.0
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..ebddd0c75c 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
@@ -20,7 +20,7 @@
- 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::OcclusionSpotModulePlugin
- # behavior_velocity_planner::RunOutModulePlugin
+ - 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/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
index f9668549f2..ff67360785 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -45,6 +45,6 @@
# parameter to avoid sudden stopping
slow_down_limit:
- enable: true
+ enable: false
max_jerk: -0.7 # [m/s^3] minimum jerk deceleration for safe brake.
max_acc : -2.0 # [m/s^2] minimum accel deceleration for safe brake.
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml
index f21e3d12db..f102af1b2e 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml
@@ -2,4 +2,4 @@
ros__parameters:
walkway:
stop_duration: 1.0 # [s] stop time at stop position
- stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists
+ stop_distance_from_crosswalk: 0.5 # [m] make stop line away from crosswalk when no explicit stop line exists
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..0bf78ead05 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
@@ -47,11 +47,11 @@
num_points: 100 # number of points for optimization [-]
delta_arc_length: 1.0 # delta arc length for optimization [m]
- # kinematics:
+ kinematics:
# If this parameter is commented out, the parameter is set as below by default.
# The logic could be `optimization_center_offset = vehicle_info.wheelbase * 0.8`
# The 0.8 scale is adopted as it performed the best.
- # optimization_center_offset: 2.3 # optimization center offset from base link
+ optimization_center_offset: 0.0 # optimization center offset from base link
clearance: # clearance(distance) between vehicle and roads/objects when generating trajectory
# if collision_free_constraints.option.hard_constraint is true
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml
index 6aa4e71774..4834a7c673 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml
@@ -2,7 +2,7 @@
ros__parameters:
# obstacle check
- use_pointcloud: true # use pointcloud as obstacle check
+ use_pointcloud: false # use pointcloud as obstacle check
use_dynamic_object: true # use dynamic object as obstacle check
surround_check_distance: 0.5 # if objects exist in this distance, transit to "exist-surrounding-obstacle" status [m]
surround_check_recover_distance: 0.8 # if no object exists in this distance, transit to "non-surrounding-obstacle" status [m]
diff --git a/autoware_launch/config/simulator/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml
index 1a57b852f7..a7d9663acc 100644
--- a/autoware_launch/config/simulator/fault_injection.param.yaml
+++ b/autoware_launch/config/simulator/fault_injection.param.yaml
@@ -35,3 +35,29 @@
/sensing/gnss/node_alive_monitoring: "gnss_connection"
/system/node_alive_monitoring: "system_topic_status"
/vehicle/node_alive_monitoring: "vehicle_topic_status"
+ cpu_frequency: "CPU Frequency"
+ cpu_load_average: "CPU Load Average"
+ gpu_frequency: "GPU Frequency"
+ lidar_blockage_validation: "blockage_validation"
+ lidar_visibility: "left_upper: visibility_validation"
+ memory_usage: "Memory Usage"
+ network_crc_error: "Network CRC Error"
+ network_ip_packet_reassembles_failed: "IP Packet Reassembles Failed"
+ network_traffic: "Network Traffic"
+ perception_topic_status: "perception_topic_status"
+ process_high_load: "High-load"
+ process_high_mem: "High-mem"
+ process_tasks_summary: "Tasks Summary"
+ remote_control_topic_status: "remote_control_topic_status"
+ sensing_topic_status: "sensing_topic_status"
+ storage_connection: "HDD Connection"
+ storage_power_on_hours: "HDD PowerOnHours"
+ storage_read_data_rate: "HDD ReadDataRate"
+ storage_read_iops: "HDD ReadIOPS"
+ storage_recovered_error: "HDD RecoveredError"
+ storage_total_data_written: "HDD TotalDataWritten"
+ storage_write_data_rate: "HDD WriteDataRate"
+ storage_write_iops: "HDD WriteIOPS"
+ trajectory_curvature_validation: "trajectory_curvature_validation"
+ trajectory_interval_validation : "trajectory_interval_validation"
+ trajectory_relative_angle_validation: "trajectory_relative_angle_validation"
diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
index 652a984ce5..d064f2a2dd 100644
--- a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
+++ b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
@@ -7,7 +7,7 @@
timeout_takeover_request: 10.0
use_takeover_request: false
use_parking_after_stopped: false
- use_comfortable_stop: false
+ use_comfortable_stop: true
# setting whether to turn hazard lamp on for each situation
turning_hazard_on:
diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml
index 27cbe3fed2..5d559b56cb 100644
--- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml
@@ -13,3 +13,12 @@
path: storage_error
contains: ["bagpacker"]
timeout: 3.0
+ fms_connection:
+ type: diagnostic_aggregator/AnalyzerGroup
+ path: fms_connection
+ analyzers:
+ connection_error:
+ type: diagnostic_aggregator/GenericAnalyzer
+ path: connection_error
+ contains: ["edge_core_internet_connection"]
+ timeout: 10.0
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
index 71dc2ac600..d1035f3606 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -17,28 +17,40 @@
ros__parameters:
required_modules:
autonomous_driving:
+ # Control (from control.param.yaml)
/autoware/control/autonomous_driving/node_alive_monitoring: default
- /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
+ # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # temporarily until logic is improved
/autoware/control/control_command_gate/node_alive_monitoring: default
+ # Localization (from localization.param.yaml)
/autoware/localization/node_alive_monitoring: default
/autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
/autoware/localization/performance_monitoring/localization_accuracy: default
+ # Map (from map.param.yaml)
/autoware/map/node_alive_monitoring: default
+ # Perception (from perception.param.yaml)
/autoware/perception/node_alive_monitoring: default
+ # Planning (from planning.param.yaml)
/autoware/planning/node_alive_monitoring: default
/autoware/planning/performance_monitoring/trajectory_validation: default
+ # Sensors (from sensor_kit.param.yaml)
# /autoware/sensing/node_alive_monitoring: default
+ /autoware/sensing/lidar/pandar/health_monitoring/connection: { sf_at: "none", lf_at: "none", spf_at: "error", auto_recovery: "true"}
+ /autoware/sensing/lidar/pandar/health_monitoring/temperature: { sf_at: "warn", lf_at: "error", spf_at: "none", auto_recovery: "true"}
+ /autoware/sensing/lidar/pandar/health_monitoring/ptp: { sf_at: "none", lf_at: "none", spf_at: "warn", auto_recovery: "true"}
+ # System (from system.param.yaml in universe and system.param.yaml in system_launch)
/autoware/system/node_alive_monitoring: default
/autoware/system/emergency_stop_operation: default
/autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
/autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+ /autoware/system/fms_connection: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+ # Vehicle (from vehicle.param.yaml in universe and vehicle.param.yaml in system_launch)
/autoware/vehicle/node_alive_monitoring: default
external_control:
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
index 2c5fe6e8f5..1f68242f3d 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -18,7 +18,7 @@
required_modules:
autonomous_driving:
/autoware/control/autonomous_driving/node_alive_monitoring: default
- /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
+ # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # temporarily until logic is improved
/autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
/autoware/control/control_command_gate/node_alive_monitoring: default
diff --git a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
index d72b8d1334..adcae5a458 100644
--- a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
+++ b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
@@ -1,9 +1,9 @@
/**:
ros__parameters:
- devices: ["*"]
- traffic_reader_port: 7636
- monitor_program: "greengrass"
- crc_error_check_duration: 1
- crc_error_count_threshold: 1
- reassembles_failed_check_duration: 1
- reassembles_failed_check_count: 1
+ devices: ["enp2s0f1"]
+ traffic_reader_port: 7636
+ monitor_program: "greengrass"
+ crc_error_check_duration: 1
+ crc_error_count_threshold: 1
+ reassembles_failed_check_duration: 1
+ reassembles_failed_check_count: 1
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 1a4fbb70f4..4fb0c0bede 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -18,6 +18,7 @@
+
@@ -33,12 +34,14 @@
-
+
-
+
+
+
@@ -107,6 +110,15 @@
+
+
+
+
+
+
+
+
+
-
-
+
+
+
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index 5fe0d856d2..5786ad48d5 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -3,12 +3,12 @@
-
+
-
+
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 65b8ac20bd..05047c0136 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -19,6 +19,14 @@
+
+
+
+
+
+
+
+
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index ad55c76d82..b7035a5d0b 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -4,10 +4,10 @@
-
+
-
+
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
index f243414555..5f8c7256e0 100644
--- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -25,6 +25,7 @@
+
-
+
+
+
+
@@ -64,6 +67,11 @@
+
+
+
+
+
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 0a97454854..12fb5e256a 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -56,6 +56,8 @@
+
+