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Merge pull request autowarefoundation#359 from tier4/cherry-pick-beta…
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…-v2.2.1

chore: cherry pick config changes from beta branch
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TomohitoAndo authored Aug 17, 2023
2 parents f10ae50 + 35d784a commit b925670
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# -- 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]
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/**:
ros__parameters:
delay_compensation_time: 0.17
delay_compensation_time: 0.15

enable_smooth_stop: true
enable_overshoot_emergency: true
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# 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
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# If converged_param_type is 1
# Threshold for deciding whether to trust the estimation result
converged_param_nearest_voxel_transformation_likelihood: 2.1
converged_param_nearest_voxel_transformation_likelihood: 2.3

# The number of particles to estimate initial pose
initial_estimate_particles_num: 100
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/**:
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, 100.0, 16.67, 33.33]
timeout_ms: 70.0
match_threshold_ms: 50.0
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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

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grid_size_m: 0.2
grid_mode_switch_radius: 20.0
gnd_grid_buffer_size: 5
detection_range_z_max: 2.5
detection_range_z_max: 3.2
elevation_grid_mode: true
center_pcl_shift: 0.0

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max_x: 100.0
min_y: -50.0
max_y: 50.0
max_z: 2.5 # recommended 2.5 for non elevation_grid_mode
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

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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

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max_x: 100.0
min_y: -50.0
max_y: 50.0
max_z: 2.5 # recommended 2.5 for non elevation_grid_mode
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

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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: false
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ros__parameters:
external_time_tolerance: 5.0
perception_time_tolerance: 1.0
external_priority: false
external_priority: true
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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
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/**:
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
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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
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- 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
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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
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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:
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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

external_request_lane_change_right:
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

lane_change_left:
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

lane_change_right:
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
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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
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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
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Expand Up @@ -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
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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
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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]
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Expand Up @@ -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
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Expand Up @@ -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:
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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

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/**:
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
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