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..191e894622 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
@@ -15,6 +15,8 @@
nominal:
vel_lim: 25.0
reference_speed_points: [20.0, 30.0]
+ steer_lim: [1.0, 0.8]
+ steer_rate_lim: [1.0, 0.8]
lon_acc_lim: [5.0, 4.0]
lon_jerk_lim: [5.0, 4.0]
lat_acc_lim: [5.0, 4.0]
@@ -23,6 +25,8 @@
on_transition:
vel_lim: 50.0
reference_speed_points: [20.0, 30.0]
+ steer_lim: [1.0, 0.8]
+ steer_rate_lim: [1.0, 0.8]
lon_acc_lim: [1.0, 0.9]
lon_jerk_lim: [0.5, 0.4]
lat_acc_lim: [2.0, 1.8]
diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
index 4d3f5b9643..667217d259 100644
--- a/autoware_launch/config/localization/ekf_localizer.param.yaml
+++ b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -21,3 +21,12 @@
proc_stddev_yaw_c: 0.005
proc_stddev_vx_c: 10.0
proc_stddev_wz_c: 5.0
+
+ # for diagnostics
+ pose_no_update_count_threshold_warn: 50
+ pose_no_update_count_threshold_error: 250
+ twist_no_update_count_threshold_warn: 50
+ twist_no_update_count_threshold_error: 250
+
+ # for velocity measurement limitation (Set 0.0 if you want to ignore)
+ threshold_observable_velocity_mps: 0.0 # [m/s]
diff --git a/autoware_launch/config/localization/localization_error_monitor.param.yaml b/autoware_launch/config/localization/localization_error_monitor.param.yaml
index 026daf0532..2aa28014ea 100644
--- a/autoware_launch/config/localization/localization_error_monitor.param.yaml
+++ b/autoware_launch/config/localization/localization_error_monitor.param.yaml
@@ -4,4 +4,4 @@
error_ellipse_size: 1.0
warn_ellipse_size: 0.8
error_ellipse_size_lateral_direction: 0.3
- warn_ellipse_size_lateral_direction: 0.2
+ warn_ellipse_size_lateral_direction: 0.25
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
index 3a99927b41..4a22059bda 100644
--- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
+++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -6,6 +6,9 @@
# Vehicle reference frame
base_frame: "base_link"
+ # NDT reference frame
+ ndt_base_frame: "ndt_base_link"
+
# Subscriber queue size
input_sensor_points_queue_size: 1
@@ -46,10 +49,6 @@
# Tolerance of distance difference between two initial poses used for linear interpolation. [m]
initial_pose_distance_tolerance_m: 10.0
- # neighborhood search method
- # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1
- neighborhood_search_method: 0
-
# Number of threads used for parallel computing
num_threads: 4
@@ -80,8 +79,12 @@
# Radius of input LiDAR range (used for diagnostics of dynamic map loading)
lidar_radius: 100.0
+ # cspell: ignore degrounded
# A flag for using scan matching score based on de-grounded LiDAR scan
estimate_scores_for_degrounded_scan: false
# If lidar_point.z - base_link.z <= this threshold , the point will be removed
z_margin_for_ground_removal: 0.8
+
+ # The execution time which means probably NDT cannot matches scans properly
+ critical_upper_bound_exe_time_ms: 100 # [ms]
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
deleted file mode 100644
index 3dd303464a..0000000000
--- a/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-/**:
- ros__parameters:
-
- # distance threshold for compare compare
- distance_threshold: 0.5
-
- # publish voxelized map pointcloud for debug
- publish_debug_pcd: False
-
- # use dynamic map loading
- use_dynamic_map_loading: True
-
- # 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/outlier.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
deleted file mode 100644
index 1962fba1f3..0000000000
--- a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-/**:
- 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: 3
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
deleted file mode 100644
index 3ff32bfbb7..0000000000
--- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-/**:
- ros__parameters:
- input_frame: base_link
- output_frame: base_link
- voxel_size_x: 0.15
- voxel_size_y: 0.15
- voxel_size_z: 0.15
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 2f3de2b789..26b027f007 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
@@ -7,9 +7,11 @@
max_cluster_size: 3000
use_height: false
input_frame: "base_link"
- max_x: 70.0
- min_x: -70.0
- max_y: 70.0
- min_y: -70.0
- max_z: 4.5
- min_z: -4.5
+
+ # low height crop box filter param
+ max_x: 200.0
+ min_x: -200.0
+ max_y: 200.0
+ min_y: -200.0
+ max_z: 2.0
+ min_z: -10.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
new file mode 100644
index 0000000000..62051e1c5e
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
@@ -0,0 +1,11 @@
+/**:
+ ros__parameters:
+ filter_target_label:
+ UNKNOWN : true
+ CAR : true
+ TRUCK : true
+ BUS : true
+ TRAILER : true
+ MOTORCYCLE : true
+ BICYCLE : true
+ PEDESTRIAN : true
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 0423217582..62b3074c15 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
@@ -1,7 +1,5 @@
/**:
ros__parameters:
- # use downsample filter before compare map
- use_down_sample_filter: False
# voxel size for downsample filter
down_sample_voxel_size: 0.1
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 98c28344ea..9b7dcffbc6 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
@@ -9,3 +9,4 @@
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.
+ check_footprint_inside_lanes: true
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..235c76a5c1 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
@@ -7,12 +7,21 @@
# external velocity limit parameter
margin_to_insert_external_velocity_limit: 0.3 # margin distance to insert external velocity limit [m]
- # curve parameters
+ # -- curve parameters --
+ # common parameters
+ curvature_calculation_distance: 5.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m]
+ # lateral acceleration limit parameters
+ enable_lateral_acc_limit: true # To toggle the lateral acc filter on and off. You can switch it dynamically at runtime.
max_lateral_accel: 1.0 # max lateral acceleration limit [m/ss]
min_curve_velocity: 2.74 # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
decel_distance_before_curve: 3.5 # slow speed distance before a curve for lateral acceleration limit
decel_distance_after_curve: 2.0 # slow speed distance after a curve for lateral acceleration limit
min_decel_for_lateral_acc_lim_filter: -2.5 # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]
+ # steering angle rate limit parameters
+ enable_steering_rate_limit: true # To toggle the steer rate filter on and off. You can switch it dynamically at runtime.
+ max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s]
+ resample_ds: 0.1 # distance between trajectory points [m]
+ curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m]
# engage & replan parameters
replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s]
@@ -48,12 +57,6 @@
post_sparse_resample_dt: 0.1 # resample time interval for sparse sampling [s]
post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m]
- # steering angle rate limit parameters
- max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s]
- resample_ds: 0.1 # distance between trajectory points [m]
- curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m]
- curvature_calculation_distance: 1.0 # distance of points while curvature is calculating [m]
-
# system
over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
index 1bfe689c55..e1108d56c9 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -5,10 +5,14 @@
th_arrived_distance: 1.0
th_stopped_velocity: 0.01
th_stopped_time: 2.0 # It must be greater than the state_machine's.
+ center_line_path_interval: 1.0
# goal search
goal_search:
- search_priority: "efficient_path" # "efficient_path" or "close_goal"
+ goal_priority: "minimum_weighted_distance" # "minimum_weighted_distance" or "minimum_longitudinal_distance"
+ minimum_weighted_distance:
+ lateral_weight: 40.0
+ path_priority: "efficient_path" # "efficient_path" or "close_goal"
parking_policy: "left_side" # "left_side" or "right_side"
forward_goal_search_length: 20.0
backward_goal_search_length: 20.0
@@ -21,8 +25,9 @@
# occupancy grid map
occupancy_grid:
- use_occupancy_grid: true
- use_occupancy_grid_for_longitudinal_margin: false
+ use_occupancy_grid_for_goal_search: true
+ use_occupancy_grid_for_goal_longitudinal_margin: false
+ use_occupancy_grid_for_path_collision_check: false
occupancy_grid_collision_check_margin: 0.0
theta_size: 360
obstacle_threshold: 60
@@ -32,6 +37,7 @@
use_object_recognition: true
object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker
object_recognition_collision_check_max_extra_stopping_margin: 1.0
+ th_moving_object_velocity: 1.0
# pull over
pull_over:
@@ -110,12 +116,13 @@
path_safety_check:
# EgoPredictedPath
ego_predicted_path:
+ min_velocity: 0.0
acceleration: 1.0
- time_horizon: 10.0
+ max_velocity: 1.0
+ time_horizon_for_front_object: 10.0
+ time_horizon_for_rear_object: 10.0
time_resolution: 0.5
- min_slow_speed: 0.0
delay_until_departure: 1.0
- target_velocity: 1.0
# For target object filtering
target_filtering:
safety_check_time_horizon: 5.0
@@ -123,7 +130,7 @@
# detection range
object_check_forward_distance: 10.0
object_check_backward_distance: 100.0
- ignore_object_velocity_threshold: 0.0
+ ignore_object_velocity_threshold: 1.0
# ObjectTypesToCheck
object_types_to_check:
check_car: true
@@ -150,7 +157,7 @@
# For safety check
safety_check_params:
# safety check configuration
- enable_safety_check: true
+ enable_safety_check: false # Don't set to true if auto_mode is enabled
# collision check parameters
check_all_predicted_path: true
publish_debug_marker: false
@@ -160,6 +167,8 @@
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 1.0
longitudinal_velocity_delta_time: 1.0
+ # hysteresis factor to expand/shrink polygon with the value
+ hysteresis_factor_expand_rate: 1.0
# temporary
backward_path_length: 30.0
forward_path_length: 100.0
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..1accb1f709 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
@@ -62,6 +62,16 @@
check_objects_on_other_lanes: true
use_all_predicted_path: true
+ # lane change regulations
+ regulation:
+ crosswalk: false
+ intersection: false
+
+ # ego vehicle stuck detection
+ stuck_detection:
+ velocity: 0.1 # [m/s]
+ stop_time: 3.0 # [s]
+
# lane change cancel
cancel:
enable_on_prepare_phase: true
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 a3c0194d03..ff4b486ef9 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
@@ -9,7 +9,7 @@
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
- priority: 7
+ priority: 6
max_module_size: 1
external_request_lane_change_right:
@@ -18,7 +18,7 @@
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
- priority: 7
+ priority: 6
max_module_size: 1
lane_change_left:
@@ -27,7 +27,7 @@
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
- priority: 6
+ priority: 5
max_module_size: 1
lane_change_right:
@@ -36,7 +36,7 @@
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
- priority: 6
+ priority: 5
max_module_size: 1
start_planner:
@@ -72,7 +72,7 @@
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
- priority: 5
+ priority: 4
max_module_size: 1
avoidance_by_lc:
@@ -81,7 +81,7 @@
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
- priority: 4
+ priority: 3
max_module_size: 1
dynamic_avoidance:
@@ -89,6 +89,6 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
- keep_last: false
- priority: 3
+ keep_last: true
+ priority: 7
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 b62262423f..352a0bf350 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
@@ -7,6 +7,8 @@
collision_check_margin: 1.0
collision_check_distance_from_end: 1.0
th_moving_object_velocity: 1.0
+ th_distance_to_middle_of_the_road: 0.1
+ center_line_path_interval: 1.0
# shift pull out
enable_shift_pull_out: true
check_shift_path_lane_departure: false
@@ -79,12 +81,13 @@
path_safety_check:
# EgoPredictedPath
ego_predicted_path:
+ min_velocity: 0.0
acceleration: 1.0
- time_horizon: 10.0
+ max_velocity: 1.0
+ time_horizon_for_front_object: 10.0
+ time_horizon_for_rear_object: 10.0
time_resolution: 0.5
- min_slow_speed: 0.0
delay_until_departure: 1.0
- target_velocity: 1.0
# For target object filtering
target_filtering:
safety_check_time_horizon: 5.0
@@ -92,7 +95,7 @@
# detection range
object_check_forward_distance: 10.0
object_check_backward_distance: 100.0
- ignore_object_velocity_threshold: 0.0
+ ignore_object_velocity_threshold: 1.0
# ObjectTypesToCheck
object_types_to_check:
check_car: true
@@ -119,7 +122,7 @@
# For safety check
safety_check_params:
# safety check configuration
- enable_safety_check: true
+ enable_safety_check: false # Don't set to true if auto_mode is enabled
# collision check parameters
check_all_predicted_path: true
publish_debug_marker: false
@@ -129,6 +132,8 @@
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 1.0
longitudinal_velocity_delta_time: 1.0
+ # hysteresis factor to expand/shrink polygon
+ hysteresis_factor_expand_rate: 1.0
# temporary
backward_path_length: 30.0
forward_path_length: 100.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index 00df2e2ced..a932254140 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -24,12 +24,15 @@
state_transit_margin_time: 1.0
min_predicted_path_confidence: 0.05
minimum_ego_predicted_velocity: 1.388 # [m/s]
- normal:
- collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
- collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
- relaxed:
+ fully_prioritized:
collision_start_margin_time: 2.0
collision_end_margin_time: 0.0
+ partially_prioritized:
+ collision_start_margin_time: 2.0
+ collision_end_margin_time: 2.0
+ not_prioritized:
+ collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
+ collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
occlusion:
@@ -48,6 +51,7 @@
possible_object_bbox: [1.5, 2.5] # [m x m]
ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h
stop_release_margin_time: 1.5 # [s]
+ temporal_stop_before_attention_area: false
enable_rtc:
intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
@@ -56,3 +60,4 @@
merge_from_private:
stop_line_margin: 3.0
stop_duration_sec: 1.0
+ stop_distance_threshold: 1.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index aadd0ccd02..cb4d6a68c5 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -106,6 +106,13 @@
successive_num_to_entry_slow_down_condition: 5
successive_num_to_exit_slow_down_condition: 5
+ # consider the current ego pose (it is not the nearest pose on the reference trajectory)
+ # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence"
+ # The both errors decrease with constant rates against the time.
+ consider_current_pose:
+ enable_to_consider_current_pose: true
+ time_to_convergence: 1.5 #[s]
+
cruise:
pid_based_planner:
use_velocity_limit_based_planner: true
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
new file mode 100644
index 0000000000..2f98f9d0e2
--- /dev/null
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
@@ -0,0 +1,52 @@
+# Description:
+# name: diag name
+# sf_at: diag level where it becomes Safe Fault
+# lf_at: diag level where it becomes Latent Fault
+# spf_at: diag level where it becomes Single Point Fault
+# auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
+#
+# Note:
+# empty-value for sf_at, lf_at and spf_at is "none"
+# default values are:
+# sf_at: "none"
+# lf_at: "warn"
+# spf_at: "error"
+# auto_recovery: "true"
+---
+/**:
+ ros__parameters:
+ required_modules:
+ autonomous_driving:
+ /autoware/control/autonomous_driving/node_alive_monitoring: default
+ /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
+ /autoware/control/control_command_gate/node_alive_monitoring: default
+
+ /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: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+
+ /autoware/map/node_alive_monitoring: default
+
+ /autoware/perception/node_alive_monitoring: default
+
+ /autoware/planning/node_alive_monitoring: default
+ /autoware/planning/performance_monitoring/trajectory_validation: default
+
+ # /autoware/sensing/node_alive_monitoring: default
+
+ /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/vehicle/node_alive_monitoring: default
+
+ external_control:
+ /autoware/control/control_command_gate/node_alive_monitoring: default
+ /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
+
+ /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/vehicle/node_alive_monitoring: default
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 1a4fbb70f4..5d98c9388f 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -6,6 +6,7 @@
+
@@ -32,6 +33,7 @@
+
@@ -89,7 +91,9 @@
-
+
+
+
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index cf5b2dd98c..342396934c 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -8,6 +8,7 @@
default="obstacle_pointcloud"
description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
/>
+
@@ -19,18 +20,14 @@
+
-
-
+
-
+
-
+
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index 3cfc6d8541..1bd74ccbbf 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,5 +1,7 @@
+
+
@@ -10,7 +12,7 @@
-
+
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 9ce8a421e9..fe8d1de1d8 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -4,6 +4,7 @@
+
@@ -26,6 +27,11 @@
+
@@ -36,6 +42,7 @@
+
@@ -54,6 +61,7 @@
+
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 6621c15ea3..7eb13135d3 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -5,6 +5,7 @@
+
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 0a97454854..fdc86ebba7 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -4,6 +4,7 @@
+
@@ -37,6 +38,7 @@
+
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 0013fc36ca..00e924da39 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -319,6 +319,22 @@ Visualization Manager:
Value: true
Enabled: true
Name: Vehicle
+ - Class: rviz_plugins/MrmSummaryOverlayDisplay
+ Enabled: false
+ Font Size: 10
+ Left: 512
+ Max Letter Num: 100
+ Name: MRM Summary
+ Text Color: 25; 255; 240
+ Top: 64
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /system/emergency/hazard_status
+ Value: false
+ Value height offset: 0
Enabled: true
Name: System
- Class: rviz_common/Group