From 67e3389bf954cf36567706ab3cd0ef992293873f Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Tue, 21 Feb 2023 12:59:02 +0300 Subject: [PATCH 1/5] feat(lane_departure_checker): add optional neighbor lanelets parameters (#217) feat(lane_departure_checker): add optional neighbor lanelets parameters (#217) Signed-off-by: Berkay Karaman --- .../lane_departure_checker/lane_departure_checker.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) 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 9512ed388d..59e25cbc5d 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 @@ -3,6 +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 # Core footprint_margin_scale: 1.0 From b8fec055ea35c03421b294190954dd7160d8ca59 Mon Sep 17 00:00:00 2001 From: yamazakiTasuku <100691117+yamazakiTasuku@users.noreply.github.com> Date: Thu, 23 Feb 2023 11:56:18 +0900 Subject: [PATCH 2/5] fix(obstacle_stop_planner): add lacking param (#222) add param Signed-off-by: yamazakiTasuku Co-authored-by: yamazakiTasuku --- .../obstacle_stop_planner/adaptive_cruise_control.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 dd76f2c4e5..73e7a578fe 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 @@ -10,6 +10,7 @@ obstacle_velocity_thresh_to_start_acc: 1.5 # start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s] obstacle_velocity_thresh_to_stop_acc: 1.0 # stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s] emergency_stop_acceleration: -5.0 # supposed minimum acceleration (deceleration) in emergency stop [m/ss] + 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] @@ -18,6 +19,7 @@ min_dist_standard: 4.0 # 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 [-] + use_time_compensation_to_calc_distance: true # pid parameter for ACC p_coefficient_positive: 0.1 # coefficient P in PID control (used when target dist -current_dist >=0) [-] From c7e03a75250f7b56a6e552ae4ff3d3d4e6930f3c Mon Sep 17 00:00:00 2001 From: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Fri, 24 Feb 2023 18:28:25 +0300 Subject: [PATCH 3/5] feat(osbtacle_stop_planner): add new trajectory checker parameter (#224) add new trajectory checker parameter Signed-off-by: ismetatabay --- .../obstacle_stop_planner/obstacle_stop_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 6924435ebc..141297a2a7 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 @@ -26,7 +26,7 @@ pedestrian_lateral_margin: 0.0 # margin of pedestrian footprint [m] unknown_lateral_margin: 0.0 # margin of unknown footprint [m] step_length: 1.0 # step length for pointcloud search range [m] - extend_distance: 0.0 # extend trajectory to consider after goal obstacle in the extend_distance [m] + enable_stop_behind_goal_for_obstacle: True # enable extend trajectory after goal lane for obstacle detection slow_down_planner: From 5659d41f6e02a0f221e4db3c27f90a374a44e80c Mon Sep 17 00:00:00 2001 From: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Fri, 24 Feb 2023 18:29:21 +0300 Subject: [PATCH 4/5] feat(mission_planner): add config param file for mission_planner package (#225) * add mission_planner param file Signed-off-by: ismetatabay * style(pre-commit): autofix Signed-off-by: ismetatabay --------- Signed-off-by: ismetatabay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../mission_planner/mission_planner.param.yaml | 8 ++++++++ .../launch/components/tier4_planning_component.launch.xml | 3 +++ 2 files changed, 11 insertions(+) create mode 100644 autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml 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 new file mode 100644 index 0000000000..a801eca35c --- /dev/null +++ b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + map_frame: map + arrival_check_angle_deg: 45.0 + arrival_check_distance: 1.0 + arrival_check_duration: 1.0 + goal_angle_threshold_deg: 45.0 + enable_correct_goal_pose: false diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 1780207230..41ed528111 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -24,6 +24,9 @@ value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml" /> + + + Date: Sat, 25 Feb 2023 08:35:32 +0900 Subject: [PATCH 5/5] fix(autoware_launch): use tier4_sensing_component.launch.xml (#227) --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index e3d9755f15..92fdaf96ad 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -76,7 +76,7 @@ - +