Merge pull request autowarefoundation#431 from tier4/sync-tier4-upstream

chore: sync upstream
soblin · Mar 22, 2023 · cc14063 · cc14063
2 parents 80ea012 + 3f0afbf
commit cc14063
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Showing 16 changed files with 289 additions and 25 deletions.
diff --git a/...aunch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/...aunch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    use_predicted_trajectory: true
+    use_imu_path: true
+    voxel_grid_x: 0.05
+    voxel_grid_y: 0.05
+    voxel_grid_z: 100000.0
+    min_generated_path_length: 0.5
+    expand_width: 0.1
+    longitudinal_offset: 2.0
+    t_response: 1.0
+    a_ego_min: -3.0
+    a_obj_min: -1.0
+    prediction_time_horizon: 1.5
+    prediction_time_interval: 0.1
+    aeb_hz: 10.0
diff --git a/autoware_launch/config/localization/pose_initializer.logging_simulator.param.yaml b/autoware_launch/config/localization/pose_initializer.logging_simulator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    gnss_enabled: true
+    ndt_enabled: true
+    ekf_enabled: true
+    stop_check_enabled: false
diff --git a/autoware_launch/config/localization/pose_initializer.param.yaml b/autoware_launch/config/localization/pose_initializer.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    gnss_enabled: true
+    ndt_enabled: true
+    ekf_enabled: true
+    stop_check_enabled: true
diff --git a/autoware_launch/config/localization/pose_initializer.planning_simulator.param.yaml b/autoware_launch/config/localization/pose_initializer.planning_simulator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    gnss_enabled: false
+    ndt_enabled: false
+    ekf_enabled: false
+    stop_check_enabled: false
diff --git a/autoware_launch/config/localization/pose_initializer_common.param.yaml b/autoware_launch/config/localization/pose_initializer_common.param.yaml
@@ -0,0 +1,26 @@
+/**:
+  ros__parameters:
+    gnss_pose_timeout: 3.0 # [sec]
+    stop_check_duration: 3.0 # [sec]
+
+    # from gnss
+    gnss_particle_covariance:
+      [
+        1.0, 0.0, 0.0,  0.0,  0.0,  0.0,
+        0.0, 1.0, 0.0,  0.0,  0.0,  0.0,
+        0.0, 0.0, 0.01, 0.0,  0.0,  0.0,
+        0.0, 0.0, 0.0,  0.01, 0.0,  0.0,
+        0.0, 0.0, 0.0,  0.0,  0.01, 0.0,
+        0.0, 0.0, 0.0,  0.0,  0.0,  10.0,
+      ]
+
+    # output
+    output_pose_covariance:
+      [
+        1.0, 0.0, 0.0,  0.0,  0.0,  0.0,
+        0.0, 1.0, 0.0,  0.0,  0.0,  0.0,
+        0.0, 0.0, 0.01, 0.0,  0.0,  0.0,
+        0.0, 0.0, 0.0,  0.01, 0.0,  0.0,
+        0.0, 0.0, 0.0,  0.0,  0.01, 0.0,
+        0.0, 0.0, 0.0,  0.0,  0.0,  0.2,
+      ]
diff --git a/...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -29,3 +29,4 @@
         gnd_grid_buffer_size: 4
         detection_range_z_max: 2.5
         elevation_grid_mode: true
+        use_recheck_ground_cluster: true
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -19,7 +19,9 @@
     turn_signal_shift_length_threshold: 0.3
     turn_signal_on_swerving: true
 
-    path_interval: 2.0
+    enable_akima_spline_first: false
+    input_path_interval: 2.0
+    output_path_interval: 2.0
 
     visualize_maximum_drivable_area: true
 
@@ -37,14 +39,51 @@
 
     # USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE.
     # https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt
+    # NOTE: The smaller the priority number is, the higher the module priority is.
+    ext_request_lane_change_left:
+      enable_module: true
+      enable_simultaneous_execution: true
+      priority: 6
+      max_module_size: 1
+
+    ext_request_lane_change_right:
+      enable_module: true
+      enable_simultaneous_execution: true
+      priority: 6
+      max_module_size: 1
+
+    lane_change_left:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 5
+      max_module_size: 1
+
+    lane_change_right:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 4
+      max_module_size: 1
+
     pull_out:
       enable_module: true
       enable_simultaneous_execution: false
-      priority: 1
+      priority: 0
       max_module_size: 1
 
     side_shift:
       enable_module: true
       enable_simultaneous_execution: false
-      priority: 0
+      priority: 2
+      max_module_size: 1
+
+    pull_over:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 1
+      max_module_size: 1
+
+    avoidance:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 3
       max_module_size: 1
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -87,6 +87,7 @@
       min_stop_distance: 5.0
       stop_time: 2.0
       hysteresis_buffer_distance: 2.0
+      prediction_time_resolution: 0.5
       enable_collision_check_at_prepare_phase: false
       use_predicted_path_outside_lanelet: false
       use_all_predicted_path: false

diff --git a/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -6,7 +6,7 @@
     launch_intersection: true
     launch_blind_spot: true
     launch_detection_area: true
-    launch_virtual_traffic_light: false
+    launch_virtual_traffic_light: false # disabled by default to not confuse newcomers
     launch_occlusion_spot: false
     launch_no_stopping_area: true
     launch_run_out: false

diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml
@@ -12,7 +12,7 @@
     timeout: 1.0
 
 - module: map
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: launch
   args:
     node_name_suffix: vector_map
@@ -25,7 +25,7 @@
     timeout: 0.0
 
 - module: map
-  mode: [online]
+  mode: [online, logging_simulation]
   type: launch
   args:
     node_name_suffix: pointcloud_map
@@ -38,7 +38,7 @@
     timeout: 0.0
 
 - module: localization
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: initialpose3d
@@ -51,7 +51,7 @@
     timeout: 0.0
 
 - module: localization
-  mode: [online]
+  mode: [online, logging_simulation]
   type: autonomous
   args:
     node_name_suffix: pose_twist_fusion_filter_pose
@@ -64,7 +64,7 @@
     timeout: 1.0
 
 - module: perception
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: launch
   args:
     node_name_suffix: obstacle_segmentation_pointcloud
@@ -77,7 +77,7 @@
     timeout: 1.0
 
 - module: perception
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: object_recognition_objects
@@ -103,7 +103,7 @@
     timeout: 1.0
 
 - module: planning
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: mission_planning_route
@@ -116,7 +116,7 @@
     timeout: 0.0
 
 - module: planning
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: scenario_planning_trajectory
@@ -129,7 +129,7 @@
     timeout: 1.0
 
 - module: control
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: trajectory_follower_control_cmd
@@ -142,7 +142,7 @@
     timeout: 1.0
 
 - module: control
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: control_command_control_cmd
@@ -155,7 +155,7 @@
     timeout: 1.0
 
 - module: vehicle
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: vehicle_status_velocity_status
@@ -168,7 +168,7 @@
     timeout: 1.0
 
 - module: vehicle
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: vehicle_status_steering_status
@@ -181,7 +181,7 @@
     timeout: 1.0
 
 - module: system
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: launch
   args:
     node_name_suffix: system_emergency_control_cmd
@@ -194,7 +194,7 @@
     timeout: 1.0
 
 - module: localization
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: transform_map_to_base_link

diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -4,6 +4,7 @@
   <arg name="lateral_controller_mode" default="mpc"/>
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="true"/>
+  <arg name="enable_autonomous_emergency_braking" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
@@ -37,5 +38,7 @@
     <arg name="shift_decider_param_path" value="$(find-pkg-share autoware_launch)/config/control/shift_decider/shift_decider.param.yaml"/>
     <arg name="obstacle_collision_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml"/>
     <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
+    <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
+    <arg name="enable_autonomous_emergency_braking" value="$(var enable_autonomous_emergency_braking)"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -1,5 +1,12 @@
 <?xml version="1.0"?>
 <launch>
+  <let name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.param.yaml" if="$(eval &quot;'$(var system_run_mode)'=='online'&quot;)"/>
+  <let
+    name="pose_initializer_param_path"
+    value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.logging_simulator.param.yaml"
+    if="$(eval &quot;'$(var system_run_mode)'=='logging_simulation'&quot;)"
+  />
+
   <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
@@ -9,5 +16,7 @@
     <arg name="random_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/random_downsample_filter.param.yaml"/>
     <arg name="ndt_scan_matcher_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ndt_scan_matcher.param.yaml"/>
     <arg name="localization_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
+    <arg name="pose_initializer_common_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer_common.param.yaml"/>
+    <arg name="pose_initializer_param_path" value="$(var pose_initializer_param_path)"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -3,7 +3,6 @@
   <arg name="launch_dummy_perception"/>
   <arg name="launch_dummy_vehicle"/>
   <arg name="launch_dummy_localization"/>
-  <arg name="launch_planning_evaluator"/>
   <arg name="launch_diagnostic_converter"/>
   <arg name="perception/enable_detection_failure"/>
   <arg name="perception/enable_object_recognition"/>
@@ -16,7 +15,6 @@
     <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
     <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
     <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
-    <arg name="launch_planning_evaluator" value="$(var launch_planning_evaluator)"/>
     <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
     <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
     <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
@@ -34,5 +32,7 @@
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
     />
+    <arg name="pose_initializer_common_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer_common.param.yaml"/>
+    <arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.planning_simulator.param.yaml"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -61,7 +61,7 @@
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- System -->
       <arg name="launch_system" value="$(var system)"/>
-      <arg name="system_run_mode" value="online"/>
+      <arg name="system_run_mode" value="logging_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
       <!-- Map -->

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -72,14 +72,12 @@
     <let name="launch_dummy_vehicle" value="false" if="$(var scenario_simulation)"/>
     <let name="launch_dummy_vehicle" value="true" unless="$(var scenario_simulation)"/>
     <let name="launch_dummy_localization" value="true"/>
-    <let name="launch_planning_evaluator" value="$(var scenario_simulation)"/>
     <let name="launch_diagnostic_converter" value="$(var scenario_simulation)"/>
 
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_simulator_component.launch.xml">
       <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
       <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
       <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
-      <arg name="launch_planning_evaluator" value="$(var launch_planning_evaluator)"/>
       <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
       <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
       <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>