Merge pull request #624 from tier4/sync-upstream

chore: sync upstream

common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp

@@ -0,0 +1,33 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
+#define AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.hpp>
+
+namespace autoware_ad_api::vehicle
+{
+
+struct Dimensions
+{
+  using Service = autoware_adapi_v1_msgs::srv::GetVehicleDimensions;
+  static constexpr char name[] = "/api/vehicle/dimensions";
+};
+
+}  // namespace autoware_ad_api::vehicle
+
+#endif  // AUTOWARE_AD_API_SPECS__VEHICLE_HPP_

perception/probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml

@@ -1,9 +1,8 @@
 /**:
   ros__parameters:
-    binary_bayes_filter:
-      probability_matrix:
-        occupied_to_occupied: 0.95
-        occupied_to_free: 0.05
-        free_to_occupied: 0.2
-        free_to_free: 0.8
-      v_ratio: 10.0
+    probability_matrix:
+      occupied_to_occupied: 0.95
+      occupied_to_free: 0.05
+      free_to_occupied: 0.2
+      free_to_free: 0.8
+    v_ratio: 10.0

perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py

@@ -107,6 +107,7 @@ def launch_setup(context, *args, **kwargs):
                     "input_obstacle_and_raw_pointcloud": LaunchConfiguration(
                         "input_obstacle_and_raw_pointcloud"
                     ),
+                    "updater_type": LaunchConfiguration("updater_type"),
                 },
             ],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
@@ -164,10 +165,7 @@ def add_launch_arg(name: str, default_value=None):
                 get_package_share_directory("probabilistic_occupancy_grid_map")
                 + "/config/laserscan_based_occupancy_grid_map.param.yaml",
             ),
-            add_launch_arg(
-                "updater_type",
-                "binary_bayes_filter",
-            ),
+            add_launch_arg("updater_type", "binary_bayes_filter"),
             add_launch_arg(
                 "updater_param_file",
                 get_package_share_directory("probabilistic_occupancy_grid_map")

perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py

@@ -26,11 +26,6 @@
 import yaml
 
 
-def overwrite_config(param_dict, launch_config_name, node_params_name, context):
-    if LaunchConfiguration(launch_config_name).perform(context) != "":
-        param_dict[node_params_name] = LaunchConfiguration(launch_config_name).perform(context)
-
-
 def launch_setup(context, *args, **kwargs):
     # load parameter files
     param_file = LaunchConfiguration("param_file").perform(context)
@@ -62,6 +57,7 @@ def launch_setup(context, *args, **kwargs):
             parameters=[
                 pointcloud_based_occupancy_grid_map_node_params,
                 occupancy_grid_map_updater_params,
+                {"updater_type": LaunchConfiguration("updater_type")},
             ],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         ),
@@ -116,10 +112,7 @@ def add_launch_arg(name: str, default_value=None):
                 get_package_share_directory("probabilistic_occupancy_grid_map")
                 + "/config/pointcloud_based_occupancy_grid_map.param.yaml",
             ),
-            add_launch_arg(
-                "updater_type",
-                "binary_bayes_filter",
-            ),
+            add_launch_arg("updater_type", "binary_bayes_filter"),
             add_launch_arg(
                 "updater_param_file",
                 get_package_share_directory("probabilistic_occupancy_grid_map")

perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp

@@ -30,14 +30,14 @@ OccupancyGridMapBBFUpdater::OccupancyGridMapBBFUpdater(
 void OccupancyGridMapBBFUpdater::initRosParam(rclcpp::Node & node)
 {
   probability_matrix_(Index::OCCUPIED, Index::OCCUPIED) =
-    node.declare_parameter<double>("binary_bayes_filter.probability_matrix.occupied_to_occupied");
+    node.declare_parameter<double>("probability_matrix.occupied_to_occupied");
   probability_matrix_(Index::FREE, Index::OCCUPIED) =
-    node.declare_parameter<double>("binary_bayes_filter.probability_matrix.occupied_to_free");
+    node.declare_parameter<double>("probability_matrix.occupied_to_free");
   probability_matrix_(Index::FREE, Index::FREE) =
-    node.declare_parameter<double>("binary_bayes_filter.probability_matrix.free_to_free");
+    node.declare_parameter<double>("probability_matrix.free_to_free");
   probability_matrix_(Index::OCCUPIED, Index::FREE) =
-    node.declare_parameter<double>("binary_bayes_filter.probability_matrix.free_to_occupied");
-  v_ratio_ = node.declare_parameter<double>("binary_bayes_filter.v_ratio");
+    node.declare_parameter<double>("probability_matrix.free_to_occupied");
+  v_ratio_ = node.declare_parameter<double>("v_ratio");
 }
 
 inline unsigned char OccupancyGridMapBBFUpdater::applyBBF(

planning/behavior_path_planner/config/lane_change/lane_change.param.yaml

@@ -15,6 +15,10 @@
       longitudinal_acceleration_sampling_num: 5
       lateral_acceleration_sampling_num: 3
 
+      # side walk parked vehicle
+      object_check_min_road_shoulder_width: 0.5  # [m]
+      object_shiftable_ratio_threshold: 0.6
+
       # turn signal
       min_length_for_turn_signal_activation: 10.0 # [m]
       length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position)