Merge pull request #160 from tier4/sync-upstream-develop

sync upstream develop
tier4 · Oct 16, 2021 · c05ffd5 · c05ffd5
2 parents 0db7028 + fcbdeba
commit c05ffd5
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Showing 10 changed files with 103 additions and 15 deletions.
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -45,15 +45,6 @@
     <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
   </include>
 
-  <!-- Dummy Perception -->
-  <group unless="$(var scenario_simulation)">
-    <include file="$(find-pkg-share dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
-      <arg name="real" value="$(var perception/enable_detection_failure)"/>
-      <arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
-      <arg name="visible_range" value="$(var sensing/visible_range)"/>
-    </include>
-  </group>
-
   <!-- Planning -->
   <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml">
     <arg name="use_foa" value="$(var use_foa)" />
@@ -77,4 +68,12 @@
 
   <!-- Web Controller -->
   <include file="$(find-pkg-share autoware_web_controller)/launch/autoware_web_controller.launch.xml" unless="$(var scenario_simulation)"/>
+
+  <!-- Simulator -->
+  <include file="$(find-pkg-share simulator_launch)/launch/simulator.launch.xml">
+    <arg name="scenario_simulation" value="$(var scenario_simulation)"/>
+    <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
+    <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
+    <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
+  </include>
 </launch>
diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
@@ -21,6 +21,7 @@
   <exec_depend>python3-tornado</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>sensing_launch</exec_depend>
+  <exec_depend>simulator_launch</exec_depend>
   <exec_depend>system_launch</exec_depend>
   <exec_depend>vehicle_launch</exec_depend>
 

diff --git a/planning_launch/config/scenario_planning/common/common.param.yaml b/planning_launch/config/scenario_planning/common/common.param.yaml
@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    # constraints param for normal driving
+    normal:
+      min_acc: -0.5         # min deceleration [m/ss]
+      max_acc: 1.0          # max acceleration [m/ss]
+      min_jerk: -0.5        # min jerk [m/sss]
+      max_jerk: 1.0         # max jerk [m/sss]
+
+    # constraints to be observed
+    limit:
+      min_acc: -2.5         # min deceleration limit [m/ss]
+      max_acc: 1.0          # max acceleration limit [m/ss]
+      min_jerk: -1.5        # min jerk limit [m/sss]
+      max_jerk: 1.5         # max jerk limit [m/sss]
diff --git a/...fig/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/...fig/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -2,10 +2,6 @@
   ros__parameters:
     # motion state constraints
     max_velocity: 20.0      # max velocity limit [m/s]
-    max_accel: 1.0          # max acceleration limit [m/ss]
-    min_decel: -0.5         # min deceleration limit [m/ss]
-    max_jerk: 1.0             # default maximum jerk limit
-    min_jerk: -0.5            # default minimum jerk limit
 
     # external velocity limit parameter
     margin_to_insert_external_velocity_limit: 0.3   #  margin distance to insert external velocity limit [m]

diff --git a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -1,4 +1,6 @@
 <launch>
+  <!-- common param -->
+  <arg name="common_param_path" default="$(find-pkg-share planning_launch)/config/scenario_planning/common/common.param.yaml"/>
 
   <!-- scenario selector -->
   <include file="$(find-pkg-share scenario_selector)/launch/scenario_selector.launch.xml">
@@ -14,15 +16,22 @@
 
   <!-- velocity planning with max velocity, acceleration, jerk, stop point constraint -->
   <group>
+    <arg name="param_path" default="$(find-pkg-share planning_launch)/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
+    <!-- external velocity limit selector -->
+    <include file="$(find-pkg-share external_velocity_limit_selector)/launch/external_velocity_limit_selector.launch.xml">
+      <arg name="common_param_path" value="$(var common_param_path)"/>
+      <arg name="param_path" value="$(var param_path)"/>
+    </include>
+    <!-- motion velocity smoother -->
     <arg name="smoother_type" default="JerkFiltered" />
     <set_remap from="~/input/trajectory" to="/planning/scenario_planning/scenario_selector/trajectory" />
     <set_remap from="~/output/trajectory" to="/planning/scenario_planning/trajectory" />
     <include file="$(find-pkg-share motion_velocity_smoother)/launch/motion_velocity_smoother.launch.xml">
       <arg name="smoother_type" value="$(var smoother_type)" />
-      <arg name="param_path" value="$(find-pkg-share planning_launch)/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
+      <arg name="common_param_path" value="$(var common_param_path)"/>
+      <arg name="param_path" value="$(var param_path)"/>
       <arg name="smoother_param_path" value="$(find-pkg-share planning_launch)/config/scenario_planning/common/motion_velocity_smoother/$(var smoother_type).param.yaml"/>
     </include>
-
   </group>
 
   <!-- scenarios-->

diff --git a/planning_launch/package.xml b/planning_launch/package.xml
@@ -12,6 +12,7 @@
 
   <exec_depend>behavior_velocity_planner</exec_depend>
   <exec_depend>costmap_generator</exec_depend>
+  <exec_depend>external_velocity_limit_selector</exec_depend>
   <exec_depend>freespace_planner</exec_depend>
   <exec_depend>lane_change_planner</exec_depend>
   <exec_depend>mission_planner</exec_depend>

diff --git a/simulator_launch/CMakeLists.txt b/simulator_launch/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.5)
+project(simulator_launch)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)
diff --git a/simulator_launch/README.md b/simulator_launch/README.md
@@ -0,0 +1,11 @@
+# simulator_launch
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+```xml
+  <include file="$(find-pkg-share simulator_launch)/launch/simulator.launch.xml"/>
+```
diff --git a/simulator_launch/launch/simulator.launch.xml b/simulator_launch/launch/simulator.launch.xml
@@ -0,0 +1,20 @@
+<launch>
+  <arg name="scenario_simulation" description="use scenario simulation"/>
+  <arg name="perception/enable_detection_failure" description="enable to simulate detection failure when using dummy perception"/>
+  <arg name="perception/enable_object_recognition" description="enable object recognition when using dummy perception"/>
+  <arg name="sensing/visible_range" description="visible range when using dummy perception"/>
+
+  <group if="$(var scenario_simulation)">
+    <include file="$(find-pkg-share fault_injection)/launch/fault_injection.launch.xml"/>
+  </group>
+
+  <!-- Dummy Perception -->
+  <group unless="$(var scenario_simulation)">
+    <include file="$(find-pkg-share dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
+      <arg name="real" value="$(var perception/enable_detection_failure)"/>
+      <arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
+      <arg name="visible_range" value="$(var sensing/visible_range)"/>
+    </include>
+  </group>
+
+</launch>
diff --git a/simulator_launch/package.xml b/simulator_launch/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>simulator_launch</name>
+  <version>0.1.0</version>
+  <description>The simulator_launch package</description>
+
+  <maintainer email="keisuke.shima@tier4.jp">Keisuke Shima</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <exec_depend>dummy_perception_publisher</exec_depend>
+  <exec_depend>fault_injection</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>