chore: sync awf-latest

autoware_api_launch/package.xml

@@ -14,6 +14,7 @@
   <exec_depend>awapi_awiv_adapter</exec_depend>
   <exec_depend>default_ad_api</exec_depend>
   <exec_depend>path_distance_calculator</exec_depend>
+  <exec_depend>rosbridge_server</exec_depend>
   <exec_depend>topic_tools</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

autoware_launch/launch/autoware.launch.xml

@@ -115,8 +115,5 @@
       if="$(var rviz)"
     />
     <include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var rviz)"/>
-
-    <!-- Web Controller -->
-    <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml"/>
   </group>
 </launch>

autoware_launch/launch/logging_simulator.launch.xml

@@ -130,8 +130,5 @@
       if="$(var rviz)"
     />
     <include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var rviz)"/>
-
-    <!-- Web Controller -->
-    <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml"/>
   </group>
 </launch>

autoware_launch/launch/planning_simulator.launch.xml

@@ -93,9 +93,6 @@
       if="$(var rviz)"
     />
     <include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var rviz)"/>
-
-    <!-- Web Controller -->
-    <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml"/>
   </group>
 
   <!-- Simulator -->

autoware_launch/package.xml

@@ -24,7 +24,6 @@
   <exec_depend>tier4_map_launch</exec_depend>
   <exec_depend>tier4_sensing_launch</exec_depend>
   <exec_depend>tier4_vehicle_launch</exec_depend>
-  <exec_depend>web_controller</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml

@@ -2,6 +2,7 @@
   ros__parameters:
     transition_timeout: 10.0
     frequency_hz: 10.0
+    check_engage_condition: false # set false if you do not want to care about the engage condition.
     engage_acceptable_limits:
       allow_autonomous_in_stopped: true  # no check if the velocity is zero, always allowed.
       dist_threshold: 1.5

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

@@ -10,11 +10,19 @@
       enable_avoidance_over_same_direction: true
       enable_avoidance_over_opposite_direction: true
 
-      threshold_distance_object_is_on_center: 1.0 # [m]
+      # For target object filtering
       threshold_speed_object_is_stopped: 1.0      # [m/s]
       threshold_time_object_is_moving: 1.0        # [s]
+
       object_check_forward_distance: 150.0        # [m]
       object_check_backward_distance: 2.0         # [m]
+
+      threshold_distance_object_is_on_center: 1.0 # [m]
+
+      object_check_shiftable_ratio: 0.6           # [-]
+      object_check_min_road_shoulder_width: 0.5   # [m]
+
+      # For lateral margin
       object_envelope_buffer: 0.3                 # [m]
       lateral_collision_margin: 1.0               # [m]
       lateral_collision_safety_buffer: 0.7        # [m]