Merge pull request autowarefoundation#782 from tier4/sync-awf-latest

chore: sync awf-latest

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml

@@ -43,6 +43,9 @@
       enable_clipping_fixed_traj: false
       non_fixed_trajectory_length: 5.0 # length of the trajectory merging optimized mpt trajectory to original(not optimized) trajectory
 
+      vehicle_stop_margin_outside_drivable_area: 1.5 # vehicle stop margin to let the vehicle stop before the calculated stop point if it is calculated outside the drivable area [m] .
+                                                     # This margin will be realized with delta_arc_length_for_mpt_points m precision.
+
     object:  # avoiding object
       max_avoiding_objects_velocity_ms: 0.5 # maximum velocity for avoiding objects [m/s]
       max_avoiding_ego_velocity_ms: 6.0 # maximum ego velocity when avoiding objects [m/s]

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml

@@ -4,6 +4,8 @@
     lowpass_gain: 0.9                        # gain parameter for low pass filter [-]
     max_velocity: 20.0                       # max velocity [m/s]
     enable_slow_down: False                  # whether to use slow down planner [-]
+    enable_z_axis_obstacle_filtering: True   # filter obstacles in z axis (height) [-]
+    z_axis_filtering_buffer: 0.0             # additional buffer for z axis filtering [m]
     voxel_grid_x: 0.05                       # voxel grid x parameter for filtering pointcloud [m]
     voxel_grid_y: 0.05                       # voxel grid y parameter for filtering pointcloud [m]
     voxel_grid_z: 100000.0                   # voxel grid z parameter for filtering pointcloud [m]

autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml

@@ -0,0 +1,17 @@
+# Description:
+#   required_diags:
+#     <name>: {is_active: <is_active>, status: <status>}
+#   name: diag name
+#   is_active: Force update or not
+#   status: diag status set by dummy diag publisher "OK, Warn, Error, Stale"
+#
+# Note:
+#
+# default values are:
+#   is_active: "true"
+#   status: "OK"
+---
+/**:
+  ros__parameters:
+    required_diags:
+      dummy_diag_empty: default

autoware_launch/launch/autoware.launch.xml

@@ -28,6 +28,8 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- System -->
   <arg name="system_run_mode" default="online" description="run mode in system"/>
+  <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
+  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -64,30 +66,17 @@
 
   <!-- System -->
   <group if="$(var launch_system)">
-    <include file="$(find-pkg-share system_launch)/launch/system.launch.xml">
-      <arg name="run_mode" value="$(var system_run_mode)"/>
-      <arg name="sensor_model" value="$(var sensor_model)"/>
-    </include>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_system_component.launch.xml"/>
   </group>
 
   <!-- Map -->
   <group if="$(var launch_map)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml">
-      <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
-      <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
-    </include>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml"/>
   </group>
 
   <!-- Sensing -->
   <group if="$(var launch_sensing)">
-    <include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml">
-      <arg name="launch_driver" value="$(var launch_sensing_driver)"/>
-      <arg name="sensor_model" value="$(var sensor_model)"/>
-      <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="perception_mode" value="$(var perception_mode)"/>
-    </include>
+    <include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml"/>
   </group>
 
   <!-- Localization -->
@@ -97,13 +86,7 @@
 
   <!-- Perception -->
   <group if="$(var launch_perception)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
-      <arg name="mode" value="$(var perception_mode)"/>
-      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
-    </include>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml"/>
   </group>
 
   <!-- Planning -->

autoware_launch/launch/components/tier4_map_component.launch.xml

@@ -1,11 +1,8 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="lanelet2_map_path"/>
-  <arg name="pointcloud_map_path"/>
-
   <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
-    <arg name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
-    <arg name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
+    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+    <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
 
     <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
     <arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -1,14 +1,8 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="mode"/>
-  <arg name="vehicle_param_file"/>
-  <arg name="use_pointcloud_container"/>
-  <arg name="pointcloud_container_name"/>
-  <arg name="enable_fine_detection"/>
-
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
-    <arg name="mode" value="$(var mode)"/>
-    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+    <arg name="mode" value="$(var perception_mode)"/>
+    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>

autoware_launch/launch/components/tier4_sensing_component.launch.xml

@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml">
+    <arg name="launch_driver" value="$(var launch_sensing_driver)"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+  </include>
+</launch>

autoware_launch/launch/components/tier4_system_component.launch.xml

@@ -0,0 +1,29 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
+    <arg name="run_mode" value="$(var system_run_mode)"/>
+    <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
+    <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+    <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
+    <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
+
+    <arg name="component_state_monitor_topic_path" value="$(find-pkg-share autoware_launch)/config/system/component_state_monitor/topics.yaml"/>
+    <arg name="emergency_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/emergency_handler/emergency_handler.param.yaml"/>
+    <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
+    <arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
+    <arg name="system_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"/>
+    <arg name="system_error_monitor_planning_simulator_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml"/>
+    <arg name="diagnostic_aggregator_system_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_aggregator/system.param.yaml"/>
+    <arg name="diagnostic_aggregator_vehicle_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_aggregator/vehicle.param.yaml"/>
+    <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml"/>
+    <arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
+    <arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>
+    <arg name="system_monitor_hdd_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/hdd_monitor.param.yaml"/>
+    <arg name="system_monitor_mem_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/mem_monitor.param.yaml"/>
+    <arg name="system_monitor_net_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/net_monitor.param.yaml"/>
+    <arg name="system_monitor_ntp_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/ntp_monitor.param.yaml"/>
+    <arg name="system_monitor_process_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/process_monitor.param.yaml"/>
+    <arg name="system_monitor_voltage_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/voltage_monitor.param.yaml"/>
+  </include>
+</launch>

autoware_launch/launch/e2e_simulator.launch.xml

@@ -23,6 +23,7 @@
   <arg name="launch_vehicle_interface" default="false"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
+  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -50,6 +51,7 @@
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
+      <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
       <!-- Perception-->

autoware_launch/launch/logging_simulator.launch.xml

@@ -26,6 +26,7 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
+  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <!-- Scenario simulation -->
@@ -56,6 +57,8 @@
       <!-- System -->
       <arg name="launch_system" value="$(var system)"/>
       <arg name="system_run_mode" value="online"/>
+      <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
+      <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>

autoware_launch/launch/planning_simulator.launch.xml

@@ -11,6 +11,7 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
+  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -43,6 +44,8 @@
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- System -->
       <arg name="system_run_mode" value="planning_simulation"/>
+      <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
+      <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>

autoware_launch/package.xml

@@ -6,6 +6,7 @@
 
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <maintainer email="akihiro.sakurai@tier4.jp">Akihiro Sakurai</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
@@ -15,7 +16,6 @@
   <exec_depend>python3-bson</exec_depend>
   <exec_depend>python3-tornado</exec_depend>
   <exec_depend>rviz2</exec_depend>
-  <exec_depend>system_launch</exec_depend>
   <exec_depend>tier4_autoware_api_launch</exec_depend>
   <exec_depend>tier4_control_launch</exec_depend>
   <exec_depend>tier4_localization_launch</exec_depend>
@@ -24,6 +24,7 @@
   <exec_depend>tier4_planning_launch</exec_depend>
   <exec_depend>tier4_sensing_launch</exec_depend>
   <exec_depend>tier4_simulator_launch</exec_depend>
+  <exec_depend>tier4_system_launch</exec_depend>
   <exec_depend>tier4_vehicle_launch</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>