Merge pull request #5 from tier4/sync-awf-latest-xx1

chore: sync awf-latest-xx1

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    show_debug_info: false
+    enable_yaw_bias_estimation: True
+    predict_frequency: 50.0
+    tf_rate: 50.0
+    extend_state_step: 50
+
+    # for Pose measurement
+    pose_additional_delay: 0.0
+    pose_measure_uncertainty_time: 0.01
+    pose_smoothing_steps: 5
+    pose_gate_dist: 10000.0
+
+    # for twist measurement
+    twist_additional_delay: 0.0
+    twist_smoothing_steps: 2
+    twist_gate_dist: 10000.0
+
+    # for process model
+    proc_stddev_yaw_c: 0.005
+    proc_stddev_vx_c: 10.0
+    proc_stddev_wz_c: 5.0

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml

@@ -41,14 +41,14 @@
     # 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
+      enable_module: false
+      enable_simultaneous_execution: false
       priority: 6
       max_module_size: 1
 
     ext_request_lane_change_right:
-      enable_module: true
-      enable_simultaneous_execution: true
+      enable_module: false
+      enable_simultaneous_execution: false
       priority: 6
       max_module_size: 1
 

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml

@@ -4,3 +4,5 @@
       stop_margin: 0.0
       stop_check_dist: 2.0
       stop_duration_sec: 1.0
+      use_initialization_stop_line_state: true
+      hold_stop_margin_distance: 2.0

autoware_launch/launch/components/tier4_localization_component.launch.xml

@@ -16,6 +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="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
+    <arg name="ekf_localizer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ekf_localizer.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>