Merge pull request #730 from tier4/sync-awf-latest

chore: sync awf-latest
tier4 · Jan 30, 2023 · a136c23 · a136c23
2 parents 9f20574 + 6787f76
commit a136c23
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Showing 14 changed files with 86 additions and 35 deletions.
diff --git a/.github/workflows/sync-awf-autoware-launch.yaml b/.github/workflows/sync-awf-autoware-launch.yaml
@@ -6,7 +6,7 @@ on:
   workflow_dispatch:
 
 jobs:
-  sync-awf-latest:
+  sync-awf-autoware-launch:
     runs-on: ubuntu-latest
     steps:
       - name: Generate token

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -18,7 +18,7 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.32.2
+    rev: v0.33.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
@@ -29,35 +29,35 @@ repos:
       - id: prettier
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.28.0
+    rev: v1.29.0
     hooks:
       - id: yamllint
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.7.1
+    rev: v0.8.0
     hooks:
       - id: flake8-ros
       - id: prettier-package-xml
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.8.0.4
+    rev: v0.9.0.2
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.5.1-1
+    rev: v3.6.0-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
 
   - repo: https://github.com/pycqa/isort
-    rev: 5.10.1
+    rev: 5.12.0
     hooks:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 22.10.0
+    rev: 22.12.0
     hooks:
       - id: black
         args: [--line-length=100]

diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
@@ -13,3 +13,4 @@
     max_longitudinal_deviation: 2.0
     max_yaw_deviation_deg: 60.0
     delta_yaw_threshold_for_closest_point: 1.570 #M_PI/2.0, delta yaw thres for closest point
+    min_braking_distance: 0.0
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -63,6 +63,14 @@
     new_traj_duration_time: 1.0
     new_traj_end_dist: 0.3
 
+    # steer offset
+    steering_offset:
+      enable_auto_steering_offset_removal: true
+      update_vel_threshold: 5.56
+      update_steer_threshold: 0.035
+      average_num: 1000
+      steering_offset_limit: 0.02
+
     # vehicle parameters
     vehicle:
       cg_to_front_m: 1.228

diff --git a/autoware_launch/config/map/pointcloud_map_loader.param.yaml b/autoware_launch/config/map/pointcloud_map_loader.param.yaml
@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    enable_whole_load: true
+    enable_downsampled_whole_load: false
+    enable_partial_load: false
+    enable_differential_load: false
+
+    # only used when downsample_whole_load enabled
+    leaf_size: 3.0 # downsample leaf size [m]
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -31,4 +31,4 @@
     expected_rear_deceleration_for_abort: -2.0
 
     rear_vehicle_reaction_time: 2.0
-    rear_vehicle_safety_time_margin: 2.0
+    rear_vehicle_safety_time_margin: 1.0
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -2,7 +2,6 @@
   ros__parameters:
     lane_change:
       lane_change_prepare_duration: 4.0         # [s]
-      lane_changing_safety_check_duration: 8.0  # [s]
 
       minimum_lane_change_prepare_distance: 2.0 # [m]
       minimum_lane_change_length: 16.5          # [m]
@@ -18,9 +17,9 @@
       lane_change_sampling_num: 10
 
       # collision check
-      enable_collision_check_at_prepare_phase: true
+      enable_collision_check_at_prepare_phase: false
       prepare_phase_ignore_target_speed_thresh: 0.1 # [m/s]
-      use_predicted_path_outside_lanelet: true
+      use_predicted_path_outside_lanelet: false
       use_all_predicted_path: false
 
       # abort

diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -1,10 +1,8 @@
 /**:
   ros__parameters:
     intersection:
-      state_transit_margin_time: 0.5
+      state_transit_margin_time: 1.0
       stop_line_margin: 3.0
-      keep_detection_line_margin: 1.0 # distance (toward path end) from generated stop line. keep detection if ego is before this line and ego.vel < keep_detection_vel_thr
-      keep_detection_vel_thr: 0.833 # == 3.0km/h
       stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
       stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)
       stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h
@@ -16,11 +14,13 @@
       detection_area_length: 200.0 # [m]
       detection_area_angle_threshold: 0.785 # [rad]
       min_predicted_path_confidence: 0.05
-      collision_start_margin_time: 5.0 # [s]
-      collision_end_margin_time: 2.0 # [s]
+      minimum_ego_predicted_velocity: 1.388 # [m/s]
+      collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
+      collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
       use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck
       assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
       enable_front_car_decel_prediction: false # By default this feature is disabled
+      stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collsion detection
 
     merge_from_private_road:
       stop_duration_sec: 1.0
diff --git a/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -7,6 +7,8 @@
       - "intersection"
       - "no_stopping_area"
       - "traffic_light"
+      - "ext_request_lane_change_left"
+      - "ext_request_lane_change_right"
       - "lane_change_left"
       - "lane_change_right"
       - "avoidance_left"

diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -18,6 +18,7 @@
       enable_pre_smoothing: true # enable EB
       skip_optimization: false # skip MPT and EB
       reset_prev_optimization: false
+      is_considering_footprint_edges: false # consider ego footprint edges to decide whether footprint is outside drivable area
 
     common:
       # sampling

diff --git a/...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    hunting_threshold: 0.5                   # even if the obstacle disappears, the stop judgment continues for hunting_threshold [s]
+    chattering_threshold: 0.5                # even if the obstacle disappears, the stop judgment continues for chattering_threshold [s]
     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 [-]

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -73,7 +73,7 @@
 
   <!-- Map -->
   <group if="$(var launch_map)">
-    <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
+    <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>

diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -0,0 +1,12 @@
+<?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="$(var pointcloud_map_path)"/>
+
+    <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
+  </include>
+</launch>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1036,13 +1036,13 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true
-                      Name: PathChangeCandidate_Avoidance
+                      Name: PathChangeCandidate_ExternalRequestLaneChangeRight
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_candidate/avoidance
+                        Value: /planning/path_candidate/ext_request_lane_change_right
                       Value: true
                       View Path:
                         Alpha: 0.30000001192092896
@@ -1059,13 +1059,13 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true
-                      Name: PathChangeCandidate_PullOut
+                      Name: PathChangeCandidate_ExternalRequestLaneChangeLeft
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_candidate/pull_out
+                        Value: /planning/path_candidate/ext_request_lane_change_left
                       Value: true
                       View Path:
                         Alpha: 0.30000001192092896
@@ -1082,13 +1082,36 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true
-                      Name: PathChangeCandidate_PullOver
+                      Name: PathChangeCandidate_Avoidance
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_candidate/pull_over
+                        Value: /planning/path_candidate/avoidance
+                      Value: true
+                      View Path:
+                        Alpha: 0.30000001192092896
+                        Color: 115; 210; 22
+                        Constant Color: false
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: true
+                      Name: PathChangeCandidate_PullOut
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_candidate/pull_out
                       Value: true
                       View Path:
                         Alpha: 0.30000001192092896
@@ -1752,25 +1775,21 @@ Visualization Manager:
                   Value: true
               Enabled: true
               Name: Parking
-            - Alpha: 1
-              Axes Length: 1
-              Axes Radius: 0.30000001192092896
-              Class: rviz_default_plugins/Pose
-              Color: 255; 25; 0
+            - Class: rviz_plugins/PoseWithUuidStamped
               Enabled: true
-              Head Length: 0.30000001192092896
-              Head Radius: 0.10000000149011612
+              Length: 1.5
               Name: ModifiedGoal
-              Shaft Length: 1
-              Shaft Radius: 0.05000000074505806
-              Shape: Axes
+              Radius: 0.5
               Topic:
                 Depth: 5
                 Durability Policy: Volatile
                 Filter size: 10
                 History Policy: Keep Last
                 Reliability Policy: Reliable
                 Value: /planning/scenario_planning/modified_goal
+              UUID:
+                Scale: 0.30000001192092896
+                Value: false
               Value: true
           Enabled: true
           Name: ScenarioPlanning