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Merge pull request autowarefoundation#879 from tier4/feature/xx1-gen1…
…_2-launcher feat(autoware_launcher): update for xx1 gen2
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autoware_launch/config/control/trajectory_follower/8/lateral/mpc.param.yaml
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| /**: | ||
| ros__parameters: | ||
| # -- system -- | ||
| traj_resample_dist: 0.1 # path resampling interval [m] | ||
| use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) | ||
| admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value | ||
| admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value | ||
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| # -- path smoothing -- | ||
| enable_path_smoothing: true # flag for path smoothing | ||
| path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing | ||
| curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) | ||
| curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) | ||
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| # -- trajectory extending -- | ||
| extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control | ||
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| # -- mpc optimization -- | ||
| qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) | ||
| mpc_prediction_horizon: 50 # prediction horizon step | ||
| mpc_prediction_dt: 0.1 # prediction horizon period [s] | ||
| mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q | ||
| mpc_weight_heading_error: 0.0 # heading error weight in matrix Q | ||
| mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q | ||
| mpc_weight_steering_input: 1.0 # steering error weight in matrix R | ||
| mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R | ||
| mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R | ||
| mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R | ||
| mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R | ||
| mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point | ||
| mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point | ||
| mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point | ||
| mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point | ||
| mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point | ||
| mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point | ||
| mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point | ||
| mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point | ||
| mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03) | ||
| mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability | ||
| mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability | ||
| mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero | ||
| mpc_acceleration_limit: 2.0 # limit on the vehicle's acceleration | ||
| mpc_velocity_time_constant: 0.3 # time constant used for velocity smoothing | ||
| mpc_min_prediction_length: 5.0 # minimum prediction length | ||
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| # -- vehicle model -- | ||
| vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics | ||
| input_delay: 0.1 # steering input delay time for delay compensation | ||
| vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] | ||
| steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # steering angle rate limit list depending on curvature [deg/s] | ||
| curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] | ||
| steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] | ||
| velocity_list_for_steer_rate_lim: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s] | ||
| acceleration_limit: 1.0 # acceleration limit for trajectory velocity modification [m/ss] | ||
| velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] | ||
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| # -- lowpass filter for noise reduction -- | ||
| steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz] | ||
| error_deriv_lpf_cutoff_hz: 5.0 | ||
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| # stop state: steering command is kept in the previous value in the stop state. | ||
| stop_state_entry_ego_speed: 0.2 | ||
| stop_state_entry_target_speed: 0.2 | ||
| converged_steer_rad: 0.1 | ||
| keep_steer_control_until_converged: true | ||
| new_traj_duration_time: 1.0 | ||
| new_traj_end_dist: 0.3 | ||
| mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] | ||
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| # 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 |
76 changes: 76 additions & 0 deletions
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autoware_launch/config/control/trajectory_follower/8/longitudinal/pid.param.yaml
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| /**: | ||
| ros__parameters: | ||
| delay_compensation_time: 0.40 | ||
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| enable_smooth_stop: true | ||
| enable_overshoot_emergency: false | ||
| enable_large_tracking_error_emergency: false | ||
| enable_slope_compensation: true | ||
| enable_keep_stopped_until_steer_convergence: true | ||
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| # state transition | ||
| drive_state_stop_dist: 0.5 | ||
| drive_state_offset_stop_dist: 1.0 | ||
| stopping_state_stop_dist: 0.5 | ||
| stopped_state_entry_duration_time: 0.1 | ||
| stopped_state_entry_vel: 0.01 | ||
| stopped_state_entry_acc: 0.1 | ||
| emergency_state_overshoot_stop_dist: 1.5 | ||
| emergency_state_traj_trans_dev: 3.0 | ||
| emergency_state_traj_rot_dev: 0.7854 | ||
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| # drive state | ||
| kp: 2.0 | ||
| ki: 0.02 | ||
| kd: 0.0 | ||
| max_out: 1.0 | ||
| min_out: -5.0 | ||
| max_p_effort: 0.5 | ||
| min_p_effort: -5.0 | ||
| max_i_effort: 0.3 | ||
| min_i_effort: -0.3 | ||
| max_d_effort: 0.0 | ||
| min_d_effort: 0.0 | ||
| lpf_vel_error_gain: 0.9 | ||
| enable_integration_at_low_speed: false | ||
| current_vel_threshold_pid_integration: 0.5 | ||
| time_threshold_before_pid_integration: 2.0 | ||
| enable_brake_keeping_before_stop: false | ||
| brake_keeping_acc: -0.2 | ||
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| # smooth stop state | ||
| smooth_stop_max_strong_acc: -0.8 | ||
| smooth_stop_min_strong_acc: -1.3 | ||
| smooth_stop_weak_acc: -0.4 | ||
| smooth_stop_weak_stop_acc: -0.8 | ||
| smooth_stop_strong_stop_acc: -3.4 | ||
| smooth_stop_max_fast_vel: 0.5 | ||
| smooth_stop_min_running_vel: 0.01 | ||
| smooth_stop_min_running_acc: 0.01 | ||
| smooth_stop_weak_stop_time: 4.0 | ||
| smooth_stop_weak_stop_dist: -0.3 | ||
| smooth_stop_strong_stop_dist: -0.5 | ||
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| # stopped state | ||
| stopped_vel: 0.0 | ||
| stopped_acc: -3.4 | ||
| stopped_jerk: -5.0 | ||
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| # emergency state | ||
| emergency_vel: 0.0 | ||
| emergency_acc: -5.0 | ||
| emergency_jerk: -3.0 | ||
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| # acceleration limit | ||
| max_acc: 3.0 | ||
| min_acc: -5.0 | ||
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| # jerk limit | ||
| max_jerk: 3.5 | ||
| min_jerk: -5.0 | ||
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| # pitch | ||
| use_trajectory_for_pitch_calculation: false | ||
| lpf_pitch_gain: 0.95 | ||
| max_pitch_rad: 0.1 | ||
| min_pitch_rad: -0.1 |
23 changes: 17 additions & 6 deletions
23
...aunch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
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| /**: | ||
| ros__parameters: | ||
| trt_precision: fp16 | ||
| encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" | ||
| encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" | ||
| head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" | ||
| head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" | ||
| trt_precision: fp16 | ||
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| model_params: | ||
| class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] | ||
| paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"] | ||
| point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle | ||
| max_voxel_size: 40000 | ||
| point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] | ||
| voxel_size: [0.32, 0.32, 8.0] | ||
| downsample_factor: 1 | ||
| encoder_in_feature_size: 12 | ||
| yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] | ||
| has_twist: false | ||
| densification_params: | ||
| world_frame_id: "map" | ||
| num_past_frames: 0 | ||
| post_process_params: | ||
| # post-process params | ||
| circle_nms_dist_threshold: 0.3 | ||
| iou_nms_target_class_names: ["CAR"] | ||
| iou_nms_search_distance_2d: 10.0 | ||
| iou_nms_threshold: 0.1 | ||
| score_threshold: 0.45 | ||
| yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] | ||
| densification_params: | ||
| world_frame_id: "map" | ||
| num_past_frames: 1 | ||
| score_threshold: 0.35 | ||
| omp_params: | ||
| # omp params | ||
| num_threads: 1 |
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66 changes: 66 additions & 0 deletions
66
autoware_launch/launch/components/traffic_light_recognition/traffic_light.launch.xml
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| <?xml version="1.0"?> | ||
| <launch> | ||
| <arg name="use_crosswalk_traffic_light_estimator" default="true" description="output pedestrian's traffic light signals"/> | ||
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| <arg name="input/cloud" default="/sensing/lidar/top/pointcloud_raw" description="point cloud for occlusion prediction"/> | ||
| <arg name="internal/traffic_signals" default="/perception/traffic_light_recognition/internal/traffic_signals"/> | ||
| <arg name="fusion/traffic_signals" default="/perception/traffic_light_recognition/fusion/traffic_signals"/> | ||
| <arg name="external/traffic_signals" default="/perception/traffic_light_recognition/external/traffic_signals"/> | ||
| <arg name="output/traffic_signals" default="/perception/traffic_light_recognition/traffic_signals"/> | ||
| <arg name="crosswalk_traffic_light_estimator_param_file" default="$(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml"/> | ||
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| <group> | ||
| <push-ros-namespace namespace="perception"/> | ||
| <push-ros-namespace namespace="traffic_light_recognition"/> | ||
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| <!-- traffic light occlusion predictor for some cameras --> | ||
| <arg name="all_camera_namespaces" default="[camera6, camera5, camera2, camera0]"/> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/traffic_light_recognition/traffic_light_occlusion_predictor.launch.py"> | ||
| <arg name="all_camera_namespaces" value="$(var all_camera_namespaces)"/> | ||
| </include> | ||
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| <!-- traffic light multi camera fusion --> | ||
| <group> | ||
| <node pkg="traffic_light_multi_camera_fusion" exec="traffic_light_multi_camera_fusion_node" name="traffic_light_multi_camera_fusion" output="screen"> | ||
| <param name="camera_namespaces" value="$(var all_camera_namespaces)"/> | ||
| <param name="perform_group_fusion" value="true"/> | ||
| <remap from="~/input/vector_map" to="/map/vector_map"/> | ||
| <remap from="~/output/traffic_signals" to="$(var fusion/traffic_signals)"/> | ||
| </node> | ||
| </group> | ||
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| <!-- crosswalk traffic light estimator --> | ||
| <group if="$(var use_crosswalk_traffic_light_estimator)"> | ||
| <node pkg="crosswalk_traffic_light_estimator" exec="crosswalk_traffic_light_estimator_node" name="crosswalk_traffic_light_estimator" output="screen"> | ||
| <remap from="~/input/vector_map" to="/map/vector_map"/> | ||
| <remap from="~/input/route" to="/planning/mission_planning/route"/> | ||
| <remap from="~/input/classified/traffic_signals" to="$(var fusion/traffic_signals)"/> | ||
| <remap from="~/output/traffic_signals" to="$(var internal/traffic_signals)"/> | ||
| <param from="$(var crosswalk_traffic_light_estimator_param_file)"/> | ||
| </node> | ||
| </group> | ||
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| <!-- topic relay (only when crosswalk traffic light estimator is disabled) --> | ||
| <group unless="$(var use_crosswalk_traffic_light_estimator)"> | ||
| <node pkg="topic_tools" exec="relay" name="fusion_signals_relay" output="screen"> | ||
| <param name="input_topic" value="$(var fusion/traffic_signals)"/> | ||
| <param name="output_topic" value="$(var internal/traffic_signals)"/> | ||
| <param name="type" value="autoware_auto_perception_msgs/msg/TrafficSignalArray"/> | ||
| </node> | ||
| </group> | ||
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| <!-- V2X fusion --> | ||
| <group> | ||
| <include file="$(find-pkg-share traffic_light_arbiter)/launch/traffic_light_arbiter.launch.xml"> | ||
| <arg name="perception_traffic_signals" value="$(var internal/traffic_signals)"/> | ||
| <arg name="external_traffic_signals" value="$(var external/traffic_signals)"/> | ||
| <arg name="output_traffic_signals" value="$(var output/traffic_signals)"/> | ||
| </include> | ||
| </group> | ||
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| <!-- visualizer --> | ||
| <group> | ||
| <include file="$(find-pkg-share traffic_light_visualization)/launch/traffic_light_map_visualizer.launch.xml"/> | ||
| </group> | ||
| </group> | ||
| </launch> |
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