From 4c33dfea4e852250c7a77e03addb4725bafaeacb Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 8 May 2023 09:31:18 +0900 Subject: [PATCH 1/3] feat(avoidance): hide detail information (#339) Signed-off-by: satoshi-ota --- autoware_launch/rviz/autoware.rviz | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 1a8a8c93ad..119255bb99 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1903,7 +1903,12 @@ Visualization Manager: Enabled: true Name: Info (Avoidance) Namespaces: - {} + avoidable_target_objects_info: false + avoidable_target_objects_info_reason: false + avoidable_target_objects_envelope_polygon: false + unavoidable_target_objects_info: false + unavoidable_target_objects_info_reason: false + unavoidable_target_objects_envelope_polygon: false Topic: Depth: 5 Durability Policy: Volatile From 459ab83c74b803b29fd51525e0f544e1c6e1f90a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 8 May 2023 15:40:47 +0900 Subject: [PATCH 2/3] fix(behavior): don't show behaivor module's marker (#342) fix(rviz): hide all info markers Signed-off-by: satoshi-ota --- autoware_launch/rviz/autoware.rviz | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 119255bb99..1bd3923127 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1900,7 +1900,7 @@ Visualization Manager: - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray - Enabled: true + Enabled: false Name: Info (Avoidance) Namespaces: avoidable_target_objects_info: false @@ -1917,7 +1917,7 @@ Visualization Manager: Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance Value: false - Class: rviz_default_plugins/MarkerArray - Enabled: true + Enabled: false Name: Info (AvoidanceByLC) Namespaces: {} @@ -1929,7 +1929,7 @@ Visualization Manager: Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance_by_lane_change Value: false - Class: rviz_default_plugins/MarkerArray - Enabled: true + Enabled: false Name: Info (LaneChangeLeft) Namespaces: {} @@ -1941,7 +1941,7 @@ Visualization Manager: Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_left Value: false - Class: rviz_default_plugins/MarkerArray - Enabled: true + Enabled: false Name: Info (LaneChangeRight) Namespaces: {} @@ -1953,7 +1953,7 @@ Visualization Manager: Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_right Value: false - Class: rviz_default_plugins/MarkerArray - Enabled: true + Enabled: false Name: Info (ExtLaneChangeLeft) Namespaces: {} @@ -1965,7 +1965,7 @@ Visualization Manager: Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_left Value: false - Class: rviz_default_plugins/MarkerArray - Enabled: true + Enabled: false Name: Info (ExtLaneChangeRight) Namespaces: {} @@ -1977,7 +1977,7 @@ Visualization Manager: Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_right Value: false - Class: rviz_default_plugins/MarkerArray - Enabled: true + Enabled: false Name: Info (PullOver) Namespaces: {} @@ -1989,7 +1989,7 @@ Visualization Manager: Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_over Value: false - Class: rviz_default_plugins/MarkerArray - Enabled: true + Enabled: false Name: Info (PullOut) Namespaces: {} @@ -2000,7 +2000,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_out Value: false - Enabled: true + Enabled: false Name: InfoMarker Enabled: true Name: BehaviorPlanning From 88aca85155742c5920dfe07cf2f320c03029894f Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 8 May 2023 16:32:23 +0900 Subject: [PATCH 3/3] refactor(avoidance): remove hard code params in shift line triming process (#341) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index e2918e0e68..b8ef728d27 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -143,3 +143,11 @@ matrix: [2.78, 13.9, # velocity [m/s] 0.50, 1.00] # margin [m] + + shift_line_pipeline: + trim: + quantize_filter_threshold: 0.2 + same_grad_filter_1_threshold: 0.1 + same_grad_filter_2_threshold: 0.2 + same_grad_filter_3_threshold: 0.5 + sharp_shift_filter_threshold: 0.2