From 95c2d2f6718f78851369f30dd541451f507964e8 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 10 May 2023 16:46:41 +0900 Subject: [PATCH 1/2] feat(autoware_launch): add marker of dynamic avoidance (#345) * feat(autoware_launch): add marker of dynamic avoidance Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- autoware_launch/rviz/autoware.rviz | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 1e0206c06b..484ea7e8fd 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1897,6 +1897,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DynamicAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_avoidance + Value: false Enabled: false Name: DebugMarker - Class: rviz_common/Group @@ -2002,6 +2014,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_out Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (DynamicAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_avoidance + Value: false Enabled: false Name: InfoMarker Enabled: true From be7f530c2ffe43ddb1d156e5b74586c47bc3a173 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Wed, 10 May 2023 12:52:15 +0300 Subject: [PATCH 2/2] feat(obstacle_stop_planner): add filtering feature for predicted objects (#330) Signed-off-by: Berkay Karaman --- .../obstacle_stop_planner/obstacle_stop_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index a68a760166..c804cea577 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -11,6 +11,7 @@ voxel_grid_z: 100000.0 # voxel grid z parameter for filtering pointcloud [m] use_predicted_objects: False # whether to use predicted objects [-] publish_obstacle_polygon: False # whether to publish obstacle polygon [-] + predicted_object_filtering_threshold: 1.5 # threshold for filtering predicted objects (valid only publish_obstacle_polygon true) [m] stop_planner: # params for stop position