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chore: sync awf-latest #446

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merged 1 commit into from
Jun 13, 2024
Merged

chore: sync awf-latest #446

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6 changes: 3 additions & 3 deletions autoware_launch/config/planning/preset/default_preset.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -77,9 +77,6 @@ launch:
- arg:
name: launch_no_drivable_lane_module
default: "false"
- arg:
name: launch_dynamic_obstacle_stop_module
default: "true"

# motion planning modules
- arg:
Expand All @@ -96,6 +93,9 @@ launch:
# none

# motion velocity planner modules
- arg:
name: launch_dynamic_obstacle_stop_module
default: "true"
- arg:
name: launch_out_of_lane_module
default: "true"
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2 changes: 1 addition & 1 deletion ..._planner/dynamic_obstacle_stop.param.yaml → ..._planner/dynamic_obstacle_stop.param.yaml
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Expand Up @@ -8,5 +8,5 @@
hysteresis: 1.0 # [m] once a collision has been detected, this hysteresis is used on the collision detection
add_stop_duration_buffer : 0.5 # [s] duration where a collision must be continuously detected before a stop decision is added
remove_stop_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being remove
minimum_object_distance_from_ego_path: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision
minimum_object_distance_from_ego_trajectory: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision
ignore_unavoidable_collisions : true # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight)
2 changes: 1 addition & 1 deletion autoware_launch/launch/components/tier4_planning_component.launch.xml
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Expand Up @@ -58,7 +58,6 @@
<arg name="behavior_velocity_planner_run_out_module_param_path" value="$(var behavior_velocity_config_path)/run_out.param.yaml"/>
<arg name="behavior_velocity_planner_speed_bump_module_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
<arg name="behavior_velocity_planner_no_drivable_lane_module_param_path" value="$(var behavior_velocity_config_path)/no_drivable_lane.param.yaml"/>
<arg name="behavior_velocity_planner_dynamic_obstacle_stop_module_param_path" value="$(var behavior_velocity_config_path)/dynamic_obstacle_stop.param.yaml"/>
<arg name="compare_map_filter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml"/>

<!-- parking -->
Expand All @@ -74,6 +73,7 @@
<arg name="obstacle_stop_planner_acc_param_path" value="$(var motion_config_path)/obstacle_stop_planner/adaptive_cruise_control.param.yaml"/>
<arg name="obstacle_cruise_planner_param_path" value="$(var motion_config_path)/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"/>
<arg name="motion_velocity_planner_param_path" value="$(var motion_config_path)/motion_velocity_planner/motion_velocity_planner.param.yaml"/>
<arg name="motion_velocity_planner_dynamic_obstacle_stop_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/dynamic_obstacle_stop.param.yaml"/>
<arg name="motion_velocity_planner_out_of_lane_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/out_of_lane.param.yaml"/>
<arg name="motion_velocity_planner_obstacle_velocity_limiter_param_path" value="$(var motion_config_path)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml"/>
<arg
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48 changes: 24 additions & 24 deletions autoware_launch/rviz/autoware.rviz
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Expand Up @@ -1617,18 +1617,6 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: VirtualWall (DynamicObstacleStop)
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/dynamic_obstacle_stop
Value: true
Enabled: true
Name: VirtualWall
- Class: rviz_common/Group
Expand Down Expand Up @@ -1885,18 +1873,6 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane
Value: false
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: DynamicObstacleStop
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/dynamic_obstacle_stop
Value: false
Enabled: false
Name: DebugMarker
- Class: rviz_common/Group
Expand Down Expand Up @@ -2129,6 +2105,18 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: VirtualWall (DynamicObstacleStop)
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls
Value: true
Enabled: true
Name: VirtualWall
- Class: rviz_common/Group
Expand Down Expand Up @@ -2278,6 +2266,18 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: DynamicObstacleStop
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers
Value: true
Enabled: false
Name: MotionVelocityPlanner
Enabled: false
Expand Down
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