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chore: sync awf/autoware_launch #76

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merged 5 commits into from
Apr 24, 2023
Merged

chore: sync awf/autoware_launch #76

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549de62
refactor(planning_launch): remove minimum lane changing length (#308)
purewater0901 Apr 21, 2023
ff2d11f
chore(autoware_launch): visualize thin predicted trajectory on rviz (…
takayuki5168 Apr 23, 2023
51bf8a3
feat(autoware_launch): add time to fix reference points's boundary wi…
takayuki5168 Apr 23, 2023
b229f57
feat(obstacle_avoidance_planner): replan when forward path shape chan…
takayuki5168 Apr 23, 2023
6628498
chore(autoware_launch): make backward detection length for avoidance …
takayuki5168 Apr 24, 2023
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2 changes: 1 addition & 1 deletion ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Expand Up @@ -75,7 +75,7 @@
# detection range
object_check_force_avoidance_clearance: 30.0 # [m]
object_check_forward_distance: 150.0 # [m]
object_check_backward_distance: 2.0 # [m]
object_check_backward_distance: 100.0 # [m]
object_check_goal_distance: 20.0 # [m]
# filtering parking objects
threshold_distance_object_is_on_center: 1.0 # [m]
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1 change: 0 additions & 1 deletion ...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
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Expand Up @@ -4,7 +4,6 @@
prepare_duration: 4.0 # [s]

minimum_prepare_length: 10.0 # [m]
minimum_lane_changing_length: 16.5 # [m]
backward_length_buffer_for_end_of_lane: 3.0 # [m]
lane_change_finish_judge_buffer: 2.0 # [m]

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3 changes: 3 additions & 0 deletions ..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
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Expand Up @@ -23,6 +23,8 @@
# replanning & trimming trajectory param outside algorithm
replan:
max_path_shape_around_ego_lat_dist: 2.0 # threshold of path shape change around ego [m]
max_path_shape_forward_lon_dist: 100.0 # forward point to check lateral distance difference [m]
max_path_shape_forward_lat_dist: 0.1 # threshold of path shape change around forward point [m]
max_ego_moving_dist: 5.0 # threshold of ego's moving distance for replan [m]
# make max_goal_moving_dist long to keep start point fixed for pull over
max_goal_moving_dist: 15.0 # threshold of goal's moving distance for replan [m]
Expand Down Expand Up @@ -102,6 +104,7 @@

# avoidance
avoidance:
max_bound_fixing_time: 3.0 # [s]
max_longitudinal_margin_for_bound_violation: 1.0 # [m]
max_avoidance_cost: 0.5 # [m]
avoidance_cost_margin: 0.0 # [m]
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1 change: 1 addition & 0 deletions autoware_launch/rviz/autoware.rviz
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Expand Up @@ -2075,6 +2075,7 @@ Visualization Manager:
Color: 255; 255; 255
Constant Color: true
Value: true
Constant Width: true
Width: 0.05000000074505806
View Velocity:
Alpha: 1
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