From 4f69aa6283d8bfaeb9604e6897737ea01208f1dd Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Wed, 26 Apr 2023 10:53:34 +0900 Subject: [PATCH 1/8] feat(autoware_launch): expand ogm size from 100m to 150m (#324) expand ogm size from 100m to 150m Signed-off-by: yoshiri --- .../laserscan_based_occupancy_grid_map.param.yaml | 4 ++-- .../pointcloud_based_occupancy_grid_map.param.yaml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml index 3568ac7ec4..3899b9f464 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml @@ -9,6 +9,6 @@ use_height_filter: true enable_single_frame_mode: false - map_length: 100.0 - map_width: 100.0 + map_length: 150.0 + map_width: 150.0 map_resolution: 0.5 diff --git a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml index 7a1a1b13ee..ad93512d64 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - map_length: 100.0 # [m] + map_length: 150.0 # [m] map_resolution: 0.5 # [m] use_height_filter: true From e9080b46a893e08e6ec870d05e1e189fc4242c09 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 26 Apr 2023 13:10:09 +0900 Subject: [PATCH 2/8] refactor(behavior_path_planner): rename pull_over to goal_planner (#313) refactor(behavior_path_planenr): renaem pull_over to goal_planenr Signed-off-by: kosuke55 --- .../behavior_path_planner_tree.xml | 8 ++++---- .../behavior_path_planner_tree_lane_change_only.xml | 8 ++++---- .../behavior_path_planner_tree_pull_out.xml | 12 ++++++------ ...or_path_planner_tree_with_external_request_LC.xml | 8 ++++---- .../goal_planner.param.yaml} | 2 +- .../scene_module_manager.param.yaml | 2 +- .../rtc_auto_mode_manager.param.yaml | 4 ++-- .../components/tier4_planning_component.launch.xml | 5 ++++- autoware_launch/rviz/autoware.rviz | 12 ++++++------ 9 files changed, 32 insertions(+), 29 deletions(-) rename autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/{pull_over/pull_over.param.yaml => goal_planner/goal_planner.param.yaml} (99%) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml index 748b70b33f..4d8f1af9fa 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml @@ -4,8 +4,8 @@ - - + + @@ -74,10 +74,10 @@ - + desc - + desc diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml index 5c4d2b589d..65c600d246 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml @@ -4,8 +4,8 @@ - - + + @@ -66,10 +66,10 @@ - + desc - + desc diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml index e5876e9287..70d6b37cb6 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml @@ -4,9 +4,9 @@ - - - + + + @@ -78,11 +78,11 @@ - + desc - - + + desc diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml index e848f156a4..80fe7ea8da 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml @@ -4,8 +4,8 @@ - - + + @@ -61,10 +61,10 @@ - + desc - + desc diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml similarity index 99% rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index f777581150..5a840098e5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - pull_over: + goal_planner: minimum_request_length: 100.0 th_arrived_distance: 1.0 th_stopped_velocity: 0.01 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index c62da6ab79..6f10b1290a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -45,7 +45,7 @@ priority: 2 max_module_size: 1 - pull_over: + goal_planner: enable_module: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml index 321c59bb50..af82a3461f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml @@ -13,7 +13,7 @@ - "lane_change_right" - "avoidance_left" - "avoidance_right" - - "pull_over" + - "goal_planner" - "pull_out" - "intersection_occlusion" @@ -28,6 +28,6 @@ - "lane_change_right" - "avoidance_left" - "avoidance_right" - - "pull_over" + - "goal_planner" - "pull_out" - "intersection_occlusion" diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index ca46c19486..8b523dbf49 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -41,7 +41,10 @@ name="lane_change_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml" /> - + Date: Wed, 26 Apr 2023 14:16:08 +0900 Subject: [PATCH 3/8] feat(rviz): add behavior path virtual wall (#325) Signed-off-by: satoshi-ota --- autoware_launch/rviz/autoware.rviz | 96 ++++++++++++++++++++++++++++++ 1 file changed, 96 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index f5e4a23b68..28a5ccc83d 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1372,6 +1372,102 @@ Visualization Manager: Value: true - Class: rviz_common/Group Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Avoidance) + 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/virtual_wall/avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AvoidanceByLC) + 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/virtual_wall/avoidance_by_lane_change + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeRight) + 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/virtual_wall/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeLeft) + 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/virtual_wall/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeRight) + 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/virtual_wall/external_request_lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeLeft) + 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/virtual_wall/external_request_lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (PullOver) + 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/virtual_wall/pull_over + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (PullOut) + 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/virtual_wall/pull_out + Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: VirtualWall (BlindSpot) From 6dcf66dcb67fee176a76b17680d7ef86f55da698 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 26 Apr 2023 14:52:41 +0900 Subject: [PATCH 4/8] refactor(rviz): fix typo (#326) Signed-off-by: kosuke55 --- autoware_launch/rviz/autoware.rviz | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 28a5ccc83d..03ffd9a3b5 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1106,7 +1106,7 @@ Visualization Manager: - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: false - Name: PathReference_Goalplanner + Name: PathReference_GoalPlanner Topic: Depth: 5 Durability Policy: Volatile @@ -1336,7 +1336,7 @@ Visualization Manager: - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: true - Name: PathChangeCandidate_Goalplanner + Name: PathChangeCandidate_GoalPlanner Topic: Depth: 5 Durability Policy: Volatile @@ -1811,7 +1811,7 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: Goalplanner + Name: GoalPlanner Namespaces: {} Topic: From ec42fe07ac69a8d9c3ad53a602a7872a0f41a607 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Wed, 26 Apr 2023 17:12:52 +0900 Subject: [PATCH 5/8] fix(lanelet2_map_loader): update comment for available projector type (#327) Signed-off-by: mitsudome-r --- autoware_launch/config/map/lanelet2_map_loader.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/map/lanelet2_map_loader.param.yaml b/autoware_launch/config/map/lanelet2_map_loader.param.yaml index e3a4fdf81c..9abbaf2901 100755 --- a/autoware_launch/config/map/lanelet2_map_loader.param.yaml +++ b/autoware_launch/config/map/lanelet2_map_loader.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - lanelet2_map_projector_type: MGRS # Options: MGRS, UTM + lanelet2_map_projector_type: MGRS # Options: MGRS, UTM, local latitude: 40.81187906 # Latitude of map_origin, using in UTM longitude: 29.35810110 # Longitude of map_origin, using in UTM From 40568d9484dabb135b0d51354cdce8890b8543c3 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed, 26 Apr 2023 18:34:25 +0900 Subject: [PATCH 6/8] refactor(planning_launch): remove duplicated lane change parameter (#328) --- .../behavior_path_planner/behavior_path_planner.param.yaml | 3 --- 1 file changed, 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 4fabd9c5d5..33d1ba1c3d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -45,6 +45,3 @@ drivable_area_right_bound_offset: 0.0 drivable_area_left_bound_offset: 0.0 drivable_area_types_to_skip: [road_border] - - lane_change: - lane_change_prepare_duration: 4.0 # [s] From 61ba0b4a0f57847cf5806b6e182fe47e9e62118f Mon Sep 17 00:00:00 2001 From: ryohei sasaki Date: Wed, 26 Apr 2023 18:55:00 +0900 Subject: [PATCH 7/8] feat: add gnss/imu localizer (#200) * Add gnss_imu_localizar Signed-off-by: Ryohei Sasaki * Eagleye parameter update fot sample data Signed-off-by: Ryohei Sasaki * Restore perception/planning/control parameters in lsim Signed-off-by: Ryohei Sasaki * Change use_gnss_mode Signed-off-by: Ryohei Sasaki * Fix spell Signed-off-by: Ryohei Sasaki * Fix spell Signed-off-by: Ryohei Sasaki * Delete unnecessary white spaces Signed-off-by: Ryohei Sasaki * Remove unnecessary trailing spaces Signed-off-by: Ryohei Sasaki * Prettier format Signed-off-by: Ryohei Sasaki * prettier format Signed-off-by: Ryohei Sasaki * clang-format Signed-off-by: Ryohei Sasaki * Revert "clang-format" This reverts commit 46cd907089e6551a975bcff2f3971679598da24c. Signed-off-by: Ryohei Sasaki * Rename GNSS/Lidar localization switching parameters Signed-off-by: Ryohei Sasaki * Remove conditional branching by pose_estimatar_mode in system_error_monitor Signed-off-by: Ryohei Sasaki * Change launch directory structure Signed-off-by: Ryohei Sasaki * Delete unnecessary parameters and files Signed-off-by: Ryohei Sasaki * Integrate map4_localization_component1,2 Signed-off-by: Ryohei Sasaki * Fix comment out in localization launch Signed-off-by: Ryohei Sasaki --------- Signed-off-by: Ryohei Sasaki --- .../localization/eagleye_config.param.yaml | 177 ++++++++++++++++++ ...tializer.logging_simulator.gnss.param.yaml | 6 + ...alizer.logging_simulator.lidar.param.yaml} | 0 autoware_launch/launch/autoware.launch.xml | 1 + .../map4_localization_component.launch.xml | 45 +++++ .../tier4_localization_component.launch.xml | 2 +- 6 files changed, 230 insertions(+), 1 deletion(-) create mode 100644 autoware_launch/config/localization/eagleye_config.param.yaml create mode 100644 autoware_launch/config/localization/pose_initializer.logging_simulator.gnss.param.yaml rename autoware_launch/config/localization/{pose_initializer.logging_simulator.param.yaml => pose_initializer.logging_simulator.lidar.param.yaml} (100%) create mode 100644 autoware_launch/launch/components/map4_localization_component.launch.xml diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml new file mode 100644 index 0000000000..e83376e841 --- /dev/null +++ b/autoware_launch/config/localization/eagleye_config.param.yaml @@ -0,0 +1,177 @@ +/**: #GNSS cycle 5Hz, IMU cycle 50Hz. + ros__parameters: + # Estimate mode + use_gnss_mode: rtklib + use_can_less_mode: false + + # Topic + twist: + twist_type: 1 # TwistStamped : 0, TwistWithCovarianceStamped: 1 + twist_topic: /sensing/vehicle_velocity_converter/twist_with_covariance + imu_topic: /sensing/imu/imu_data + gnss: + velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3 + velocity_source_topic: /sensing/gnss/ublox/navpvt + llh_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2 + llh_source_topic: /sensing/gnss/ublox/nav_sat_fix + sub_gnss: + llh_source_type: 2 # nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2 + llh_source_topic: /sensing/sub_gnss/ublox/nav_sat_fix + + # TF + tf_gnss_frame: + parent: "base_link" + child: "gnss_link" + + # Origin of GNSS coordinates (ECEF to ENU) + ecef_base_pos: + x: 0.0 + y: 0.0 + z: 0.0 + use_ecef_base_position: false + + reverse_imu_wz: true + + # Navigation Parameters + # Basic Navigation Functions + common: + imu_rate: 50 + gnss_rate: 5 + stop_judgment_threshold: 0.01 + slow_judgment_threshold: 0.278 + moving_judgment_threshold: 2.78 + + velocity_scale_factor: + estimated_minimum_interval: 20 + estimated_maximum_interval: 400 + gnss_receiving_threshold: 0.25 + velocity_scale_factor_save_str: /config/velocity_scale_factor.txt + save_velocity_scale_factor: false + velocity_scale_factor_save_duration: 100.0 + th_velocity_scale_factor_percent: 10.0 + + yaw_rate_offset_stop: + estimated_interval: 3 + outlier_threshold: 0.002 + + yaw_rate_offset: + estimated_minimum_interval: 30 + gnss_receiving_threshold: 0.25 + outlier_threshold: 0.002 + 1st: + estimated_maximum_interval: 300 + 2nd: + estimated_maximum_interval: 500 + + heading: + estimated_minimum_interval: 10 + estimated_maximum_interval: 30 + gnss_receiving_threshold: 0.25 + outlier_threshold: 0.0524 + outlier_ratio_threshold: 0.5 + curve_judgment_threshold: 0.0873 + init_STD: 0.0035 #[rad] (= 0.2 [deg]) + + heading_interpolate: + sync_search_period: 2 + proc_noise: 0.0005 #[rad] (= 0.03 [deg]) + + slip_angle: + manual_coefficient: 0.0 + + slip_coefficient: + estimated_minimum_interval: 2 + estimated_maximum_interval: 100 + curve_judgment_threshold: 0.017453 + lever_arm: 0.0 + + rolling: + filter_process_noise: 0.01 + filter_observation_noise: 1 + + trajectory: + curve_judgment_threshold: 0.017453 + timer_update_rate: 10 + deadlock_threshold: 1 + sensor_noise_velocity: 0.05 + sensor_scale_noise_velocity: 0.02 + sensor_noise_yaw_rate: 0.01 + sensor_bias_noise_yaw_rate: 0.1 + + smoothing: + moving_average_time: 3 + moving_ratio_threshold: 0.1 + + height: + estimated_minimum_interval: 200 + estimated_maximum_interval: 2000 + update_distance: 0.1 + gnss_receiving_threshold: 0.1 + outlier_threshold: 0.3 + outlier_ratio_threshold: 0.5 + moving_average_time: 1 + + position: + estimated_interval: 300 + update_distance: 0.1 + outlier_threshold: 3.0 + gnss_receiving_threshold: 0.25 + outlier_ratio_threshold: 0.5 + + position_interpolate: + sync_search_period: 2 + + monitor: + print_status: true + log_output_status: false + use_compare_yaw_rate: false + comparison_twist_topic: /calculated_twist + th_diff_rad_per_sec: 0.17453 + th_num_continuous_abnormal_yaw_rate: 25 + + # Optional Navigation Functions + angular_velocity_offset_stop: + estimated_interval: 4 + outlier_threshold: 0.002 + + rtk_dead_reckoning: + rtk_fix_STD: 0.3 #[m] + proc_noise: 0.05 #[m] + + rtk_heading: + update_distance: 0.3 + estimated_minimum_interval: 10 + estimated_maximum_interval: 30 + gnss_receiving_threshold: 0.25 + outlier_threshold: 0.0524 + outlier_ratio_threshold: 0.5 + curve_judgment_threshold: 0.0873 + + enable_additional_rolling: + update_distance: 0.3 + moving_average_time: 1 + sync_judgment_threshold: 0.01 + sync_search_period: 1 + + velocity_estimator: + gga_downsample_time: 0.5 + stop_judgment_velocity_threshold: 0.2 + stop_judgment_interval: 1 + variance_threshold: 0.000025 + pitch_rate_offset: + estimated_interval: 8 + pitching: + estimated_interval: 5 + outlier_threshold: 0.0174 + gnss_receiving_threshold: 0.2 + outlier_ratio_threshold: 0.5 + acceleration_offset: + estimated_minimum_interval: 30 + estimated_maximum_interval: 500 + filter_process_noise: 0.01 + filter_observation_noise: 1 + doppler_fusion: + estimated_interval: 4 + gnss_receiving_threshold: 0.2 + outlier_ratio_threshold: 0.5 + outlier_threshold: 0.1 diff --git a/autoware_launch/config/localization/pose_initializer.logging_simulator.gnss.param.yaml b/autoware_launch/config/localization/pose_initializer.logging_simulator.gnss.param.yaml new file mode 100644 index 0000000000..f32ac98604 --- /dev/null +++ b/autoware_launch/config/localization/pose_initializer.logging_simulator.gnss.param.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + gnss_enabled: true + ndt_enabled: false + ekf_enabled: true + stop_check_enabled: false diff --git a/autoware_launch/config/localization/pose_initializer.logging_simulator.param.yaml b/autoware_launch/config/localization/pose_initializer.logging_simulator.lidar.param.yaml similarity index 100% rename from autoware_launch/config/localization/pose_initializer.logging_simulator.param.yaml rename to autoware_launch/config/localization/pose_initializer.logging_simulator.lidar.param.yaml diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index f702747ec9..4a57cd1cb7 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -84,6 +84,7 @@ + diff --git a/autoware_launch/launch/components/map4_localization_component.launch.xml b/autoware_launch/launch/components/map4_localization_component.launch.xml new file mode 100644 index 0000000000..4fd0fdf8bd --- /dev/null +++ b/autoware_launch/launch/components/map4_localization_component.launch.xml @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index 151680ce2e..560fc8f557 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -3,7 +3,7 @@ From 5910b08f7742d78ac5f1ade182d470032e40e398 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed, 26 Apr 2023 23:24:25 +0900 Subject: [PATCH 8/8] feat(autoware.rviz): disable right and left bound (#329) * feat(autoware.rviz): disable right and left bound Signed-off-by: yutaka * update Signed-off-by: yutaka --------- Signed-off-by: yutaka --- autoware_launch/rviz/autoware.rviz | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 03ffd9a3b5..17a313e0b6 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1357,7 +1357,7 @@ Visualization Manager: Scale: 0.30000001192092896 Value: false - Class: rviz_default_plugins/MarkerArray - Enabled: true + Enabled: false Name: Bound Namespaces: left_bound: true