Merge branch 'main' of github.com:TaikiYamada4/autoware_launch

autowarefoundation · Sep 21, 2023 · ecd3977 · ecd3977
2 parents 180bd7b + b5e6116
commit ecd3977
Show file tree

Hide file tree

Showing 9 changed files with 42 additions and 3 deletions.
diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -15,6 +15,8 @@
     nominal:
       vel_lim: 25.0
       reference_speed_points: [20.0, 30.0]
+      steer_lim: [1.0, 0.8]
+      steer_rate_lim: [1.0, 0.8]
       lon_acc_lim: [5.0, 4.0]
       lon_jerk_lim: [5.0, 4.0]
       lat_acc_lim: [5.0, 4.0]
@@ -23,6 +25,8 @@
     on_transition:
       vel_lim: 50.0
       reference_speed_points: [20.0, 30.0]
+      steer_lim: [1.0, 0.8]
+      steer_rate_lim: [1.0, 0.8]
       lon_acc_lim: [1.0, 0.9]
       lon_jerk_lim: [0.5, 0.4]
       lat_acc_lim: [2.0, 1.8]

diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -21,3 +21,12 @@
     proc_stddev_yaw_c: 0.005
     proc_stddev_vx_c: 10.0
     proc_stddev_wz_c: 5.0
+
+    # for diagnostics
+    pose_no_update_count_threshold_warn: 50
+    pose_no_update_count_threshold_error: 250
+    twist_no_update_count_threshold_warn: 50
+    twist_no_update_count_threshold_error: 250
+
+    # for velocity measurement limitation (Set 0.0 if you want to ignore)
+    threshold_observable_velocity_mps: 0.0 # [m/s]
diff --git a/...fig/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/...fig/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    filter_target_label:
+      UNKNOWN : true
+      CAR : true
+      TRUCK : true
+      BUS : true
+      TRAILER : true
+      MOTORCYCLE : true
+      BICYCLE : true
+      PEDESTRIAN : true
diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -7,6 +7,7 @@
       collision_check_margin: 1.0
       collision_check_distance_from_end: 1.0
       th_moving_object_velocity: 1.0
+      th_distance_to_middle_of_the_road: 0.1
       # shift pull out
       enable_shift_pull_out: true
       check_shift_path_lane_departure: false

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -6,6 +6,7 @@
   <arg name="sensor_model" description="sensor model name"/>
   <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
@@ -89,7 +90,9 @@
 
   <!-- Perception -->
   <group if="$(var launch_perception)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
+      <arg name="data_path" value="$(var data_path)"/>
+    </include>
   </group>
 
   <!-- Planning -->

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -8,6 +8,7 @@
     default="obstacle_pointcloud"
     description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
   />
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>
@@ -19,6 +20,7 @@
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
     <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
     <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
+    <arg name="data_path" value="$(var data_path)"/>
 
     <!-- object recognition -->
     <arg
@@ -58,6 +60,10 @@
       name="object_recognition_detection_object_merger_distance_threshold_list_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
     />
+    <arg
+      name="object_recognition_detection_radar_lanelet_filtering_range_param"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml"
+    />
     <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
@@ -88,9 +94,9 @@
 
     <!-- traffic light recognition -->
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
-    <arg name="traffic_light_fine_detector_model_path" value="$(find-pkg-share traffic_light_fine_detector)/data"/>
+    <arg name="traffic_light_fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector"/>
     <arg name="traffic_light_fine_detector_model_name" value="tlr_yolox_s_batch_6"/>
-    <arg name="traffic_light_classifier_model_path" value="$(find-pkg-share traffic_light_classifier)/data"/>
+    <arg name="traffic_light_classifier_model_path" value="$(var data_path)/traffic_light_classifier"/>
     <arg name="traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -4,6 +4,7 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
@@ -36,6 +37,7 @@
       <arg name="map_path" value="$(var map_path)"/>
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="data_path" value="$(var data_path)"/>
       <!-- Modules to be launched -->
       <arg name="launch_vehicle" value="$(var vehicle)"/>
       <arg name="launch_map" value="$(var map)"/>

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -5,6 +5,7 @@
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- Optional parameters -->
   <!-- Modules to be launched -->

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -4,6 +4,7 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- Optional parameters -->
   <!-- Map -->
@@ -37,6 +38,7 @@
       <arg name="map_path" value="$(var map_path)"/>
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="data_path" value="$(var data_path)"/>
       <!-- Modules to be launched -->
       <arg name="launch_sensing" value="false"/>
       <arg name="launch_localization" value="false"/>