Merge branch 'main' into autoware_msg

Author: cyn-liu

autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml

@@ -11,6 +11,12 @@
       map_frame: "map"
 
 
+    sensor_points:
+      # Required distance of input sensor points. [m]
+      # If the max distance of input sensor points is lower than this value, the scan matching will not be performed.
+      required_distance: 10.0
+
+
     ndt:
       # The maximum difference between two consecutive
       # transformations in order to consider convergence

autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml

@@ -0,0 +1,53 @@
+# sample grid map fusion parameters for sample sensor kit
+/**:
+    ros__parameters:
+      # shared parameters
+      shared_config:
+        map_frame: "map"
+        base_link_frame: "base_link"
+        # center of the grid map
+        gridmap_origin_frame: "base_link"
+
+        map_resolution: 0.5 # [m]
+        map_length_x: 150.0 # [m]
+        map_length_y: 150.0 # [m]
+
+      # each grid map parameters
+      ogm_creation_config:
+        height_filter:
+          use_height_filter: true
+          min_height: -1.0
+          max_height: 2.0
+        enable_single_frame_mode: true
+        # use sensor pointcloud to filter obstacle pointcloud
+        filter_obstacle_pointcloud_by_raw_pointcloud: true
+
+        grid_map_type: "OccupancyGridMapFixedBlindSpot"
+        OccupancyGridMapFixedBlindSpot:
+          distance_margin: 1.0
+        OccupancyGridMapProjectiveBlindSpot:
+          projection_dz_threshold: 0.01 # [m] for avoiding null division
+          obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length
+          pub_debug_grid: false
+
+      # parameter settings for ogm fusion
+      fusion_config:
+        # following parameters are shared: map_frame, base_link_frame, gridmap_origin_frame, map_resolution, map_length
+        # Setting1: tune ogm creation parameters
+        raw_pointcloud_topics: # put each sensor's pointcloud topic
+          - "/sensing/lidar/top/pointcloud"
+          - "/sensing/lidar/left/pointcloud"
+          - "/sensing/lidar/right/pointcloud"
+        fusion_input_ogm_topics:
+          - "/perception/occupancy_grid_map/top_lidar/map"
+          - "/perception/occupancy_grid_map/left_lidar/map"
+          - "/perception/occupancy_grid_map/right_lidar/map"
+        # reliability of each sensor (0.0 ~ 1.0) only work with "log-odds" and "dempster-shafer"
+        input_ogm_reliabilities:
+          - 1.0
+          - 0.6
+          - 0.6
+
+      # Setting2: tune ogm fusion parameters
+      ## choose fusion method from ["overwrite", "log-odds", "dempster-shafer"]
+        fusion_method: "overwrite"

autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml

@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+    # 1. fusion parameters
+    fusion_input_ogm_topics: ["topic1", "topic2"]
+    input_ogm_reliabilities: [0.8, 0.2]
+    fusion_method: "overwrite" # choose from ["overwrite", "log-odds", "dempster-shafer"]
+
+    # 2. synchronization settings
+    match_threshold_sec: 0.01    # 10ms
+    timeout_sec: 0.1             # 100ms
+    input_offset_sec: [0.0, 0.0] # no offset
+
+    # 3. settings for fused fusion map
+    # remember resolution and map size should be same with input maps
+    map_frame_: "map"
+    base_link_frame_: "base_link"
+    grid_map_origin_frame_: "base_link"
+    fusion_map_length_x: 100.0
+    fusion_map_length_y: 100.0
+    fusion_map_resolution: 0.5

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

@@ -30,9 +30,9 @@
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 2.0                   # [s]
           lateral_margin:
-            soft_margin: 0.7                           # [m]
-            hard_margin: 0.3                           # [m]
-            hard_margin_for_parked_vehicle: 0.3        # [m]
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.5                  # [m]
           safety_buffer_longitudinal: 0.0              # [m]
@@ -42,9 +42,9 @@
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
           lateral_margin:
-            soft_margin: 0.9                           # [m]
-            hard_margin: 0.1                           # [m]
-            hard_margin_for_parked_vehicle: 0.1        # [m]
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           safety_buffer_longitudinal: 0.0
@@ -54,9 +54,9 @@
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
           lateral_margin:
-            soft_margin: 0.9                           # [m]
-            hard_margin: 0.1                           # [m]
-            hard_margin_for_parked_vehicle: 0.1        # [m]
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           safety_buffer_longitudinal: 0.0
@@ -66,9 +66,9 @@
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
           lateral_margin:
-            soft_margin: 0.9                           # [m]
-            hard_margin: 0.1                           # [m]
-            hard_margin_for_parked_vehicle: 0.1        # [m]
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           safety_buffer_longitudinal: 0.0
@@ -154,7 +154,7 @@
           backward_distance: 10.0                        # [m]
 
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
-        force_avoidance:
+        avoidance_for_ambiguous_vehicle:
           enable: true                                   # [-]
           time_threshold: 3.0                            # [s]
           distance_threshold: 1.0                        # [m]
@@ -192,7 +192,7 @@
         check_all_predicted_path: false                  # [-]
         safety_check_backward_distance: 100.0            # [m]
         hysteresis_factor_expand_rate: 1.5               # [-]
-        hysteresis_factor_safe_count: 10                 # [-]
+        hysteresis_factor_safe_count: 3                  # [-]
         # predicted path parameters
         min_velocity: 1.38                               # [m/s]
         max_velocity: 50.0                               # [m/s]
@@ -208,7 +208,7 @@
         rear_vehicle_safety_time_margin: 1.0             # [s]
         lateral_distance_max_threshold: 2.0              # [m]
         longitudinal_distance_min_threshold: 3.0         # [m]
-        longitudinal_velocity_delta_time: 0.8            # [s]
+        longitudinal_velocity_delta_time: 0.0            # [s]
 
       # For avoidance maneuver
       avoidance:

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml

@@ -75,7 +75,7 @@
         occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space
         slow_down_velocity: 1.0  # [m/s]
         time_buffer: 0.5  # [s] consecutive time with/without an occlusion to add/remove the slowdown
-        min_size: 0.5  # [m] minimum size of an occlusion (square side size)
+        min_size: 1.0  # [m] minimum size of an occlusion (square side size)
         free_space_max: 43  # [-] maximum value of a free space cell in the occupancy grid
         occupied_min: 58    # [-] minimum value of an occupied cell in the occupancy grid
         ignore_with_red_traffic_light: true  # [-] if true, occlusions at crosswalks with traffic lights are ignored

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml

@@ -96,7 +96,7 @@
           ego_obstacle_overlap_time_threshold : 2.0 #  time threshold to decide cut-in obstacle for cruise or stop [s]
           max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
         yield:
-          enable_yield: false
+          enable_yield: true
           lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding
           max_lat_dist_between_obstacles: 2.5 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it
           max_obstacles_collision_time: 10.0 # how far the blocking obstacle

autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml

@@ -1,4 +1,4 @@
 /**:
   ros__parameters:
     update_rate: 10.0
-    add_duplicated_node_names_to_msg: false # if true, duplicated node names are added to msg
+    add_duplicated_node_names_to_msg: true # if true, duplicated node names are added to msg

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -1,6 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
+  <arg
+    name="occupancy_grid_map_method"
+    default="pointcloud_based_occupancy_grid_map"
+    description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map, multi_lidar_pointcloud_based_occupancy_grid_map"
+  />
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
   <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
   <arg
@@ -19,6 +23,7 @@
     <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)"/>
+    <arg name="use_low_height_cropbox" value="false"/>
 
     <!-- object recognition -->
     <arg

autoware_launch/rviz/autoware.rviz

@@ -2374,6 +2374,19 @@ Visualization Manager:
             Constant Color: false
             Scale: 0.30000001192092896
             Value: false
+        - Class: rviz_default_plugins/Marker
+          Enabled: false
+          Name: Stop Reason
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /control/trajectory_follower/longitudinal/stop_reason
+          Value: false
         - Class: rviz_default_plugins/MarkerArray
           Enabled: false
           Name: Debug/MPC