chore: bump version to 0.43.0 (#1372)

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>

Author: mitsudome-r

.github/labeler.yaml

@@ -1,33 +1,55 @@
-"type:ci":
-  - .github/**/*
-  - "*.json"
-  - "*.yaml"
-  - "*.cfg"
-  - .clang-format
-  - .gitignore
-  - .prettierignore
-"type:documentation":
-  - "**/*.md"
-  - "**/*.rst"
-  - "**/*.jpg"
-  - "**/*.png"
-  - "**/*.svg"
-"component:control":
-  - "**/*control*"
-"component:localization":
-  - "**/*localization*"
-"component:map":
-  - "**/*map*"
-"component:perception":
-  - "**/*perception*"
-"component:planning":
-  - "**/*planning*"
-"component:sensing":
-  - "**/*sensing*"
-"component:simulation":
-  - "**/*simulator*"
-"component:system":
-  - "**/*system*"
-"component:ui":
-  - "**/*.rviz"
-  - "**/rviz"
+type:ci:
+  - changed-files:
+      - any-glob-to-any-file:
+          - .github/**/*
+          - "*.json"
+          - "*.yaml"
+          - "*.cfg"
+          - .clang-format
+          - .gitignore
+          - .prettierignore
+type:documentation:
+  - changed-files:
+      - any-glob-to-any-file:
+          - "*.md"
+          - "*.rst"
+          - "*.jpg"
+          - "*.png"
+          - "*.svg"
+component:control:
+  - changed-files:
+      - any-glob-to-any-file:
+          - "**/*control*"
+component:localization:
+  - changed-files:
+      - any-glob-to-any-file:
+          - "**/*localization*"
+component:map:
+  - changed-files:
+      - any-glob-to-any-file:
+          - "**/*map*"
+component:perception:
+  - changed-files:
+      - any-glob-to-any-file:
+          - "**/*perception*"
+component:planning:
+  - changed-files:
+      - any-glob-to-any-file:
+          - "**/*planning*"
+component:sensing:
+  - changed-files:
+      - any-glob-to-any-file:
+          - "**/*sensing*"
+component:simulation:
+  - changed-files:
+      - any-glob-to-any-file:
+          - "**/*simulation*"
+component:system:
+  - changed-files:
+      - any-glob-to-any-file:
+          - "**/*system*"
+component:ui:
+  - changed-files:
+      - any-glob-to-any-file:
+          - "**/*.rviz"
+          - "**/rviz"

autoware_launch/CHANGELOG.rst

@@ -2,6 +2,64 @@
 Changelog for package autoware_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.43.0 (2025-03-21)
+-------------------
+* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
+* feat(autoware_launch): rename to max_lat_margin_against_predicted_object_unknown (`#1360 <https://github.com/autowarefoundation/autoware_launch/issues/1360>`_)
+* feat(pid_long): disable overshoot_emergency (`#1359 <https://github.com/autowarefoundation/autoware_launch/issues/1359>`_)
+* feat(out_of_lane): add 'use_map_stop_lines' parameter (`#1259 <https://github.com/autowarefoundation/autoware_launch/issues/1259>`_)
+* feat(planning_validator): add parameter for yaw deviation metric (`#1356 <https://github.com/autowarefoundation/autoware_launch/issues/1356>`_)
+* feat(behavior_path_planner_common): update drivable area expansion parameters (`#1353 <https://github.com/autowarefoundation/autoware_launch/issues/1353>`_)
+  * update drivable area expansion parameters
+  * Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+  * Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  ---------
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+* feat: disable merge_from_private (`#1350 <https://github.com/autowarefoundation/autoware_launch/issues/1350>`_)
+* feat(control_validator)!: add overrun_stop_point_dist parameter (`#1346 <https://github.com/autowarefoundation/autoware_launch/issues/1346>`_)
+* refactor(perception): refactor launch file and add parameter file (`#1336 <https://github.com/autowarefoundation/autoware_launch/issues/1336>`_)
+  * fundamental change
+  * style(pre-commit): autofix
+  * change params name
+  * remove param
+  * integrate model and label path
+  * for awsim
+  * add comment
+  * fix typo
+  * change param name
+  * chore
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
+* feat(path_generator): add parameters (`#1343 <https://github.com/autowarefoundation/autoware_launch/issues/1343>`_)
+  * feat(path_generator): add parameters (see below)
+  * This fix is for the following PR:
+  https://github.com/autowarefoundation/autoware.core/pull/227
+  * Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* fix(obstacle_cruise_planner): ignore invalid stopping objects (`#1354 <https://github.com/autowarefoundation/autoware_launch/issues/1354>`_)
+  * add parameter
+  * rename ahead_stopped -> side_stopped
+  ---------
+* feat(planning_simulator): disable tlr in psim (`#1352 <https://github.com/autowarefoundation/autoware_launch/issues/1352>`_)
+  disable tlr in psim
+* feat(planning_validator): add diag to check planning component latency (`#1347 <https://github.com/autowarefoundation/autoware_launch/issues/1347>`_)
+* feat(control_validator): add diag to check control component latency (`#1349 <https://github.com/autowarefoundation/autoware_launch/issues/1349>`_)
+* fix(planning): param update for sudden stop (`#1345 <https://github.com/autowarefoundation/autoware_launch/issues/1345>`_)
+  fix for x1
+* feat(dummy_infrastructur): auto approval when ego stops at stop line (`#1344 <https://github.com/autowarefoundation/autoware_launch/issues/1344>`_)
+* feat(image_based_projection_fusion): update parameters for new image based projection fusion node (`#1339 <https://github.com/autowarefoundation/autoware_launch/issues/1339>`_)
+  * feat: new fusion parameters
+  * chore: remove some comment
+  ---------
+* feat(behavior_planning): add behavior_path_planner_type to launch path_generator (`#1342 <https://github.com/autowarefoundation/autoware_launch/issues/1342>`_)
+* Contributors: Arjun Jagdish Ram, Junya Sasaki, Kento Yabuuchi, Kosuke Takeuchi, Masato Saeki, Maxime CLEMENT, Satoshi OTA, Takayuki Murooka, Yi-Hsiang Fang (Vivid), Yuki TAKAGI, github-actions, mkquda
+
 0.42.0 (2025-03-03)
 -------------------
 * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

autoware_launch/config/control/control_validator/control_validator.param.yaml

@@ -12,6 +12,8 @@
       rolling_back_velocity: 0.5
       over_velocity_offset: 2.0
       over_velocity_ratio: 0.2
+      overrun_stop_point_dist: 0.8
+      nominal_latency: 0.01
 
     vel_lpf_gain: 0.9 # Time constant 0.33
     hold_velocity_error_until_stop: true

autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

@@ -3,7 +3,7 @@
     delay_compensation_time: 0.1
 
     enable_smooth_stop: true
-    enable_overshoot_emergency: true
+    enable_overshoot_emergency: false
     enable_large_tracking_error_emergency: true
     enable_slope_compensation: true
     enable_keep_stopped_until_steer_convergence: true

autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml

@@ -1,12 +1,14 @@
 /**:
   ros__parameters:
-    input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
-    timeout_ms: 70.0
-    match_threshold_ms: 50.0
+    # Example of lidar and camera timestamps
+    # cloud timestamp: 0.009
+    # rois timestamp: 0.107, 0.156, 0.087, 0.071, 0.124, 0.141
+    rois_timestamp_offsets: [0.098, 0.147, 0.078, 0.062, 0.115, 0.132]
+    rois_timeout_sec: 0.5
+    msg3d_timeout_sec: 0.05
     image_buffer_size: 15
     # projection setting for each ROI whether unrectify image
     point_project_to_unrectified_image: [false, false, false, false, false, false]
-    debug_mode: false
     filter_scope_min_x: -100.0
     filter_scope_min_y: -100.0
     filter_scope_min_z: -100.0
@@ -21,4 +23,14 @@
     approximation_grid_cell_height: 1.0
 
     # debug parameters
+    debug_mode: false
+    collector_debug_mode: false
     publish_processing_time_detail: false
+
+    publish_previous_but_late_output_msg: false
+    rosbag_length: 10.0
+    # matching strategy
+    matching_strategy:
+      type: advanced
+      msg3d_noise_window: 0.02
+      rois_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01]

autoware_launch/config/perception/traffic_light_recognition/crosswalk_traffic_light_estimator/crosswalk_traffic_light_estimator.param.yaml

@@ -0,0 +1,19 @@
+# Copyright 2023 UCI SORA Lab
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+/**:
+  ros__parameters:
+    use_last_detect_color: true
+    last_detect_color_hold_time: 2.0
+    last_colors_hold_time: 1.0

autoware_launch/config/perception/traffic_light_recognition/tensorrt_yolox/yolox_traffic_light_detector.param.yaml

@@ -0,0 +1,31 @@
+# cspell: ignore semseg
+/**:
+  ros__parameters:
+
+    score_threshold: 0.35
+    nms_threshold: 0.7
+
+    precision: "fp16" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8].
+    calibration_algorithm: "Entropy" # Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax].
+    dla_core_id: -1 # If positive ID value is specified, the node assign inference task to the DLA core.
+    quantize_first_layer: false # If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8.
+    quantize_last_layer: false # If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8.
+    profile_per_layer: false # If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose.
+    clip_value: 6.0 # If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration.
+    preprocess_on_gpu: true # If true, pre-processing is performed on GPU.
+    gpu_id: 0 # GPU ID to select CUDA Device
+    calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization.
+
+    # default params of tensorrt_yolox package, only effective for semseg model
+    is_roi_overlap_segment: false
+    overlap_roi_score_threshold: 0.3
+    is_publish_color_mask: false
+    roi_overlay_segment_label:
+      UNKNOWN : false
+      CAR : false
+      TRUCK : false
+      BUS : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false
+      ANIMAL: false

autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml autoware_launch/config/perception/traffic_light_recognition/traffic_light_arbiter/traffic_light_arbiter.param.yaml

@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    approximate_sync: false
+    precision: fp16
+    mean: [123.675, 116.28, 103.53] # It depends on the data on which ML model is trained
+    std: [58.395, 57.12, 57.375] # It depends on the data on which ML model is trained
+    backlight_threshold: 0.85
+    classifier_type: 1
+    traffic_light_type: 0

autoware_launch/config/perception/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml

@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    approximate_sync: false
+    precision: fp16
+    mean: [123.675, 116.28, 103.53] # It depends on the data on which ML model is trained
+    std: [58.395, 57.12, 57.375] # It depends on the data on which ML model is trained
+    backlight_threshold: 0.85
+    classifier_type: 1
+    traffic_light_type: 1

autoware_launch/config/perception/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml

@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    precision: fp16
+    score_thresh: 0.3
+    nms_thresh: 0.65
+    approximate_sync: false
+    gpu_id: 0

autoware_launch/config/perception/traffic_light_recognition/traffic_light_fine_detector/traffic_light_fine_detector.param.yaml

@@ -0,0 +1,13 @@
+/**:
+  ros__parameters:
+    max_vibration_pitch: 0.01745329251   # -0.5 ~ 0.5 deg
+    max_vibration_yaw: 0.01745329251     # -0.5 ~ 0.5 deg
+    max_vibration_height: 0.5            # -0.25 ~ 0.25 m
+    max_vibration_width: 0.5             # -0.25 ~ 0.25 m
+    max_vibration_depth: 0.5             # -0.25 ~ 0.25 m
+    max_detection_range: 200.0
+    min_timestamp_offset: -0.3
+    max_timestamp_offset: 0.0
+    timestamp_sample_len: 0.02
+    car_traffic_light_max_angle_range: 40.0
+    pedestrian_traffic_light_max_angle_range: 80.0

autoware_launch/config/perception/traffic_light_recognition/traffic_light_map_based_detector/camera6_traffic_light_map_based_detector.param.yaml

@@ -0,0 +1,13 @@
+/**:
+  ros__parameters:
+    max_vibration_pitch: 0.01745329251   # -0.5 ~ 0.5 deg
+    max_vibration_yaw: 0.01745329251     # -0.5 ~ 0.5 deg
+    max_vibration_height: 0.5            # -0.25 ~ 0.25 m
+    max_vibration_width: 0.5             # -0.25 ~ 0.25 m
+    max_vibration_depth: 0.5             # -0.25 ~ 0.25 m
+    max_detection_range: 200.0
+    min_timestamp_offset: -0.04
+    max_timestamp_offset: 0.0
+    timestamp_sample_len: 0.02
+    car_traffic_light_max_angle_range: 40.0
+    pedestrian_traffic_light_max_angle_range: 80.0

autoware_launch/config/perception/traffic_light_recognition/traffic_light_map_based_detector/camera7_traffic_light_map_based_detector.param.yaml

@@ -0,0 +1,13 @@
+/**:
+  ros__parameters:
+    max_vibration_pitch: 0.01745329251   # -0.5 ~ 0.5 deg
+    max_vibration_yaw: 0.01745329251     # -0.5 ~ 0.5 deg
+    max_vibration_height: 0.5            # -0.25 ~ 0.25 m
+    max_vibration_width: 0.5             # -0.25 ~ 0.25 m
+    max_vibration_depth: 0.5             # -0.25 ~ 0.25 m
+    max_detection_range: 200.0
+    min_timestamp_offset: -0.3
+    max_timestamp_offset: 0.0
+    timestamp_sample_len: 0.02
+    car_traffic_light_max_angle_range: 40.0
+    pedestrian_traffic_light_max_angle_range: 80.0

autoware_launch/config/perception/traffic_light_recognition/traffic_light_map_based_detector/traffic_light_traffic_light_map_based_detector.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    azimuth_occlusion_resolution_deg: 0.15 # degree
+    elevation_occlusion_resolution_deg: 0.08  # degree
+    max_valid_pt_dist: 50.0
+    # the node would wait at most max_wait_t seconds for cloud whose timestamp different with the image is less than max_image_cloud_delay.
+    # If no cloud with timestamp difference smaller than max_image_cloud_delay is found, the node would publish occlusion ratio of all
+    # traffic lights as 0
+    max_image_cloud_delay: 0.5
+    max_wait_t: 0.05
+    max_occlusion_ratio: 50

autoware_launch/config/perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml autoware_launch/config/perception/traffic_light_recognition/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    max_iou_threshold: -0.5

autoware_launch/config/perception/traffic_light_recognition/traffic_light_occlusion_predictor/traffic_light_occlusion_predictor.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    use_image_transport: true

autoware_launch/config/perception/traffic_light_recognition/traffic_light_selector/traffic_light_selector.param.yaml

@@ -1,4 +1,10 @@
 launch:
+  - arg:
+      name: behavior_path_planner_type
+      default: behavior_path_planner
+    # option: behavior_path_planner
+    #         path_generator
+
   # behavior path modules
   - arg:
       name: launch_static_obstacle_avoidance
@@ -49,7 +55,7 @@ launch:
       default: "true"
   - arg:
       name: launch_merge_from_private_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_blind_spot_module
       default: "true"
@@ -58,7 +64,7 @@ launch:
       default: "true"
   - arg:
       name: launch_virtual_traffic_light_module
-      default: "false"
+      default: "true"
   - arg:
       name: launch_no_stopping_area_module
       default: "true"

autoware_launch/config/perception/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml

@@ -27,6 +27,8 @@
       velocity_deviation: 100.0
       distance_deviation: 100.0
       longitudinal_distance_deviation: 1.0
+      nominal_latency: 1.0
+      yaw_deviation: 1.5708  # (= 90 degrees)
 
     parameters:
       # The required trajectory length is calculated as the distance needed