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Merge branch 'main' into autoware_msg
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‎.github/CODEOWNERS

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### Automatically generated from package.xml ###
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autoware_launch/** yukihiro.saito@tier4.jp
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### Copied from .github/CODEOWNERS-manual ###
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# /**
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# .github/**
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autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp
8+
autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
9+
autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
10+
autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
11+
autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
12+
autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
13+
autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
14+
autoware_launch/config/system/** fumihito.ito@tier4.jp isamu.takagi@tier4.jp
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autoware_launch/config/vehicle/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
16+
autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.takagi@tier4.jp
17+
autoware_launch/launch/components/tier4_control_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
18+
autoware_launch/launch/components/tier4_localization_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
19+
autoware_launch/launch/components/tier4_map_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
20+
autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
21+
autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
22+
autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
23+
autoware_launch/launch/components/tier4_simulator_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
24+
autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp
25+
autoware_launch/rviz/** # no codeowners
26+
autoware_launch/rviz/image/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp

‎.github/CODEOWNERS-manual

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# /**
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# .github/**
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autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodrive.ai
4+
autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
5+
autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
6+
autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
7+
autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
8+
autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
9+
autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
10+
autoware_launch/config/system/** fumihito.ito@tier4.jp isamu.takagi@tier4.jp
11+
autoware_launch/config/vehicle/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
12+
autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.takagi@tier4.jp
13+
autoware_launch/launch/components/tier4_control_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
14+
autoware_launch/launch/components/tier4_localization_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
15+
autoware_launch/launch/components/tier4_map_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
16+
autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
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autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
18+
autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
19+
autoware_launch/launch/components/tier4_simulator_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
20+
autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp
21+
autoware_launch/rviz/** # no codeowners
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autoware_launch/rviz/image/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp

‎.github/workflows/update-codeowners-from-packages.yaml

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name: update-codeowners-from-packages
2+
3+
on:
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schedule:
5+
- cron: 0 0 * * *
6+
workflow_dispatch:
7+
8+
jobs:
9+
check-secret:
10+
uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1
11+
secrets:
12+
secret: ${{ secrets.APP_ID }}
13+
14+
update-codeowners-from-packages:
15+
needs: check-secret
16+
if: ${{ needs.check-secret.outputs.set == 'true' }}
17+
runs-on: ubuntu-latest
18+
steps:
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- name: Generate token
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id: generate-token
21+
uses: tibdex/github-app-token@v1
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with:
23+
app_id: ${{ secrets.APP_ID }}
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private_key: ${{ secrets.PRIVATE_KEY }}
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26+
- name: Run update-codeowners-from-packages
27+
uses: autowarefoundation/autoware-github-actions/update-codeowners-from-packages@v1
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with:
29+
token: ${{ steps.generate-token.outputs.token }}
30+
pr-labels: |
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tag:bot
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tag:update-codeowners-from-packages
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auto-merge-method: squash

‎autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

+2-2
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@@ -11,8 +11,8 @@
1111
max_x: 150.0
1212
min_y: -70.0
1313
max_y: 70.0
14-
max_z: 2.5
15-
min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
14+
margin_max_z: 0.0 # to extend the crop box max_z from vehicle_height
15+
margin_min_z: -2.5 # to extend the crop box min_z from ground
1616
negative: False
1717

1818
common_ground_filter:

‎autoware_launch/config/planning/preset/default_preset.yaml

+1-1
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@@ -100,7 +100,7 @@ launch:
100100

101101
- arg:
102102
name: motion_stop_planner_type
103-
default: obstacle_stop_planner
103+
default: obstacle_cruise_planner
104104
# option: obstacle_stop_planner
105105
# obstacle_cruise_planner
106106
# none

‎autoware_launch/config/planning/scenario_planning/common/common.param.yaml

+1-1
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11
/**:
22
ros__parameters:
3-
max_vel: 11.1 # max velocity limit [m/s]
3+
max_vel: 4.17 # max velocity limit [m/s]
44

55
# constraints param for normal driving
66
normal:

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

+36-18
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@@ -4,8 +4,6 @@
44
avoidance:
55
resample_interval_for_planning: 0.3 # [m]
66
resample_interval_for_output: 4.0 # [m]
7-
drivable_area_right_bound_offset: 0.0 # [m]
8-
drivable_area_left_bound_offset: 0.0 # [m]
97

108
# avoidance module common setting
119
enable_bound_clipping: false
@@ -31,80 +29,96 @@
3129
execute_num: 1 # [-]
3230
moving_speed_threshold: 1.0 # [m/s]
3331
moving_time_threshold: 2.0 # [s]
32+
lateral_margin:
33+
soft_margin: 0.7 # [m]
34+
hard_margin: 0.3 # [m]
35+
hard_margin_for_parked_vehicle: 0.3 # [m]
3436
max_expand_ratio: 0.0 # [-]
3537
envelope_buffer_margin: 0.5 # [m]
36-
avoid_margin_lateral: 0.7 # [m]
37-
safety_buffer_lateral: 0.3 # [m]
3838
safety_buffer_longitudinal: 0.0 # [m]
3939
use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
4040
truck:
4141
execute_num: 1
4242
moving_speed_threshold: 1.0 # 3.6km/h
4343
moving_time_threshold: 2.0
44+
lateral_margin:
45+
soft_margin: 0.9 # [m]
46+
hard_margin: 0.1 # [m]
47+
hard_margin_for_parked_vehicle: 0.1 # [m]
4448
max_expand_ratio: 0.0
4549
envelope_buffer_margin: 0.5
46-
avoid_margin_lateral: 0.9
47-
safety_buffer_lateral: 0.1
4850
safety_buffer_longitudinal: 0.0
4951
use_conservative_buffer_longitudinal: true
5052
bus:
5153
execute_num: 1
5254
moving_speed_threshold: 1.0 # 3.6km/h
5355
moving_time_threshold: 2.0
56+
lateral_margin:
57+
soft_margin: 0.9 # [m]
58+
hard_margin: 0.1 # [m]
59+
hard_margin_for_parked_vehicle: 0.1 # [m]
5460
max_expand_ratio: 0.0
5561
envelope_buffer_margin: 0.5
56-
avoid_margin_lateral: 0.9
57-
safety_buffer_lateral: 0.1
5862
safety_buffer_longitudinal: 0.0
5963
use_conservative_buffer_longitudinal: true
6064
trailer:
6165
execute_num: 1
6266
moving_speed_threshold: 1.0 # 3.6km/h
6367
moving_time_threshold: 2.0
68+
lateral_margin:
69+
soft_margin: 0.9 # [m]
70+
hard_margin: 0.1 # [m]
71+
hard_margin_for_parked_vehicle: 0.1 # [m]
6472
max_expand_ratio: 0.0
6573
envelope_buffer_margin: 0.5
66-
avoid_margin_lateral: 0.9
67-
safety_buffer_lateral: 0.1
6874
safety_buffer_longitudinal: 0.0
6975
use_conservative_buffer_longitudinal: true
7076
unknown:
7177
execute_num: 1
7278
moving_speed_threshold: 0.28 # 1.0km/h
7379
moving_time_threshold: 1.0
80+
lateral_margin:
81+
soft_margin: 0.7 # [m]
82+
hard_margin: -0.2 # [m]
83+
hard_margin_for_parked_vehicle: -0.2 # [m]
7484
max_expand_ratio: 0.0
7585
envelope_buffer_margin: 0.1
76-
avoid_margin_lateral: 0.7
77-
safety_buffer_lateral: -0.2
7886
safety_buffer_longitudinal: 0.0
7987
use_conservative_buffer_longitudinal: true
8088
bicycle:
8189
execute_num: 1
8290
moving_speed_threshold: 0.28 # 1.0km/h
8391
moving_time_threshold: 1.0
92+
lateral_margin:
93+
soft_margin: 0.7 # [m]
94+
hard_margin: 0.5 # [m]
95+
hard_margin_for_parked_vehicle: 0.5 # [m]
8496
max_expand_ratio: 0.0
8597
envelope_buffer_margin: 0.5
86-
avoid_margin_lateral: 0.7
87-
safety_buffer_lateral: 0.5
8898
safety_buffer_longitudinal: 1.0
8999
use_conservative_buffer_longitudinal: true
90100
motorcycle:
91101
execute_num: 1
92102
moving_speed_threshold: 1.0 # 3.6km/h
93103
moving_time_threshold: 1.0
104+
lateral_margin:
105+
soft_margin: 0.7 # [m]
106+
hard_margin: 0.3 # [m]
107+
hard_margin_for_parked_vehicle: 0.3 # [m]
94108
max_expand_ratio: 0.0
95109
envelope_buffer_margin: 0.5
96-
avoid_margin_lateral: 0.7
97-
safety_buffer_lateral: 0.3
98110
safety_buffer_longitudinal: 1.0
99111
use_conservative_buffer_longitudinal: true
100112
pedestrian:
101113
execute_num: 1
102114
moving_speed_threshold: 0.28 # 1.0km/h
103115
moving_time_threshold: 1.0
116+
lateral_margin:
117+
soft_margin: 0.7 # [m]
118+
hard_margin: 0.5 # [m]
119+
hard_margin_for_parked_vehicle: 0.5 # [m]
104120
max_expand_ratio: 0.0
105121
envelope_buffer_margin: 0.5
106-
avoid_margin_lateral: 0.7
107-
safety_buffer_lateral: 0.5
108122
safety_buffer_longitudinal: 1.0
109123
use_conservative_buffer_longitudinal: true
110124
lower_distance_for_polygon_expansion: 30.0 # [m]
@@ -208,6 +222,10 @@
208222
max_right_shift_length: 5.0
209223
max_left_shift_length: 5.0
210224
max_deviation_from_lane: 0.2 # [m]
225+
# approve the next shift line after reaching this percentage of the current shift line length.
226+
# this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear.
227+
# this feature can be disabled by setting this parameter to 0.0.
228+
ratio_for_return_shift_approval: 0.5 # [-]
211229
# avoidance distance parameters
212230
longitudinal:
213231
min_prepare_time: 1.0 # [s]

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

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@@ -12,64 +12,80 @@
1212
moving_time_threshold: 1.0 # [s]
1313
max_expand_ratio: 0.0 # [-]
1414
envelope_buffer_margin: 0.3 # [m]
15-
avoid_margin_lateral: 0.0 # [m]
16-
safety_buffer_lateral: 0.0 # [m]
15+
lateral_margin:
16+
soft_margin: 0.0 # [m]
17+
hard_margin: 0.0 # [m]
18+
hard_margin_for_parked_vehicle: 0.0 # [m]
1719
truck:
1820
execute_num: 2
1921
moving_speed_threshold: 1.0 # 3.6km/h
2022
moving_time_threshold: 1.0
2123
max_expand_ratio: 0.0
2224
envelope_buffer_margin: 0.3
23-
avoid_margin_lateral: 0.0
24-
safety_buffer_lateral: 0.0
25+
lateral_margin:
26+
soft_margin: 0.0 # [m]
27+
hard_margin: 0.0 # [m]
28+
hard_margin_for_parked_vehicle: 0.0 # [m]
2529
bus:
2630
execute_num: 2
2731
moving_speed_threshold: 1.0 # 3.6km/h
2832
moving_time_threshold: 1.0
2933
max_expand_ratio: 0.0
3034
envelope_buffer_margin: 0.3
31-
avoid_margin_lateral: 0.0
32-
safety_buffer_lateral: 0.0
35+
lateral_margin:
36+
soft_margin: 0.0 # [m]
37+
hard_margin: 0.0 # [m]
38+
hard_margin_for_parked_vehicle: 0.0 # [m]
3339
trailer:
3440
execute_num: 2
3541
moving_speed_threshold: 1.0 # 3.6km/h
3642
moving_time_threshold: 1.0
3743
max_expand_ratio: 0.0
3844
envelope_buffer_margin: 0.3
39-
avoid_margin_lateral: 0.0
40-
safety_buffer_lateral: 0.0
45+
lateral_margin:
46+
soft_margin: 0.0 # [m]
47+
hard_margin: 0.0 # [m]
48+
hard_margin_for_parked_vehicle: 0.0 # [m]
4149
unknown:
4250
execute_num: 1
4351
moving_speed_threshold: 0.28 # 1.0km/h
4452
moving_time_threshold: 1.0
4553
max_expand_ratio: 0.0
4654
envelope_buffer_margin: 0.3
47-
avoid_margin_lateral: 0.0
48-
safety_buffer_lateral: 0.0
55+
lateral_margin:
56+
soft_margin: 0.0 # [m]
57+
hard_margin: 0.0 # [m]
58+
hard_margin_for_parked_vehicle: 0.0 # [m]
4959
bicycle:
5060
execute_num: 2
5161
moving_speed_threshold: 0.28 # 1.0km/h
5262
moving_time_threshold: 1.0
5363
max_expand_ratio: 0.0
5464
envelope_buffer_margin: 0.8
55-
avoid_margin_lateral: 0.0
56-
safety_buffer_lateral: 1.0
65+
lateral_margin:
66+
soft_margin: 0.0 # [m]
67+
hard_margin: 1.0 # [m]
68+
hard_margin_for_parked_vehicle: 1.0 # [m]
5769
motorcycle:
5870
execute_num: 2
5971
moving_speed_threshold: 1.0 # 3.6km/h
6072
moving_time_threshold: 1.0
6173
max_expand_ratio: 0.0
6274
envelope_buffer_margin: 0.8
63-
avoid_margin_lateral: 0.0
64-
safety_buffer_lateral: 1.0
75+
lateral_margin:
76+
soft_margin: 0.0 # [m]
77+
hard_margin: 1.0 # [m]
78+
hard_margin_for_parked_vehicle: 1.0 # [m]
6579
pedestrian:
6680
execute_num: 2
6781
moving_speed_threshold: 0.28 # 1.0km/h
6882
moving_time_threshold: 1.0
6983
max_expand_ratio: 0.0
7084
envelope_buffer_margin: 0.8
71-
avoid_margin_lateral: 0.0
72-
safety_buffer_lateral: 1.0
85+
lateral_margin:
86+
soft_margin: 0.0 # [m]
87+
hard_margin: 1.0 # [m]
88+
hard_margin_for_parked_vehicle: 1.0 # [m]
7389
lower_distance_for_polygon_expansion: 0.0 # [m]
7490
upper_distance_for_polygon_expansion: 1.0 # [m]
7591

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

-5
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@@ -28,8 +28,3 @@
2828
output_path_interval: 2.0
2929

3030
visualize_maximum_drivable_area: true
31-
32-
lane_following:
33-
drivable_area_right_bound_offset: 0.0
34-
drivable_area_left_bound_offset: 0.0
35-
drivable_area_types_to_skip: [road_border]

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

+11
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@@ -7,12 +7,23 @@
77
th_stopped_time: 1.0
88
collision_check_margins: [2.0, 1.0, 0.5, 0.1]
99
collision_check_margin_from_front_object: 5.0
10+
extra_width_margin_for_rear_obstacle: 0.5
1011
th_moving_object_velocity: 1.0
12+
object_types_to_check_for_path_generation:
13+
check_car: true
14+
check_truck: true
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check_bus: true
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check_trailer: true
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check_bicycle: true
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check_motorcycle: true
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check_pedestrian: true
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check_unknown: true
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th_distance_to_middle_of_the_road: 0.5
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center_line_path_interval: 1.0
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# shift pull out
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enable_shift_pull_out: true
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check_shift_path_lane_departure: true
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allow_check_shift_path_lane_departure_override: false
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shift_collision_check_distance_from_end: -10.0
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minimum_shift_pull_out_distance: 0.0
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deceleration_interval: 15.0

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

+1
Original file line numberDiff line numberDiff line change
@@ -18,6 +18,7 @@
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# if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
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predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value.
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distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane
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cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights
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overlap:
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minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered

‎autoware_launch/config/system/component_state_monitor/topics.yaml

+1-1
Original file line numberDiff line numberDiff line change
@@ -59,7 +59,7 @@
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topic_type: geometry_msgs/msg/PoseWithCovarianceStamped
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best_effort: false
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transient_local: false
62-
warn_rate: 5.0
62+
warn_rate: 2.0
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error_rate: 1.0
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timeout: 1.0
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