Merge pull request #1284 from tier4/hotfix/v0.20.1.7/cherry-pick-avoidance-pr

fix(avoidance): cherry pick PRs

Author: shmpwk

common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp

@@ -38,7 +38,8 @@ class InterProcessPollingSubscriber
     noexec_subscription_options.callback_group = noexec_callback_group;
 
     subscriber_ = node->create_subscription<T>(
-      topic_name, rclcpp::QoS{1}, [node](const typename T::ConstSharedPtr msg) { assert(false); },
+      topic_name, rclcpp::QoS{1},
+      [node]([[maybe_unused]] const typename T::ConstSharedPtr msg) { assert(false); },
       noexec_subscription_options);
   };
   bool updateLatestData()

common/tier4_logging_level_configure_rviz_plugin/config/logger_config.yaml

@@ -37,6 +37,8 @@ Planning:
   behavior_path_planner_avoidance:
     - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
       logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.avoidance
+    - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
+      logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.avoidance.utils
 
   behavior_path_planner_goal_planner:
     - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner

planning/behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml

@@ -8,8 +8,8 @@
       target_object:
         car:
           execute_num: 2                               # [-]
-          moving_speed_threshold: 1.0                  # [m/s]
-          moving_time_threshold: 1.0                   # [s]
+          th_moving_speed: 1.0                         # [m/s]
+          th_moving_time: 1.0                          # [s]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.3                  # [m]
           lateral_margin:
@@ -18,8 +18,8 @@
             hard_margin_for_parked_vehicle: 0.0        # [m]
         truck:
           execute_num: 2
-          moving_speed_threshold: 1.0                  # 3.6km/h
-          moving_time_threshold: 1.0
+          th_moving_speed: 1.0                         # 3.6km/h
+          th_moving_time: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           lateral_margin:
@@ -28,8 +28,8 @@
             hard_margin_for_parked_vehicle: 0.0        # [m]
         bus:
           execute_num: 2
-          moving_speed_threshold: 1.0                  # 3.6km/h
-          moving_time_threshold: 1.0
+          th_moving_speed: 1.0                         # 3.6km/h
+          th_moving_time: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           lateral_margin:
@@ -38,8 +38,8 @@
             hard_margin_for_parked_vehicle: 0.0        # [m]
         trailer:
           execute_num: 2
-          moving_speed_threshold: 1.0                  # 3.6km/h
-          moving_time_threshold: 1.0
+          th_moving_speed: 1.0                         # 3.6km/h
+          th_moving_time: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           lateral_margin:
@@ -48,8 +48,8 @@
             hard_margin_for_parked_vehicle: 0.0        # [m]
         unknown:
           execute_num: 1
-          moving_speed_threshold: 0.28                 # 1.0km/h
-          moving_time_threshold: 1.0
+          th_moving_speed: 0.28                        # 1.0km/h
+          th_moving_time: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           lateral_margin:
@@ -58,34 +58,34 @@
             hard_margin_for_parked_vehicle: 0.0        # [m]
         bicycle:
           execute_num: 2
-          moving_speed_threshold: 0.28                 # 1.0km/h
-          moving_time_threshold: 1.0
+          th_moving_speed: 0.28                        # 1.0km/h
+          th_moving_time: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           lateral_margin:
             soft_margin: 0.0                           # [m]
-            hard_margin: 0.0                           # [m]
-            hard_margin_for_parked_vehicle: 0.0        # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         motorcycle:
           execute_num: 2
-          moving_speed_threshold: 1.0                  # 3.6km/h
-          moving_time_threshold: 1.0
+          th_moving_speed: 1.0                         # 3.6km/h
+          th_moving_time: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           lateral_margin:
             soft_margin: 0.0                           # [m]
-            hard_margin: 0.0                           # [m]
-            hard_margin_for_parked_vehicle: 0.0        # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         pedestrian:
           execute_num: 2
-          moving_speed_threshold: 0.28                 # 1.0km/h
-          moving_time_threshold: 1.0
+          th_moving_speed: 0.28                        # 1.0km/h
+          th_moving_time: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           lateral_margin:
             soft_margin: 0.0                           # [m]
-            hard_margin: 0.0                           # [m]
-            hard_margin_for_parked_vehicle: 0.0        # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         lower_distance_for_polygon_expansion: 0.0      # [m]
         upper_distance_for_polygon_expansion: 1.0      # [m]
 
@@ -101,11 +101,3 @@
           bicycle: false                               # [-]
           motorcycle: false                            # [-]
           pedestrian: false                            # [-]
-
-      constraints:
-        # lateral constraints
-        lateral:
-          velocity: [1.0, 1.38, 11.1]                   # [m/s]
-          max_accel_values: [0.5, 0.5, 0.5]             # [m/ss]
-          min_jerk_values: [0.2, 0.2, 0.2]              # [m/sss]
-          max_jerk_values: [1.0, 1.0, 1.0]              # [m/sss]

planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp

@@ -65,10 +65,8 @@ void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node)
     const auto get_object_param = [&](std::string && ns) {
       ObjectParameter param{};
       param.execute_num = getOrDeclareParameter<int>(*node, ns + "execute_num");
-      param.moving_speed_threshold =
-        getOrDeclareParameter<double>(*node, ns + "moving_speed_threshold");
-      param.moving_time_threshold =
-        getOrDeclareParameter<double>(*node, ns + "moving_time_threshold");
+      param.moving_speed_threshold = getOrDeclareParameter<double>(*node, ns + "th_moving_speed");
+      param.moving_time_threshold = getOrDeclareParameter<double>(*node, ns + "th_moving_time");
       param.max_expand_ratio = getOrDeclareParameter<double>(*node, ns + "max_expand_ratio");
       param.envelope_buffer_margin =
         getOrDeclareParameter<double>(*node, ns + "envelope_buffer_margin");
@@ -121,14 +119,18 @@ void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node)
 
     p.object_check_goal_distance =
       getOrDeclareParameter<double>(*node, ns + "object_check_goal_distance");
+    p.object_last_seen_threshold =
+      getOrDeclareParameter<double>(*node, ns + "max_compensation_time");
+  }
+
+  {
+    const std::string ns = "avoidance.target_filtering.parked_vehicle.";
     p.threshold_distance_object_is_on_center =
-      getOrDeclareParameter<double>(*node, ns + "threshold_distance_object_is_on_center");
+      getOrDeclareParameter<double>(*node, ns + "th_offset_from_centerline");
     p.object_check_shiftable_ratio =
-      getOrDeclareParameter<double>(*node, ns + "object_check_shiftable_ratio");
+      getOrDeclareParameter<double>(*node, ns + "th_shiftable_ratio");
     p.object_check_min_road_shoulder_width =
-      getOrDeclareParameter<double>(*node, ns + "object_check_min_road_shoulder_width");
-    p.object_last_seen_threshold =
-      getOrDeclareParameter<double>(*node, ns + "object_last_seen_threshold");
+      getOrDeclareParameter<double>(*node, ns + "min_road_shoulder_width");
   }
 
   {
@@ -137,9 +139,9 @@ void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node)
     p.closest_distance_to_wait_and_see_for_ambiguous_vehicle =
       getOrDeclareParameter<double>(*node, ns + "closest_distance_to_wait_and_see");
     p.time_threshold_for_ambiguous_vehicle =
-      getOrDeclareParameter<double>(*node, ns + "condition.time_threshold");
+      getOrDeclareParameter<double>(*node, ns + "condition.th_stopped_time");
     p.distance_threshold_for_ambiguous_vehicle =
-      getOrDeclareParameter<double>(*node, ns + "condition.distance_threshold");
+      getOrDeclareParameter<double>(*node, ns + "condition.th_moving_distance");
     p.object_ignore_section_traffic_light_in_front_distance =
       getOrDeclareParameter<double>(*node, ns + "ignore_area.traffic_light.front_distance");
     p.object_ignore_section_crosswalk_in_front_distance =