change parameters for eve, add localization noise

Signed-off-by: t4-adc <grp-rd-1-adc-admin@tier4.jp>

Author: t4-adc

autoware_launch/config/planning/preset/default_preset.yaml

@@ -8,10 +8,10 @@ launch:
   # behavior path modules
   - arg:
       name: launch_static_obstacle_avoidance
-      default: "true"
+      default: "false"
   - arg:
       name: launch_avoidance_by_lane_change_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_dynamic_obstacle_avoidance
       default: "false"
@@ -20,10 +20,10 @@ launch:
       default: "false" # Warning, experimental module, use only in simulations
   - arg:
       name: launch_lane_change_right_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_lane_change_left_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_external_request_lane_change_right_module
       default: "false"
@@ -32,33 +32,33 @@ launch:
       default: "false"
   - arg:
       name: launch_goal_planner_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_start_planner_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_side_shift_module
-      default: "true"
+      default: "false"
 
   # behavior velocity modules
   - arg:
       name: launch_crosswalk_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_walkway_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_traffic_light_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_intersection_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_merge_from_private_module
       default: "false"
   - arg:
       name: launch_blind_spot_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_detection_area_module
       default: "true"
@@ -67,7 +67,7 @@ launch:
       default: "true"
   - arg:
       name: launch_no_stopping_area_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_stop_line_module
       default: "true"
@@ -76,7 +76,7 @@ launch:
       default: "false"
   - arg:
       name: launch_run_out_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_speed_bump_module
       default: "false"
@@ -107,7 +107,7 @@ launch:
       default: "true"
   - arg:
       name: launch_obstacle_cruise_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_dynamic_obstacle_stop_module
       default: "true"

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

@@ -4,9 +4,9 @@
 
     # constraints param for normal driving
     normal:
-      min_acc: -1.0         # min deceleration [m/ss]
-      max_acc: 1.0          # max acceleration [m/ss]
-      min_jerk: -1.0        # min jerk [m/sss]
+      min_acc: -0.2         # min deceleration [m/ss]
+      max_acc: 0.5          # max acceleration [m/ss]
+      min_jerk: -0.5        # min jerk [m/sss]
       max_jerk: 1.0         # max jerk [m/sss]
 
     # constraints to be observed

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_slow_down.param.yaml

@@ -33,14 +33,14 @@
       obstacle_filtering:
         object_type:
           unknown: false
-          car: true
-          truck: true
-          bus: true
-          trailer: true
-          motorcycle: true
-          bicycle: true
-          pedestrian: true
-          pointcloud: false
+          car: false
+          truck: false
+          bus: false
+          trailer: false
+          motorcycle: false
+          bicycle: false
+          pedestrian: false
+          pointcloud: true
 
         pointcloud:
           pointcloud_voxel_grid_x: 0.05

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_stop.param.yaml

@@ -32,17 +32,17 @@
 
       obstacle_filtering:
         object_type:
-          pointcloud: false
+          pointcloud: true
 
           inside:
-            unknown: true
-            car: true
-            truck: true
-            bus: true
-            trailer: true
-            motorcycle: true
-            bicycle: true
-            pedestrian: true
+            unknown: false
+            car: false
+            truck: false
+            bus: false
+            trailer: false
+            motorcycle: false
+            bicycle: false
+            pedestrian: false
 
           outside:
             unknown: false