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Merge pull request #364 from tier4/sync-awf-latest
chore: sync awf-latest
2 parents 9257771 + d712ca8 commit 2421ff7

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autoware_launch/config/localization/pose_initializer.param.yaml

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/**:
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ros__parameters:
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user_defined_initial_pose:
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enable: $(var user_defined_initial_pose/enable)
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pose: $(var user_defined_initial_pose/pose)
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gnss_pose_timeout: 3.0 # [sec]
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stop_check_duration: 3.0 # [sec]
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ekf_enabled: $(var ekf_enabled)

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

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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
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maximum_longitudinal_deviation: 1.0 # Note, should be the same or less than planning validator's "longitudinal_distance_deviation"
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lateral_jerk: 0.5
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lateral_acceleration_sampling_num: 3
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minimum_lateral_acc: 0.15

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

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run_out:
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detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points
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target_obstacle_types: ["PEDESTRIAN", "BICYCLE", "MOTORCYCLE"] # [-] Obstacle types considered by this module
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exclude_obstacles_already_in_path: true # If the obstacle is already on the ego's path footprint, ignore it.
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use_partition_lanelet: true # [-] whether to use partition lanelet map data
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suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet
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use_ego_cut_line: true # [-] filter obstacles that pass the backside of ego: if a dynamic obstacle's predicted path intersects this line, it is ignored
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detection_span: 1.0 # [m] calculate collision with this span to reduce calculation time
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min_vel_ego_kmph: 3.6 # [km/h] min velocity to calculate time to collision
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ego_cut_line_length: 3.0 # The width of the ego's cut line
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ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path
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keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path.
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# Parameter to create abstracted dynamic obstacles
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dynamic_obstacle:

autoware_launch/launch/components/tier4_localization_component.launch.xml

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<arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
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<arg name="input_pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the localization util module"/>
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<arg name="localization_pointcloud_container_name" default="/pointcloud_container" description="The target container to which pointcloud preprocessing nodes in localization be attached"/>
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<arg name="initial_pose" default="[]" description="initial pose (x, y, z, quat_x, quat_y, quat_z, quat_w)"/>
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<group>
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<include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
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<arg name="system_run_mode" value="$(var system_run_mode)"/>
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<arg name="input_pointcloud" value="$(var input_pointcloud)"/>
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<arg name="localization_pointcloud_container_name" value="$(var localization_pointcloud_container_name)"/>
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<arg name="initial_pose" value="$(var initial_pose)"/>
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<!-- parameter paths for common -->
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<arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>

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