Merge pull request #293 from tier4/sync-awf-latest

tier4-autoware-public-bot[bot] · web-flow · commit 2b7390b1c3ba · 2024-01-26T15:05:05.000Z
chore: sync awf-latest
diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml
@@ -3,7 +3,7 @@
     lidar-lidar:
       can_assign_matrix:
         #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
-        [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+        [1,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
         0,       1,   1,     1,    1,       0,         0,      0,         #CAR
         0,       1,   1,     1,    1,       0,         0,      0,         #TRUCK
         0,       1,   1,     1,    1,       0,         0,      0,         #BUS
@@ -59,7 +59,7 @@
     lidar-radar:
       can_assign_matrix:
         #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
-        [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+        [1,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
         0,       1,   1,     1,    1,       0,         0,      0,         #CAR
         0,       1,   1,     1,    1,       0,         0,      0,         #TRUCK
         0,       1,   1,     1,    1,       0,         0,      0,         #BUS
@@ -115,7 +115,7 @@
     radar-radar:
       can_assign_matrix:
         #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
-        [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+        [1,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
         0,       1,   1,     1,    1,       0,         0,      0,         #CAR
         0,       1,   1,     1,    1,       0,         0,      0,         #TRUCK
         0,       1,   1,     1,    1,       0,         0,      0,         #BUS
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -19,6 +19,7 @@
       use_opposite_lane: true
       use_intersection_areas: true
       use_hatched_road_markings: true
+      use_freespace_areas: true
 
       # for debug
       publish_debug_marker: false
@@ -218,7 +219,7 @@
         return_dead_line:
           goal:
             enable: true                                # [-]
-            buffer: 30.0                                # [m]
+            buffer: 3.0                                 # [m]
           traffic_light:
             enable: true                                # [-]
             buffer: 3.0                                 # [m]
diff --git a/autoware_launch/config/simulator/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml
@@ -4,7 +4,7 @@
       vehicle_is_out_of_lane: "lane_departure"
       trajectory_deviation_is_high: "trajectory_deviation"
       localization_matching_score_is_low: "ndt_scan_matcher"
-      localization_accuracy_is_low: "localization_accuracy"
+      localization_accuracy_is_low: "localization_error_ellipse"
       map_version_is_different: "map_version"
       trajectory_is_invalid: "trajectory_point_validation"
       cpu_temperature_is_high: "CPU Temperature"
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
@@ -23,7 +23,7 @@
 
         /autoware/localization/node_alive_monitoring: default
         /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/localization/performance_monitoring/localization_accuracy: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        /autoware/localization/performance_monitoring/localization_error_ellipse: { sf_at: "warn", lf_at: "none", spf_at: "none" }
 
         /autoware/map/node_alive_monitoring: default
 
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -23,7 +23,7 @@
 
         /autoware/localization/node_alive_monitoring: default
         /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/localization/performance_monitoring/localization_accuracy: default
+        /autoware/localization/performance_monitoring/localization_error_ellipse: default
         /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" }
 
         /autoware/map/node_alive_monitoring: default
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -24,7 +24,7 @@
 
         /autoware/localization/node_alive_monitoring: default
         # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        # /autoware/localization/performance_monitoring/localization_accuracy: default
+        # /autoware/localization/performance_monitoring/localization_error_ellipse: default
 
         /autoware/map/node_alive_monitoring: default
 
