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tier4-autoware-public-bot[bot]tier4-autoware-public-bot[bot]
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Merge pull request #338 from tier4/beta-to-tier4-main-sync
chore: sync beta branch beta/v0.24.0 with tier4/main
2 parents 5ade107 + 861f70a commit 3431d11

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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
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autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
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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
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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
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autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
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autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
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autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
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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
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autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.takagi@tier4.jp
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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
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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
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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
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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
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autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
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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
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autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp
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autoware_launch/rviz/** # no codeowners
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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
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autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
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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
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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
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autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
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autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
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autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
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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
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autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.takagi@tier4.jp
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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
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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
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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
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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
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autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
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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
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autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp
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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
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on:
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schedule:
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- cron: 0 0 * * *
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workflow_dispatch:
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jobs:
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check-secret:
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uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1
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secrets:
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secret: ${{ secrets.APP_ID }}
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update-codeowners-from-packages:
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needs: check-secret
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if: ${{ needs.check-secret.outputs.set == 'true' }}
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runs-on: ubuntu-latest
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steps:
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- name: Generate token
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id: generate-token
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uses: tibdex/github-app-token@v1
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with:
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app_id: ${{ secrets.APP_ID }}
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private_key: ${{ secrets.PRIVATE_KEY }}
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- name: Run update-codeowners-from-packages
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uses: autowarefoundation/autoware-github-actions/update-codeowners-from-packages@v1
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with:
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token: ${{ steps.generate-token.outputs.token }}
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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/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

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avoidance:
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resample_interval_for_planning: 0.3 # [m]
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resample_interval_for_output: 4.0 # [m]
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drivable_area_right_bound_offset: 0.0 # [m]
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drivable_area_left_bound_offset: 0.0 # [m]
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# avoidance module common setting
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enable_bound_clipping: false
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max_right_shift_length: 5.0
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max_left_shift_length: 5.0
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max_deviation_from_lane: 0.2 # [m]
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# approve the next shift line after reaching this percentage of the current shift line length.
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# this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear.
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# this feature can be disabled by setting this parameter to 0.0.
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ratio_for_return_shift_approval: 0.5 # [-]
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# avoidance distance parameters
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longitudinal:
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min_prepare_time: 1.0 # [s]

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

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output_path_interval: 2.0
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visualize_maximum_drivable_area: true
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lane_following:
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drivable_area_right_bound_offset: 0.0
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drivable_area_left_bound_offset: 0.0
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drivable_area_types_to_skip: [road_border]

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

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duration: 5.0 # [s]
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max_lateral_jerk: 100.0 # [m/s3]
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overhang_tolerance: 0.0 # [m]
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unsafe_hysteresis_threshold: 5 # [/]
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finish_judge_lateral_threshold: 0.2 # [m]
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‎autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml

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collision_check_margins: [2.0, 1.0, 0.5, 0.1]
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collision_check_margin_from_front_object: 5.0
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th_moving_object_velocity: 1.0
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object_types_to_check_for_path_generation:
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check_car: true
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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/crosswalk.param.yaml

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bicycle: true # [-] whether to look and stop by BICYCLE objects
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motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.)
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pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects
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# param for occlusions
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occlusion:
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enable: true # if true, ego will slowdown around crosswalks that are occluded
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occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space
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slow_down_velocity: 1.0 # [m/s]
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time_buffer: 0.5 # [s] consecutive time with/without an occlusion to add/remove the slowdown
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min_size: 0.5 # [m] minimum size of an occlusion (square side size)
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free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid
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occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid
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ignore_with_red_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored
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ignore_behind_predicted_objects: true # [-] if true, occlusions behind predicted objects are ignored
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ignore_velocity_thresholds:
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default: 0.5 # [m/s] occlusions are only ignored behind objects with a higher or equal velocity
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custom_labels: ["PEDESTRIAN"] # labels for which to define a non-default velocity threshold (see autoware_auto_perception_msgs::msg::ObjectClassification for all the labels)
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custom_thresholds: [0.0] # velocities of the custom labels
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extra_predicted_objects_size: 0.5 # [m] extra size added to the objects for masking the occlusions

‎autoware_launch/launch/autoware.launch.xml

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<arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
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<!-- Auto mode setting-->
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<arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
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<arg name="is_simulation" default="false" description="Autoware's behavior will change depending on whether this is a simulation or not."/>
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<!-- Global parameters -->
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<group scoped="false">
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<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
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<arg name="module_preset" value="$(var planning_module_preset)"/>
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<arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
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<arg name="is_simulation" value="$(var is_simulation)"/>
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</include>
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</group>
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‎autoware_launch/launch/components/tier4_localization_component.launch.xml

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<let name="loc_config_path" value="$(find-pkg-share autoware_launch)/config/localization"/>
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<arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
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<arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
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<arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud" description="The topic will be used in the localization util module"/>
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<arg
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name="lidar_container_name"
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default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
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description="The target container to which lidar preprocessing nodes in localization be attached"
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/>
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<arg name="input_pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the localization util module"/>
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<arg name="localization_pointcloud_container_name" default="/pointcloud_container" description="The target container to which pointcloud preprocessing nodes in localization be attached"/>
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<group>
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<include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
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<arg name="pose_source" value="$(var pose_source)"/>
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<arg name="twist_source" value="$(var twist_source)"/>
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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="lidar_container_name" value="$(var lidar_container_name)"/>
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<arg name="localization_pointcloud_container_name" value="$(var localization_pointcloud_container_name)"/>
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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"/>

‎autoware_launch/launch/components/tier4_planning_component.launch.xml

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<!-- NOTE: optional parameters are written here -->
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<arg name="module_preset" default="default"/>
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<arg name="enable_all_modules_auto_mode" default="false"/>
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<arg name="is_simulation" default="false"/>
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<include file="$(find-pkg-share autoware_launch)/config/planning/preset/$(var module_preset)_preset.yaml"/>
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<include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
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<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
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<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
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<arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
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<arg name="is_simulation" value="$(var is_simulation)"/>
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<!-- common -->
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<arg name="common_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>

‎autoware_launch/launch/e2e_simulator.launch.xml

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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<!-- Essential parameters -->
4+
<arg name="use_sim_time" default="true" description="use simulation time"/>
45
<arg name="map_path" description="point cloud and lanelet2 map directory path"/>
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<arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
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<arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
@@ -57,7 +58,7 @@
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<arg name="launch_planning" value="$(var planning)"/>
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<arg name="launch_control" value="$(var control)"/>
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<!-- Global parameters -->
60-
<arg name="use_sim_time" value="true"/>
61+
<arg name="use_sim_time" value="$(var use_sim_time)"/>
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<!-- Vehicle -->
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<arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
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<!-- Map -->

‎autoware_launch/launch/planning_simulator.launch.xml

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<arg name="rviz_respawn" value="$(var rviz_respawn)"/>
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<!-- Auto mode setting-->
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<arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
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<arg name="is_simulation" value="true"/>
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</include>
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</group>
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‎autoware_launch/package.xml

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<description>The autoware_launch package</description>
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<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
8+
<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
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<maintainer email="mfc@leodrive.ai">M. Fatih Cırıt</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>

‎autoware_launch/rviz/autoware.rviz

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Name: Debug
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Enabled: true
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Global Options:
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Background Color: 10; 10; 10
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Background Color: 42; 42; 42
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Default Light: true
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Fixed Frame: map
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Frame Rate: 30

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