Merge pull request #353 from tier4/sync-upstream

chore: sync upstream

.github/sync-param-files.yaml

@@ -1,11 +1,9 @@
 - repository: tier4/autoware.universe
   files:
     # system
-    ## ad_service_state_monitor
-    - source: system/ad_service_state_monitor/config/ad_service_state_monitor.param.yaml
-      dest: system_launch/config/ad_service_state_monitor.param.yaml
-    - source: system/ad_service_state_monitor/config/ad_service_state_monitor.planning_simulation.param.yaml
-      dest: system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml
+    ## component_state_monitor
+    - source: system/component_state_monitor/config/topics.yaml
+      dest: system_launch/config/component_state_monitor/topics.yaml
 
     ## system_error_monitor
     - source: system/system_error_monitor/config/system_error_monitor.param.yaml

.github/workflows/build-and-test-differential.yaml

@@ -78,7 +78,7 @@ jobs:
 
       - name: Get modified files
         id: get-modified-files
-        uses: tj-actions/changed-files@v32
+        uses: tj-actions/changed-files@v34
         with:
           files: |
             **/*.cpp

.markdown-link-check.json

@@ -4,6 +4,9 @@
     {
       "pattern": "^http://localhost"
     },
+    {
+      "pattern": "^http://127\\.0\\.0\\.1"
+    },
     {
       "pattern": "^https://github.com/.*/discussions/new"
     }

.markdownlint.yaml

@@ -3,6 +3,8 @@ default: true
 MD013: false
 MD024:
   siblings_only: true
+MD029:
+  style: ordered
 MD033: false
 MD041: false
 MD046: false

.pre-commit-config-optional.yaml

@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.10.0
+    rev: v3.10.3
     hooks:
       - id: markdown-link-check
         args: [--config=.markdown-link-check.json]

README.md

@@ -22,6 +22,4 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map
 - [localization_launch](./localization_launch)
 - [perception_launch](./perception_launch)
 - [planning_launch](./planning_launch)
-- [sensing_launch](./sensing_launch)
 - [system_launch](./system_launch)
-- [vehicle_launch](./vehicle_launch)

autoware_api_launch/launch/include/internal_api_adaptor.launch.py

@@ -31,7 +31,6 @@ def generate_launch_description():
     components = [
         _create_api_node("iv_msgs", "IVMsgs"),
         _create_api_node("operator", "Operator"),
-        _create_api_node("route", "Route"),
         _create_api_node("velocity", "Velocity"),
     ]
     container = ComposableNodeContainer(

autoware_launch/launch/logging_simulator.launch.xml

@@ -23,6 +23,7 @@
   <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="cruise_planner_type" default="obstacle_cruise_planner" description="type of cruise planner"/>
   <arg name="launch_vehicle_interface" default="false"/>
   <!-- Optional parameters for scenario simulation -->
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
@@ -100,6 +101,7 @@
     <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml" if="$(var planning)">
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
     </include>
   </group>
 

autoware_launch/launch/planning_simulator.launch.xml

@@ -11,6 +11,7 @@
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <arg name="cruise_planner_type" default="obstacle_cruise_planner" description="type of cruise planner"/>
   <!-- Optional parameters for scenario simulation -->
   <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
   <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
@@ -61,6 +62,7 @@
   <!-- Planning -->
   <group>
     <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml">
+      <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
       <arg name="use_foa" value="$(var use_foa)" />
       <arg name="use_perfect_lane_change" value="$(var use_perfect_lane_change)" />
     </include>
@@ -73,6 +75,8 @@
       <arg name="lateral_controller_mode" value="mpc_follower" />
       <!-- options for longitudinal_controller_mode: pid -->
       <arg name="longitudinal_controller_mode" value="pid" />
+      <!-- Options for external emergency stop module. Heartbeat topic is required if this is true. -->
+      <arg name="use_external_emergency_stop" value="false" />
       <arg name="use_multithread" value="true" />
     </include>
   </group>

control_launch/launch/control.launch.xml

@@ -11,6 +11,7 @@
   <arg name="operation_mode_transition_manager_param_path" default="$(find-pkg-share control_launch)/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml"/>
   <arg name="shift_decider_param_path" default="$(find-pkg-share control_launch)/config/shift_decider/shift_decider.param.yaml"/>
   <arg name="initial_selector_mode" default="remote"/>
+  <arg name="use_external_emergency_stop" default="true"/>
 
   <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
     <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)" />
@@ -20,6 +21,7 @@
     <arg name="operation_mode_transition_manager_param_path" value="$(var operation_mode_transition_manager_param_path)"/>
     <arg name="shift_decider_param_path" value="$(var shift_decider_param_path)"/>
     <arg name="initial_selector_mode" value="$(var initial_selector_mode)"/>
+    <arg name="use_external_emergency_stop" value="$(var use_external_emergency_stop)"/>
   </include>
 
 </launch>

planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml

@@ -8,7 +8,7 @@
     margin_to_insert_external_velocity_limit: 0.3   #  margin distance to insert external velocity limit [m]
 
     # curve parameters
-    max_lateral_accel: 1.0             # max lateral acceleration limit [m/ss]
+    max_lateral_accel: 0.8             # max lateral acceleration limit [m/ss]
     min_curve_velocity: 2.74           # min velocity at lateral acceleration limit [m/ss]
     decel_distance_before_curve: 3.5   # slow speed distance before a curve for lateral acceleration limit
     decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit
@@ -48,5 +48,11 @@
     post_sparse_resample_dt: 0.1             # resample time interval for sparse sampling [s]
     post_sparse_min_interval_distance: 1.0   # minimum points-interval length for sparse sampling [m]
 
+    # steering angle rate limit parameters
+    max_steering_angle_rate: 40.0            # maximum steering angle rate [degree/s]
+    resample_ds: 0.1                         # distance between trajectory points [m]
+    curvature_threshold: 0.02                # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m]
+    curvature_calculation_distance: 1.0      # distance of points while curvature is calculating [m]
+
     # system
-    over_stop_velocity_warn_thr: 1.389  # used to check if the optimization exceeds the input velocity on the stop point
+    over_stop_velocity_warn_thr: 1.389       # used to check if the optimization exceeds the input velocity on the stop point

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

@@ -12,8 +12,10 @@
 
       threshold_distance_object_is_on_center: 0.9 # [m]
       threshold_speed_object_is_stopped: 3.0      # [m/s]
+      threshold_time_object_is_moving: 1.0        # [s]
       object_check_forward_distance: 150.0        # [m]
       object_check_backward_distance: 2.0         # [m]
+      object_envelope_buffer: 0.3                 # [m]
       lateral_collision_margin: 1.0               # [m]
       lateral_collision_safety_buffer: 0.7        # [m]
 

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml

@@ -27,9 +27,13 @@
 
     visualize_drivable_area_for_shared_linestrings_lanelet: true
 
-    lateral_distance_max_threshold: 5.0
+    lateral_distance_max_threshold: 2.0
     longitudinal_distance_min_threshold: 3.0
-    expected_front_deceleration: -1.0
+    expected_front_deceleration: -0.5
     expected_rear_deceleration: -1.0
+
+    expected_front_deceleration_for_abort: -2.0
+    expected_rear_deceleration_for_abort: -2.5
+
     rear_vehicle_reaction_time: 2.0
     rear_vehicle_safety_time_margin: 2.0

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml

@@ -3,7 +3,7 @@
     lane_change:
       lane_change_prepare_duration: 4.0         # [s]
       lane_changing_duration: 8.0               # [s]
-      minimum_lane_change_prepare_distance: 4.0 # [m]
+      minimum_lane_change_prepare_distance: 2.0 # [m]
       lane_change_finish_judge_buffer: 3.0      # [m]
       minimum_lane_change_velocity: 5.6         # [m/s]
       prediction_time_resolution: 0.5           # [s]
@@ -16,4 +16,4 @@
       enable_collision_check_at_prepare_phase: false
       use_predicted_path_outside_lanelet: false
       use_all_predicted_path: false
-      publish_debug_marker: false
+      publish_debug_marker: false