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Merge pull request #790 from tier4/beta-to-tier4-main-sync
chore: sync beta branch beta/v0.42 with tier4/main
2 parents bcff953 + 0bc0f55 commit c7b94ef

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.github/CODEOWNERS-manual

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@@ -4,7 +4,7 @@ autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodr
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autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp kosuke.takeuchi@tier4.jp yuki.takagi@tier4.jp alqudah.mohammad@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@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
7-
autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp
7+
autoware_launch/config/perception/** yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@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 kosuke.takeuchi@tier4.jp yuki.takagi@tier4.jp alqudah.mohammad@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@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
@@ -13,9 +13,9 @@ autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.
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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 kosuke.takeuchi@tier4.jp yuki.takagi@tier4.jp alqudah.mohammad@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@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 taekjin.lee@tier4.jp
16+
autoware_launch/launch/components/tier4_perception_component.launch.xml yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@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 kosuke.takeuchi@tier4.jp yuki.takagi@tier4.jp alqudah.mohammad@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@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_sensing_component.launch.xml 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 shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
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autoware_launch/rviz/** # no codeowners

autoware_launch/CHANGELOG.rst

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@@ -2,6 +2,62 @@
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Changelog for package autoware_launch
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

5+
0.42.0 (2025-03-03)
6+
-------------------
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* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
8+
* chore(ekf_localizer): increase z_filter_proc_dev for large gradient road (`#1337 <https://github.com/autowarefoundation/autoware_launch/issues/1337>`_)
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increase z_filter_proc_dev
10+
* feat(autoware_motion_velocity_obstacle_slow_down_module): params for obstacle stop and slow down modules (`#1330 <https://github.com/autowarefoundation/autoware_launch/issues/1330>`_)
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* fix
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* style(pre-commit): autofix
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* fix
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---------
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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* feat(goal_planner): align vehicle center to be parallel to lane boundary (`#1335 <https://github.com/autowarefoundation/autoware_launch/issues/1335>`_)
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* chore(autoware_map_based_prediction): delete unused function and parameter (`#1326 <https://github.com/autowarefoundation/autoware_launch/issues/1326>`_)
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* chore(traffic_light): rename enable_fine_detection (`#1310 <https://github.com/autowarefoundation/autoware_launch/issues/1310>`_)
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* chore: rename enable_fine_detection
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* feat: add new tlr param
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* change back to fine_detector
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* fix: typo
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* add args
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* style(pre-commit): autofix
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* change default param to fine detector
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* style(pre-commit): autofix
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---------
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Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com>
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Co-authored-by: MasatoSaeki <masato.saeki@tier4.jp>
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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
31+
* chore(traffic_light_multi_camera_fusion): read parameters from yaml file (`#1331 <https://github.com/autowarefoundation/autoware_launch/issues/1331>`_)
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* chore(traffic_light_multi_camera_fusion): read parameters from yaml file
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* style(pre-commit): autofix
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* remove camera namespace parameter from config file
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---------
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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* feat(tier4_perception_component): change tlr pedestrian classifier model (`#1329 <https://github.com/autowarefoundation/autoware_launch/issues/1329>`_)
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change model name
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* fix(ground_segmentation): bring junction parameter from param file to launch argument (`#1327 <https://github.com/autowarefoundation/autoware_launch/issues/1327>`_)
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* refactor(ground_segmentation): remove single frame filter and keep time series filter disabled
41+
* feat(tier4_perception): add single frame and time series filters for obstacle segmentation
42+
---------
43+
* feat(autoware_probabilistic_occupancy_grid_map): disabled the subsample filters for the ogm (`#1319 <https://github.com/autowarefoundation/autoware_launch/issues/1319>`_)
44+
feat: disabled the subsample filters for the ogm since its creation is faster now
45+
* feat: use motion_velocity_obstacle\_<stop/slow_down/cruise>_module (`#1315 <https://github.com/autowarefoundation/autoware_launch/issues/1315>`_)
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Revert "enable obstacle_cruise_planner"
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This reverts commit cbd6873e7786bf139796b20a30ada5d90bd8407b.
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* feat(autoware_behavior_velocity_traffic_light_module): adjust velocity threshold for ensure stop at yellow light (`#1322 <https://github.com/autowarefoundation/autoware_launch/issues/1322>`_)
49+
* refactor(goal_planner): remove use_object_recognition because it is default (`#1318 <https://github.com/autowarefoundation/autoware_launch/issues/1318>`_)
50+
* feat(rviz): update autoware.rviz for motion_velocity_obstacle\_<stop/slow_down/cruise>_module (`#1314 <https://github.com/autowarefoundation/autoware_launch/issues/1314>`_)
51+
* feat: add motion_velocity_obstacle_stop/slow_down/cruise_module
52+
* update autoware.rviz
53+
* update rviz
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* disable obstacle_cruise_planner
55+
* update motion velocity planner params
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* add module.param.yaml
57+
* enable obstacle_cruise_planner
58+
---------
59+
* Contributors: Arjun Jagdish Ram, Kento Yabuuchi, Kenzo Lobos Tsunekawa, Mamoru Sobue, Masato Saeki, Taekjin LEE, Takayuki Murooka, Tomohito ANDO, Tomoya Kimura, badai nguyen, github-actions
60+
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0.41.0 (2025-01-29)
662
-------------------
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* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

autoware_launch/config/localization/ekf_localizer.param.yaml

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simple_1d_filter_parameters:
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#Simple1DFilter parameters
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z_filter_proc_dev: 1.0
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z_filter_proc_dev: 5.0
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roll_filter_proc_dev: 0.1
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pitch_filter_proc_dev: 0.1
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autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml

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/**:
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ros__parameters:
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enable_delay_compensation: true
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prediction_time_horizon:
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vehicle: 15.0 #[s]
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pedestrian: 10.0 #[s]

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

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@@ -2,8 +2,6 @@
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ros__parameters:
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additional_lidars: []
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ransac_input_topics: []
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use_single_frame_filter: False
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use_time_series_filter: True
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common_crop_box_filter:
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parameters:

autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml

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@@ -9,7 +9,7 @@
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max_height: 2.0
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# downsample input pointcloud
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downsample_input_pointcloud: true
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downsample_input_pointcloud: false
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downsample_voxel_size: 0.125 # [m]
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enable_single_frame_mode: false
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@@ -0,0 +1,4 @@
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/**:
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ros__parameters:
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message_lifespan: 0.09
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approximate_sync: false

autoware_launch/config/planning/preset/default_preset.yaml

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@@ -1,4 +1,10 @@
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launch:
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- arg:
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name: behavior_path_planner_type
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default: behavior_path_planner
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# option: behavior_path_planner
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# path_generator
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# behavior path modules
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- arg:
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name: launch_static_obstacle_avoidance

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

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# object recognition
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object_recognition:
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use_object_recognition: true
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collision_check_soft_margins: [5.0, 4.5, 4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0] # the maximum margin when ego and objects are oriented.
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collision_check_hard_margins: [0.6] # this should be larger than `surround_check_distance` of surround_obstacle_checker
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object_recognition_collision_check_max_extra_stopping_margin: 1.0
@@ -69,7 +68,7 @@
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maximum_lateral_jerk: 2.0
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minimum_lateral_jerk: 0.5
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deceleration_interval: 15.0
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after_shift_straight_distance: 1.0
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after_shift_straight_distance: 1.5
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# parallel parking path
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parallel_parking:

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

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@@ -5,6 +5,7 @@
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tl_state_timeout: 1.0
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stop_time_hysteresis: 0.1
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yellow_lamp_period: 2.75
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yellow_light_stop_velocity: 1.0 # Velocity threshold (m/s) below which the vehicle will always stop before the traffic light when the signal turns yellow, regardless of the pass_judge decision.
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enable_pass_judge: true
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enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
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/**:
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ros__parameters:
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planning_hz: 10.0
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path_length:
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backward: 5.0
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forward: 300.0
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waypoint_group:
8+
separation_threshold: 1.0
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interval_margin_ratio: 10.0
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turn_signal:
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search_time: 3.0
12+
search_distance: 30.0
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resampling_interval: 1.0
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angle_threshold_deg: 15.0
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refine_goal_search_radius_range: 7.5 # [m]
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search_radius_decrement: 1.0

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

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pedestrian: true
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pointcloud: false
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pointcloud:
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pointcloud_voxel_grid_x: 0.05
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pointcloud_voxel_grid_y: 0.05
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pointcloud_voxel_grid_z: 100000.0
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pointcloud_cluster_tolerance: 1.0
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pointcloud_min_cluster_size: 1
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pointcloud_max_cluster_size: 100000
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min_lat_margin: 0.0 # lateral margin between obstacle and trajectory band with ego's width to avoid the conflict with the obstacle_stop
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max_lat_margin: 1.1 # lateral margin between obstacle and trajectory band with ego's width
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lat_hysteresis_margin: 0.2

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

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obstacle_stop:
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option:
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ignore_crossing_obstacle: true
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suppress_sudden_stop: true
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suppress_sudden_stop: false
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stop_planning:
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stop_margin : 5.0 # longitudinal margin to obstacle [m]
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bicycle: false
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pedestrian: false
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pointcloud:
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pointcloud_voxel_grid_x: 0.05
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pointcloud_voxel_grid_y: 0.05
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pointcloud_voxel_grid_z: 100000.0
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pointcloud_cluster_tolerance: 1.0
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pointcloud_min_cluster_size: 1
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pointcloud_max_cluster_size: 100000
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# hysteresis for velocity
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obstacle_velocity_threshold_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
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obstacle_velocity_threshold_from_stop : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]

autoware_launch/launch/autoware.launch.xml

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<arg name="rviz_respawn" default="true"/>
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<!-- Perception -->
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<arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
49-
<arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
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<arg name="traffic_light_recognition/use_ml_detector" 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."/>

autoware_launch/launch/components/tier4_perception_component.launch.xml

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<arg name="use_detection_by_tracker" default="true" description="launch detection_by_tracker function"/>
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<arg name="use_radar_tracking_fusion" default="true" description="if true, radar objects are merged in tracking module. Otherwise, radar objects are merged in detection module."/>
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<arg name="use_object_filter" default="true" description="launch object filter to filter-out detected object"/>
16+
<arg name="use_obstacle_segmentation_single_frame_filter" default="false" description="use single frame filter at the ground segmentation"/>
17+
<arg name="use_obstacle_segmentation_time_series_filter" default="true" description="use time series filter at the ground segmentation"/>
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<arg name="occupancy_grid_map_method" default="pointcloud_based" description="options: pointcloud_based, laserscan_based, multi_lidar_pointcloud_based"/>
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<arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
@@ -21,6 +23,7 @@
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<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
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<arg name="lidar_detection_model" default="centerpoint" description="If the model name is not declared, the default model in perception.launch.xml will be used"/>
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<arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
26+
<arg name="traffic_light_recognition/ml_detection_model_type" default="fine_detection_model" description="select ml model for TL detection: fine_detection_model or whole_image_detection_model"/>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
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<!-- Options to Switch Launch Function/Module -->
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<arg name="use_object_filter" value="$(var use_object_filter)"/>
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<arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
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<arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
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<arg name="use_obstacle_segmentation_single_frame_filter" value="$(var use_obstacle_segmentation_single_frame_filter)"/>
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<arg name="use_obstacle_segmentation_time_series_filter" value="$(var use_obstacle_segmentation_time_series_filter)"/>
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<arg name="data_path" value="$(var data_path)"/>
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<arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
51-
<arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
57+
<arg name="traffic_light_recognition/use_ml_detector" value="$(var traffic_light_recognition/use_ml_detector)"/>
58+
<arg name="traffic_light_recognition/ml_detection_model_type" value="$(var traffic_light_recognition/ml_detection_model_type)"/>
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<arg name="traffic_light_recognition/fusion_only" value="false"/>
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<arg name="all_traffic_light_camera" value="$(var all_traffic_light_camera)"/>
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<!-- traffic light recognition parameters -->
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<arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
198+
<arg name="traffic_light_recognition/whole_image_detector_model_path" value="$(var data_path)/tensorrt_yolox"/>
199+
<arg name="traffic_light_recognition/whole_image_detector_model_name" value="yolox_s_car_ped_tl_detector_960_960_batch_1.onnx"/>
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<arg
201+
name="traffic_light_multi_camera_fusion_param_path"
202+
value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml"
203+
/>
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<arg name="traffic_light_fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector"/>
192205
<arg name="traffic_light_fine_detector_model_name" value="tlr_car_ped_yolox_s_batch_6"/>
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<arg name="traffic_light_classifier_model_path" value="$(var data_path)/traffic_light_classifier"/>
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<arg name="car_traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
195-
<arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_4"/>
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<arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_6"/>
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</include>
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</launch>

autoware_launch/launch/components/tier4_planning_component.launch.xml

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<arg name="behavior_path_planner_start_planner_module_param_path" value="$(var behavior_path_config_path)/start_planner/start_planner.param.yaml"/>
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<arg name="behavior_path_planner_drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
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<!-- path generator -->
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<arg name="path_generator_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml"/>
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<!-- behavior velocity planner -->
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<arg name="behavior_velocity_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"/>
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<arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml"/>

autoware_launch/launch/e2e_simulator.launch.xml

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@@ -75,7 +75,7 @@
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<!-- Sensing -->
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<arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
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<!-- Perception-->
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<arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
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<arg name="traffic_light_recognition/use_ml_detector" value="false"/>
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<arg name="all_traffic_light_camera" value="$(var traffic_light_namespace)"/>
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<!-- Tools -->
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<arg name="rviz" value="$(var rviz)"/>

autoware_launch/package.xml

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@@ -1,7 +1,7 @@
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<?xml version="1.0"?>
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<package format="3">
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<name>autoware_launch</name>
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<version>0.41.0</version>
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<version>0.42.0</version>
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<description>The autoware_launch package</description>
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<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>

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