Merge pull request #790 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.42 with tier4/main

Author: tier4-autoware-public-bot[bot]

.github/CODEOWNERS-manual

@@ -4,7 +4,7 @@ autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodr
 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
 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
 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
-autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp
+autoware_launch/config/perception/** yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp
 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
 autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
 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.
 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
 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
 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
-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
+autoware_launch/launch/components/tier4_perception_component.launch.xml yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp
 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
-autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
+autoware_launch/launch/components/tier4_sensing_component.launch.xml yoshi.ri@tier4.jp koji.minoda@tier4.jp
 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
 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
 autoware_launch/rviz/**  # no codeowners

autoware_launch/CHANGELOG.rst

@@ -2,6 +2,62 @@
 Changelog for package autoware_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.42.0 (2025-03-03)
+-------------------
+* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
+* chore(ekf_localizer): increase z_filter_proc_dev for large gradient road (`#1337 <https://github.com/autowarefoundation/autoware_launch/issues/1337>`_)
+  increase z_filter_proc_dev
+* 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>`_)
+  * fix
+  * style(pre-commit): autofix
+  * fix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* feat(goal_planner): align vehicle center to be parallel to lane boundary (`#1335 <https://github.com/autowarefoundation/autoware_launch/issues/1335>`_)
+* chore(autoware_map_based_prediction): delete unused function and parameter (`#1326 <https://github.com/autowarefoundation/autoware_launch/issues/1326>`_)
+* chore(traffic_light): rename enable_fine_detection (`#1310 <https://github.com/autowarefoundation/autoware_launch/issues/1310>`_)
+  * chore: rename enable_fine_detection
+  * feat: add new tlr param
+  * change back to fine_detector
+  * fix: typo
+  * add args
+  * style(pre-commit): autofix
+  * change default param to fine detector
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com>
+  Co-authored-by: MasatoSaeki <masato.saeki@tier4.jp>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* chore(traffic_light_multi_camera_fusion): read parameters from yaml file (`#1331 <https://github.com/autowarefoundation/autoware_launch/issues/1331>`_)
+  * chore(traffic_light_multi_camera_fusion): read parameters from yaml file
+  * style(pre-commit): autofix
+  * remove camera namespace parameter from config file
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* feat(tier4_perception_component): change tlr pedestrian classifier model (`#1329 <https://github.com/autowarefoundation/autoware_launch/issues/1329>`_)
+  change model name
+* fix(ground_segmentation): bring junction parameter from param file to launch argument (`#1327 <https://github.com/autowarefoundation/autoware_launch/issues/1327>`_)
+  * refactor(ground_segmentation): remove single frame filter and keep time series filter disabled
+  * feat(tier4_perception): add single frame and time series filters for obstacle segmentation
+  ---------
+* feat(autoware_probabilistic_occupancy_grid_map): disabled the subsample filters for the ogm (`#1319 <https://github.com/autowarefoundation/autoware_launch/issues/1319>`_)
+  feat: disabled the subsample filters for the ogm since its creation is faster now
+* feat: use motion_velocity_obstacle\_<stop/slow_down/cruise>_module (`#1315 <https://github.com/autowarefoundation/autoware_launch/issues/1315>`_)
+  Revert "enable obstacle_cruise_planner"
+  This reverts commit cbd6873e7786bf139796b20a30ada5d90bd8407b.
+* 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>`_)
+* refactor(goal_planner): remove use_object_recognition because it is default (`#1318 <https://github.com/autowarefoundation/autoware_launch/issues/1318>`_)
+* feat(rviz): update autoware.rviz for motion_velocity_obstacle\_<stop/slow_down/cruise>_module (`#1314 <https://github.com/autowarefoundation/autoware_launch/issues/1314>`_)
+  * feat: add motion_velocity_obstacle_stop/slow_down/cruise_module
+  * update autoware.rviz
+  * update rviz
+  * disable obstacle_cruise_planner
+  * update motion velocity planner params
+  * add module.param.yaml
+  * enable obstacle_cruise_planner
+  ---------
+* 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
+
 0.41.0 (2025-01-29)
 -------------------
 * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -28,7 +28,7 @@
 
     simple_1d_filter_parameters:
       #Simple1DFilter parameters
-      z_filter_proc_dev: 1.0
+      z_filter_proc_dev: 5.0
       roll_filter_proc_dev: 0.1
       pitch_filter_proc_dev: 0.1
 

autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml

@@ -1,6 +1,5 @@
 /**:
   ros__parameters:
-    enable_delay_compensation: true
     prediction_time_horizon:
       vehicle: 15.0 #[s]
       pedestrian: 10.0 #[s]

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

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

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

@@ -9,7 +9,7 @@
       max_height: 2.0
 
     # downsample input pointcloud
-    downsample_input_pointcloud: true
+    downsample_input_pointcloud: false
     downsample_voxel_size: 0.125 # [m]
 
     enable_single_frame_mode: false

autoware_launch/config/perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    message_lifespan: 0.09
+    approximate_sync: false

autoware_launch/config/planning/preset/default_preset.yaml

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

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

@@ -39,7 +39,6 @@
 
       # object recognition
       object_recognition:
-        use_object_recognition: true
         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.
         collision_check_hard_margins: [0.6]  # this should be larger than `surround_check_distance` of surround_obstacle_checker
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
@@ -69,7 +68,7 @@
           maximum_lateral_jerk: 2.0
           minimum_lateral_jerk: 0.5
           deceleration_interval: 15.0
-          after_shift_straight_distance: 1.0
+          after_shift_straight_distance: 1.5
 
         # parallel parking path
         parallel_parking:

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

@@ -5,6 +5,7 @@
       tl_state_timeout: 1.0
       stop_time_hysteresis: 0.1
       yellow_lamp_period: 2.75
+      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.
       enable_pass_judge: true
       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
 

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

@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    planning_hz: 10.0
+    path_length:
+      backward: 5.0
+      forward: 300.0
+    waypoint_group:
+      separation_threshold: 1.0
+      interval_margin_ratio: 10.0
+    turn_signal:
+      search_time: 3.0
+      search_distance: 30.0
+      resampling_interval: 1.0
+      angle_threshold_deg: 15.0
+    refine_goal_search_radius_range: 7.5  # [m]
+    search_radius_decrement: 1.0

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

@@ -42,6 +42,14 @@
           pedestrian: true
           pointcloud: false
 
+        pointcloud:
+          pointcloud_voxel_grid_x: 0.05
+          pointcloud_voxel_grid_y: 0.05
+          pointcloud_voxel_grid_z: 100000.0
+          pointcloud_cluster_tolerance: 1.0
+          pointcloud_min_cluster_size: 1
+          pointcloud_max_cluster_size: 100000
+
         min_lat_margin: 0.0  # lateral margin between obstacle and trajectory band with ego's width to avoid the conflict with the obstacle_stop
         max_lat_margin: 1.1  # lateral margin between obstacle and trajectory band with ego's width
         lat_hysteresis_margin: 0.2

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

@@ -3,7 +3,7 @@
     obstacle_stop:
       option:
         ignore_crossing_obstacle: true
-        suppress_sudden_stop: true
+        suppress_sudden_stop: false
 
       stop_planning:
         stop_margin : 5.0 # longitudinal margin to obstacle [m]
@@ -54,6 +54,14 @@
             bicycle: false
             pedestrian: false
 
+        pointcloud:
+          pointcloud_voxel_grid_x: 0.05
+          pointcloud_voxel_grid_y: 0.05
+          pointcloud_voxel_grid_z: 100000.0
+          pointcloud_cluster_tolerance: 1.0
+          pointcloud_min_cluster_size: 1
+          pointcloud_max_cluster_size: 100000
+
         # hysteresis for velocity
         obstacle_velocity_threshold_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
         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

@@ -46,7 +46,7 @@
   <arg name="rviz_respawn" default="true"/>
   <!-- Perception -->
   <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
-  <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
+  <arg name="traffic_light_recognition/use_ml_detector" default="true" description="enable traffic light fine detection"/>
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
   <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

@@ -13,6 +13,8 @@
   <arg name="use_detection_by_tracker" default="true" description="launch detection_by_tracker function"/>
   <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."/>
   <arg name="use_object_filter" default="true" description="launch object filter to filter-out detected object"/>
+  <arg name="use_obstacle_segmentation_single_frame_filter" default="false" description="use single frame filter at the ground segmentation"/>
+  <arg name="use_obstacle_segmentation_time_series_filter" default="true" description="use time series filter at the ground segmentation"/>
 
   <arg name="occupancy_grid_map_method" default="pointcloud_based" description="options: pointcloud_based, laserscan_based, multi_lidar_pointcloud_based"/>
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
@@ -21,6 +23,7 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <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"/>
   <arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
+  <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"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <!-- Options to Switch Launch Function/Module -->
@@ -45,10 +48,14 @@
     <arg name="use_object_filter" value="$(var use_object_filter)"/>
     <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
     <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
+    <arg name="use_obstacle_segmentation_single_frame_filter" value="$(var use_obstacle_segmentation_single_frame_filter)"/>
+    <arg name="use_obstacle_segmentation_time_series_filter" value="$(var use_obstacle_segmentation_time_series_filter)"/>
+
     <arg name="data_path" value="$(var data_path)"/>
 
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
-    <arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
+    <arg name="traffic_light_recognition/use_ml_detector" value="$(var traffic_light_recognition/use_ml_detector)"/>
+    <arg name="traffic_light_recognition/ml_detection_model_type" value="$(var traffic_light_recognition/ml_detection_model_type)"/>
     <arg name="traffic_light_recognition/fusion_only" value="false"/>
     <arg name="all_traffic_light_camera" value="$(var all_traffic_light_camera)"/>
 
@@ -188,10 +195,16 @@
 
     <!-- traffic light recognition parameters -->
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
+    <arg name="traffic_light_recognition/whole_image_detector_model_path" value="$(var data_path)/tensorrt_yolox"/>
+    <arg name="traffic_light_recognition/whole_image_detector_model_name" value="yolox_s_car_ped_tl_detector_960_960_batch_1.onnx"/>
+    <arg
+      name="traffic_light_multi_camera_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml"
+    />
     <arg name="traffic_light_fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector"/>
     <arg name="traffic_light_fine_detector_model_name" value="tlr_car_ped_yolox_s_batch_6"/>
     <arg name="traffic_light_classifier_model_path" value="$(var data_path)/traffic_light_classifier"/>
     <arg name="car_traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
-    <arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_4"/>
+    <arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_6"/>
   </include>
 </launch>

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -41,6 +41,9 @@
     <arg name="behavior_path_planner_start_planner_module_param_path" value="$(var behavior_path_config_path)/start_planner/start_planner.param.yaml"/>
     <arg name="behavior_path_planner_drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
 
+    <!-- path generator -->
+    <arg name="path_generator_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml"/>
+
     <!-- behavior velocity planner -->
     <arg name="behavior_velocity_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"/>
     <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

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

autoware_launch/package.xml

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