Merge pull request #1802 from tier4/sync-awf-latest

chore: sync awf-latest

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

common/autoware_trajectory/package.xml

@@ -20,7 +20,6 @@
   <depend>lanelet2_core</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
-  <depend>tier4_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

perception/autoware_map_based_prediction/README.md

@@ -230,7 +230,6 @@ If the target object is inside the road or crosswalk, this module outputs one or
 
 | Parameter                                                        | Unit  | Type   | Description                                                                                                                           |
 | ---------------------------------------------------------------- | ----- | ------ | ------------------------------------------------------------------------------------------------------------------------------------- |
-| `enable_delay_compensation`                                      | [-]   | bool   | flag to enable the time delay compensation for the position of the object                                                             |
 | `prediction_time_horizon`                                        | [s]   | double | predict time duration for predicted path                                                                                              |
 | `lateral_control_time_horizon`                                   | [s]   | double | time duration for predicted path will reach the reference path (mostly center of the lane)                                            |
 | `prediction_sampling_delta_time`                                 | [s]   | double | sampling time for points in predicted path                                                                                            |

perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp

@@ -117,9 +117,6 @@ class MapBasedPredictionNode : public rclcpp::Node
 
   ////// Parameters
 
-  // Object Parameters
-  bool enable_delay_compensation_;
-
   //// Vehicle Parameters
   // Lanelet Parameters
   double dist_threshold_for_searching_lanelet_;
@@ -174,10 +171,6 @@ class MapBasedPredictionNode : public rclcpp::Node
   // Object process
   PredictedObject convertToPredictedObject(const TrackedObject & tracked_object);
   void updateObjectData(TrackedObject & object);
-  geometry_msgs::msg::Pose compensateTimeDelay(
-    const geometry_msgs::msg::Pose & delayed_pose, const geometry_msgs::msg::Twist & twist,
-    const double dt) const;
-
   //// Vehicle process
   // Lanelet process
   LaneletsData getCurrentLanelets(const TrackedObject & object);

perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp

@@ -364,7 +364,6 @@ MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_
     google::InitGoogleLogging("map_based_prediction_node");
     google::InstallFailureSignalHandler();
   }
-  enable_delay_compensation_ = declare_parameter<bool>("enable_delay_compensation");
   prediction_time_horizon_.vehicle = declare_parameter<double>("prediction_time_horizon.vehicle");
   prediction_time_horizon_.pedestrian =
     declare_parameter<double>("prediction_time_horizon.pedestrian");
@@ -1246,42 +1245,6 @@ Maneuver MapBasedPredictionNode::predictObjectManeuverByLatDiffDistance(
   return Maneuver::LANE_FOLLOW;
 }
 
-geometry_msgs::msg::Pose MapBasedPredictionNode::compensateTimeDelay(
-  const geometry_msgs::msg::Pose & delayed_pose, const geometry_msgs::msg::Twist & twist,
-  const double dt) const
-{
-  if (!enable_delay_compensation_) {
-    return delayed_pose;
-  }
-
-  /*  == Nonlinear model ==
-   *
-   * x_{k+1}   = x_k + vx_k * cos(yaw_k) * dt - vy_k * sin(yaw_k) * dt
-   * y_{k+1}   = y_k + vx_k * sin(yaw_k) * dt + vy_k * cos(yaw_k) * dt
-   * yaw_{k+1} = yaw_k + (wz_k) * dt
-   *
-   */
-
-  const double vx = twist.linear.x;
-  const double vy = twist.linear.y;
-  const double wz = twist.angular.z;
-  const double prev_yaw = tf2::getYaw(delayed_pose.orientation);
-  const double prev_x = delayed_pose.position.x;
-  const double prev_y = delayed_pose.position.y;
-  const double prev_z = delayed_pose.position.z;
-
-  const double curr_x = prev_x + vx * std::cos(prev_yaw) * dt - vy * std::sin(prev_yaw) * dt;
-  const double curr_y = prev_y + vx * std::sin(prev_yaw) * dt + vy * std::cos(prev_yaw) * dt;
-  const double curr_z = prev_z;
-  const double curr_yaw = prev_yaw + wz * dt;
-
-  geometry_msgs::msg::Pose current_pose;
-  current_pose.position = autoware::universe_utils::createPoint(curr_x, curr_y, curr_z);
-  current_pose.orientation = autoware::universe_utils::createQuaternionFromYaw(curr_yaw);
-
-  return current_pose;
-}
-
 double MapBasedPredictionNode::calcRightLateralOffset(
   const lanelet::ConstLineString2d & boundary_line, const geometry_msgs::msg::Pose & search_pose)
 {

perception/autoware_traffic_light_arbiter/README.md

@@ -39,12 +39,4 @@ The table below outlines how the matching process determines the output based on
 
 ## Parameters
 
-### Core Parameters
-
-| Name                        | Type   | Default Value | Description                                                                                                                                                                    |
-| --------------------------- | ------ | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| `external_delay_tolerance`  | double | 5.0           | The duration in seconds an external message is considered valid for merging in comparison with current time                                                                    |
-| `external_time_tolerance`   | double | 5.0           | The duration in seconds an external message is considered valid for merging in comparison with a timestamp of perception message                                               |
-| `perception_time_tolerance` | double | 1.0           | The duration in seconds a perception message is considered valid for merging in comparison with a timestamp of external message                                                |
-| `external_priority`         | bool   | false         | Whether or not externals signals take precedence over perception-based ones. If false, the merging uses confidence as a criteria                                               |
-| `enable_signal_matching`    | bool   | false         | Decide whether to validate the match between perception signals and external signals. If set to true, verify that the colors match and only publish them if they are identical |
+{{ json_to_markdown("perception/autoware_traffic_light_arbiter/schema/traffic_light_arbiter.schema.json") }}

perception/autoware_traffic_light_arbiter/schema/traffic_light_arbiter.schema.json

@@ -0,0 +1,59 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "autoware_traffic_light_arbiter parameters",
+  "type": "object",
+  "definitions": {
+    "traffic_light_arbiter": {
+      "type": "object",
+      "properties": {
+        "external_delay_tolerance": {
+          "type": "number",
+          "description": "The duration in seconds an external message is considered valid for merging in comparison with current time.",
+          "default": 5.0
+        },
+        "external_time_tolerance": {
+          "type": "number",
+          "description": "The duration in seconds an external message is considered valid for merging.",
+          "default": 5.0
+        },
+        "perception_time_tolerance": {
+          "type": "number",
+          "description": "The duration in seconds a perception message is considered valid for merging.",
+          "default": 1.0
+        },
+        "external_priority": {
+          "type": "boolean",
+          "description": "Whether or not external signals take precedence over perception-based ones. If false, the merging uses confidence as a criteria.",
+          "default": false
+        },
+        "enable_signal_matching": {
+          "type": "boolean",
+          "description": "Decide whether to validate the match between perception signals and external signals. If set to true, verify that the colors match and only publish them if they are identical.",
+          "default": false
+        }
+      },
+      "required": [
+        "external_delay_tolerance",
+        "external_time_tolerance",
+        "perception_time_tolerance",
+        "external_priority",
+        "enable_signal_matching"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/traffic_light_arbiter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp

@@ -71,11 +71,11 @@ namespace autoware
 TrafficLightArbiter::TrafficLightArbiter(const rclcpp::NodeOptions & options)
 : Node("traffic_light_arbiter", options)
 {
-  external_delay_tolerance_ = this->declare_parameter<double>("external_delay_tolerance", 5.0);
-  external_time_tolerance_ = this->declare_parameter<double>("external_time_tolerance", 5.0);
-  perception_time_tolerance_ = this->declare_parameter<double>("perception_time_tolerance", 1.0);
-  external_priority_ = this->declare_parameter<bool>("external_priority", false);
-  enable_signal_matching_ = this->declare_parameter<bool>("enable_signal_matching", false);
+  external_delay_tolerance_ = this->declare_parameter<double>("external_delay_tolerance");
+  external_time_tolerance_ = this->declare_parameter<double>("external_time_tolerance");
+  perception_time_tolerance_ = this->declare_parameter<double>("perception_time_tolerance");
+  external_priority_ = this->declare_parameter<bool>("external_priority");
+  enable_signal_matching_ = this->declare_parameter<bool>("enable_signal_matching");
 
   if (enable_signal_matching_) {
     signal_match_validator_ = std::make_unique<SignalMatchValidator>();

planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp

@@ -1666,22 +1666,14 @@ std::vector<geometry_msgs::msg::Point> calcBound(
              : postProcess(bound, path, planner_data, drivable_lanes, is_left, is_driving_forward);
   };
 
-  // Step2. if there is no drivable area defined by polygon, return original drivable bound.
-  if (!enable_expanding_hatched_road_markings && !enable_expanding_intersection_areas) {
-    return post_process(removeOverlapPoints(to_ros_point(bound_points)), skip_post_process);
-  }
-
-  // Step3.if there are hatched road markings, expand drivable bound with the polygon.
+  // if there is no drivable area defined by polygon, return original drivable bound.
+  // if there are hatched road markings, expand drivable bound with the polygon.
+  // if there are intersection areas, expand drivable bound with the polygon.
   if (enable_expanding_hatched_road_markings) {
     bound_points = getBoundWithHatchedRoadMarkings(bound_points, route_handler);
   }
 
-  if (!enable_expanding_intersection_areas) {
-    return post_process(removeOverlapPoints(to_ros_point(bound_points)), skip_post_process);
-  }
-
-  // Step4. if there are intersection areas, expand drivable bound with the polygon.
-  {
+  if (enable_expanding_intersection_areas) {
     bound_points =
       getBoundWithIntersectionAreas(bound_points, route_handler, drivable_lanes, is_left);
   }