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chore: sync awf/autoware_launch #210

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Jul 21, 2023
Merged

chore: sync awf/autoware_launch #210

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dde7d83
fix(avoidance): update config to prevent unconfortable deceleration (…
satoshi-ota Jul 20, 2023
e1da2bb
chore(autoware_launch): zero margin for outside the drivable area (#468)
takayuki5168 Jul 20, 2023
d406a49
refactor(autoware_launch): add object_merger param files (#464)
ismetatabay Jul 20, 2023
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44 changes: 44 additions & 0 deletions .../perception/object_recognition/detection/object_merger/data_association_matrix.param.yaml
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/**:
ros__parameters:
can_assign_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
0, 1, 1, 1, 1, 0, 0, 0, #CAR
0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
0, 1, 1, 1, 1, 0, 0, 0, #BUS
0, 1, 1, 1, 1, 0, 0, 0, #TRAILER
0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE
0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE
0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN

max_dist_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[4.0, 4.0, 5.0, 5.0, 5.0, 2.0, 2.0, 2.0, #UNKNOWN
4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR
5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK
5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS
5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER
2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #MOTORBIKE
2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #BICYCLE
2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN
max_rad_matrix: # If value is greater than pi, it will be ignored.
#UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
[3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN

min_iou_matrix: # If value is negative, it will be ignored.
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN
0.1, 0.3, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] #PEDESTRIAN
5 changes: 5 additions & 0 deletions .../config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml
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/**:
ros__parameters:
distance_threshold_list:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
[9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0] #UNKNOWN
2 changes: 1 addition & 1 deletion ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Expand Up @@ -175,7 +175,7 @@
longitudinal:
nominal_deceleration: -1.0 # [m/ss]
nominal_jerk: 0.5 # [m/sss]
max_deceleration: -2.0 # [m/ss]
max_deceleration: -1.5 # [m/ss]
max_jerk: 1.0 # [m/sss]
max_acceleration: 1.0 # [m/ss]

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2 changes: 1 addition & 1 deletion ..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
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Expand Up @@ -19,7 +19,7 @@
output_delta_arc_length: 0.5 # delta arc length for output trajectory [m]
output_backward_traj_length: 5.0 # backward length for backward trajectory from base_link [m]

vehicle_stop_margin_outside_drivable_area: 1.5 # vehicle stop margin to let the vehicle stop before the calculated stop point if it is calculated outside the drivable area [m] .
vehicle_stop_margin_outside_drivable_area: 0.0 # vehicle stop margin to let the vehicle stop before the calculated stop point if it is calculated outside the drivable area [m] .
# This margin will be realized with delta_arc_length_for_mpt_points m precision.

# replanning & trimming trajectory param outside algorithm
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8 changes: 8 additions & 0 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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Expand Up @@ -47,6 +47,14 @@
name="object_recognition_prediction_map_based_prediction_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/prediction/map_based_prediction.param.yaml"
/>
<arg
name="object_recognition_detection_object_merger_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/data_association_matrix.param.yaml"
/>
<arg
name="object_recognition_detection_object_merger_distance_threshold_list_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
/>
<arg
name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
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