diff --git a/.github/sync-param-files.yaml b/.github/sync-param-files.yaml index 876c31cf0b..8e6565ec96 100644 --- a/.github/sync-param-files.yaml +++ b/.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 diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index a44ef48d1d..2b9e80f9f1 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.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 diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml index b28a4ec0bb..f9c29b81b6 100644 --- a/.github/workflows/cancel-previous-workflows.yaml +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -8,7 +8,7 @@ jobs: runs-on: ubuntu-latest steps: - name: Cancel previous runs - uses: styfle/cancel-workflow-action@0.10.1 + uses: styfle/cancel-workflow-action@0.11.0 with: workflow_id: all all_but_latest: true diff --git a/.markdown-link-check.json b/.markdown-link-check.json index dec3db1ad1..c71a3e4253 100644 --- a/.markdown-link-check.json +++ b/.markdown-link-check.json @@ -4,6 +4,9 @@ { "pattern": "^http://localhost" }, + { + "pattern": "^http://127\\.0\\.0\\.1" + }, { "pattern": "^https://github.com/.*/discussions/new" } diff --git a/.markdownlint.yaml b/.markdownlint.yaml index df1f518dc0..babaaa1f15 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -3,6 +3,8 @@ default: true MD013: false MD024: siblings_only: true +MD029: + style: ordered MD033: false MD041: false MD046: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index a805f1201c..e0019e10d5 100644 --- a/.pre-commit-config-optional.yaml +++ b/.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] diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index a865433a8f..b2592316f6 100644 --- a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/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 diff --git a/system_launch/config/ad_service_state_monitor.param.yaml b/system_launch/config/ad_service_state_monitor.param.yaml deleted file mode 100644 index bfbb6beeaf..0000000000 --- a/system_launch/config/ad_service_state_monitor.param.yaml +++ /dev/null @@ -1,155 +0,0 @@ -# AD Service State Monitor Parameters -/**: - ros__parameters: - # modules_names: string array - module_names: [ - "map", - "sensing", - "perception", - "localization", - "planning", - "control", - "vehicle", - "system" - ] - - # Topic Config - ## names: string array - ## configs: top level - ### names used to declare parameter group - #### module: string - #### timeout[s]: double (0: none) - #### warn_rate[hz]: double (0: none) - topic_configs: - names: [ - "/map/vector_map", - "/map/pointcloud_map", - "/perception/obstacle_segmentation/pointcloud", - "/initialpose3d", - "/localization/pose_twist_fusion_filter/pose", - "/perception/object_recognition/objects", - "/planning/mission_planning/route", - "/planning/scenario_planning/trajectory", - "/control/trajectory_follower/control_cmd", - "/control/command/control_cmd", - "/vehicle/status/velocity_status", - "/vehicle/status/steering_status", - "/system/emergency/control_cmd" - ] - - configs: - /map/vector_map: - module: "map" - timeout: 0.0 - warn_rate: 0.0 - type: "autoware_auto_mapping_msgs/msg/HADMapBin" - transient_local: True - - /map/pointcloud_map: - module: "map" - timeout: 0.0 - warn_rate: 0.0 - type: "sensor_msgs/msg/PointCloud2" - transient_local: True - - /perception/obstacle_segmentation/pointcloud: - module: "sensing" - timeout: 1.0 - warn_rate: 5.0 - type: "sensor_msgs/msg/PointCloud2" - best_effort: True - - /initialpose3d: - module: "localization" - timeout: 0.0 - warn_rate: 0.0 - type: "geometry_msgs/msg/PoseWithCovarianceStamped" - - /localization/pose_twist_fusion_filter/pose: - module: "localization" - timeout: 1.0 - warn_rate: 5.0 - type: "geometry_msgs/msg/PoseStamped" - - # Can be both with feature array or without - # In prediction.launch.xml this is set to without - /perception/object_recognition/objects: - module: "perception" - timeout: 1.0 - warn_rate: 5.0 - type: "autoware_auto_perception_msgs/msg/PredictedObjects" - # This topic could have two different types depending on the launch flags used. - # The implementation of subscriptions in ROS2 does not allow for multiple types - # to be defined for a topic. By default this is set to not use have features. - # type: ["tier4_perception_msgs/msg/DynamicObjectArray", "tier4_perception_msgs/msg/DynamicObjectWithFeatureArray"] - - /planning/mission_planning/route: - module: "planning" - timeout: 0.0 - warn_rate: 0.0 - type: "autoware_auto_planning_msgs/msg/HADMapRoute" - transient_local: True - - /planning/scenario_planning/trajectory: - module: "planning" - timeout: 1.0 - warn_rate: 5.0 - type: "autoware_auto_planning_msgs/msg/Trajectory" - - /control/trajectory_follower/control_cmd: - module: "control" - timeout: 1.0 - warn_rate: 5.0 - type: "autoware_auto_control_msgs/msg/AckermannControlCommand" - - /control/command/control_cmd: - module: "control" - timeout: 1.0 - warn_rate: 5.0 - type: "autoware_auto_control_msgs/msg/AckermannControlCommand" - - /vehicle/status/velocity_status: - module: "vehicle" - timeout: 1.0 - warn_rate: 5.0 - type: "autoware_auto_vehicle_msgs/msg/VelocityReport" - - /vehicle/status/steering_status: - module: "vehicle" - timeout: 1.0 - warn_rate: 5.0 - type: "autoware_auto_vehicle_msgs/msg/SteeringReport" - - /system/emergency/control_cmd: - module: "system" - timeout: 1.0 - warn_rate: 5.0 - type: "autoware_auto_control_msgs/msg/AckermannControlCommand" - - # Param Config - ## names: string array - ## configs: top level - ### names used to declare parameter group - #### module: string - # param_configs: - # names: ["/vehicle_info"] - # configs: - # /vehicle_info: - # module: "vehicle" - - # TF Config - ## names: string array - ## configs: top level - ### names used to declare parameter group - #### module: string - #### from: string - #### to: string - #### timeout[s]: double (0: none) - tf_configs: - names: ["map_to_base_link"] - configs: - map_to_base_link: - module: "localization" - from: "map" - to: "base_link" - timeout: 1.0 diff --git a/system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml b/system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml deleted file mode 100644 index 51fbe99dd9..0000000000 --- a/system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml +++ /dev/null @@ -1,126 +0,0 @@ -# AD Service State Monitor: Planning Simulator Parameters -/**: - ros__parameters: - # modules_names: string array - module_names: [ - "map", - "sensing", - "perception", - "localization", - "planning", - "control", - "vehicle", - "system" - ] - -# Topic Config - ## names: string array - ## configs: top level - ### names used to declare parameter group - #### module: string - #### timeout[s]: double (0: none) - #### warn_rate[hz]: double (0: none) - topic_configs: - names: [ - "/map/vector_map", - "/perception/object_recognition/objects", - "/initialpose3d", - "/planning/mission_planning/route", - "/planning/scenario_planning/trajectory", - "/control/trajectory_follower/control_cmd", - "/control/command/control_cmd", - "/vehicle/status/velocity_status", - "/vehicle/status/steering_status", - "/system/emergency/control_cmd" - ] - - configs: - /map/vector_map: - module: "map" - timeout: 0.0 - warn_rate: 0.0 - type: "autoware_auto_mapping_msgs/msg/HADMapBin" - transient_local: True - - /perception/object_recognition/objects: - module: "perception" - timeout: 1.0 - warn_rate: 5.0 - type: "autoware_auto_perception_msgs/msg/PredictedObjects" - - /initialpose3d: - module: "localization" - timeout: 0.0 - warn_rate: 0.0 - type: "geometry_msgs/msg/PoseWithCovarianceStamped" - - /planning/mission_planning/route: - module: "planning" - timeout: 0.0 - warn_rate: 0.0 - type: "autoware_auto_planning_msgs/msg/HADMapRoute" - transient_local: True - - /planning/scenario_planning/trajectory: - module: "planning" - timeout: 1.0 - warn_rate: 5.0 - type: "autoware_auto_planning_msgs/msg/Trajectory" - - /control/trajectory_follower/control_cmd: - module: "control" - timeout: 1.0 - warn_rate: 5.0 - type: "autoware_auto_control_msgs/msg/AckermannControlCommand" - - /control/command/control_cmd: - module: "control" - timeout: 1.0 - warn_rate: 5.0 - type: "autoware_auto_control_msgs/msg/AckermannControlCommand" - - /vehicle/status/velocity_status: - module: "vehicle" - timeout: 1.0 - warn_rate: 5.0 - type: "autoware_auto_vehicle_msgs/msg/VelocityReport" - - /vehicle/status/steering_status: - module: "vehicle" - timeout: 1.0 - warn_rate: 5.0 - type: "autoware_auto_vehicle_msgs/msg/SteeringReport" - - /system/emergency/control_cmd: - module: "system" - timeout: 1.0 - warn_rate: 5.0 - type: "autoware_auto_control_msgs/msg/AckermannControlCommand" - - # Param Config - ## names: string array - ## configs: top level - ### names used to declare parameter group - #### module: string - # param_configs: - # names: ["/vehicle_info"] - # configs: - # /vehicle_info: - # module: "vehicle" - - # TF Config - ## names: string array - ## configs: top level - ### names used to declare parameter group - #### module: string - #### from: string - #### to: string - #### timeout[s]: double (0: none) - tf_configs: - names: ["map_to_base_link"] - configs: - map_to_base_link: - module: "localization" - from: "map" - to: "base_link" - timeout: 1.0 diff --git a/system_launch/config/component_state_monitor/topics.yaml b/system_launch/config/component_state_monitor/topics.yaml new file mode 100644 index 0000000000..b55dfa5aec --- /dev/null +++ b/system_launch/config/component_state_monitor/topics.yaml @@ -0,0 +1,182 @@ +- module: map + mode: [online, planning_simulation] + type: launch + args: + node_name_suffix: vector_map + topic: /map/vector_map + topic_type: autoware_auto_mapping_msgs/msg/HADMapBin + best_effort: false + transient_local: true + warn_rate: 0.0 + error_rate: 0.0 + timeout: 0.0 + +- module: map + mode: [online] + type: launch + args: + node_name_suffix: pointcloud_map + topic: /map/pointcloud_map + topic_type: sensor_msgs/msg/PointCloud2 + best_effort: false + transient_local: true + warn_rate: 0.0 + error_rate: 0.0 + timeout: 0.0 + +- module: localization + mode: [online, planning_simulation] + type: autonomous + args: + node_name_suffix: initialpose3d + topic: /initialpose3d + topic_type: geometry_msgs/msg/PoseWithCovarianceStamped + best_effort: false + transient_local: false + warn_rate: 0.0 + error_rate: 0.0 + timeout: 0.0 + +- module: localization + mode: [online] + type: autonomous + args: + node_name_suffix: pose_twist_fusion_filter_pose + topic: /localization/pose_twist_fusion_filter/pose + topic_type: geometry_msgs/msg/PoseStamped + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: perception + mode: [online] + type: launch + args: + node_name_suffix: obstacle_segmentation_pointcloud + topic: /perception/obstacle_segmentation/pointcloud + topic_type: sensor_msgs/msg/PointCloud2 + best_effort: true + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: perception + mode: [online, planning_simulation] + type: autonomous + args: + node_name_suffix: object_recognition_objects + topic: /perception/object_recognition/objects + topic_type: autoware_auto_perception_msgs/msg/PredictedObjects + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: planning + mode: [online, planning_simulation] + type: autonomous + args: + node_name_suffix: mission_planning_route + topic: /planning/mission_planning/route + topic_type: autoware_auto_planning_msgs/msg/HADMapRoute + best_effort: false + transient_local: true + warn_rate: 0.0 + error_rate: 0.0 + timeout: 0.0 + +- module: planning + mode: [online, planning_simulation] + type: autonomous + args: + node_name_suffix: scenario_planning_trajectory + topic: /planning/scenario_planning/trajectory + topic_type: autoware_auto_planning_msgs/msg/Trajectory + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: control + mode: [online, planning_simulation] + type: autonomous + args: + node_name_suffix: trajectory_follower_control_cmd + topic: /control/trajectory_follower/control_cmd + topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: control + mode: [online, planning_simulation] + type: autonomous + args: + node_name_suffix: control_command_control_cmd + topic: /control/command/control_cmd + topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: vehicle + mode: [online, planning_simulation] + type: autonomous + args: + node_name_suffix: vehicle_status_velocity_status + topic: /vehicle/status/velocity_status + topic_type: autoware_auto_vehicle_msgs/msg/VelocityReport + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: vehicle + mode: [online, planning_simulation] + type: autonomous + args: + node_name_suffix: vehicle_status_steering_status + topic: /vehicle/status/steering_status + topic_type: autoware_auto_vehicle_msgs/msg/SteeringReport + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: system + mode: [online, planning_simulation] + type: launch + args: + node_name_suffix: system_emergency_control_cmd + topic: /system/emergency/control_cmd + topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + +- module: localization + mode: [online, planning_simulation] + type: autonomous + args: + node_name_suffix: transform_map_to_base_link + topic: /tf + frame_id: map + child_frame_id: base_link + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml index aec537f01a..28ad1a28e0 100644 --- a/system_launch/launch/system.launch.xml +++ b/system_launch/launch/system.launch.xml @@ -22,12 +22,11 @@ - + - - - - + + + diff --git a/system_launch/package.xml b/system_launch/package.xml index 7f8169ed5e..9d3e90ad2d 100644 --- a/system_launch/package.xml +++ b/system_launch/package.xml @@ -10,7 +10,7 @@ ament_cmake_auto - ad_service_state_monitor + component_state_monitor emergency_handler system_error_monitor system_monitor diff --git a/system_launch/system_launch.drawio.svg b/system_launch/system_launch.drawio.svg index bc039dbba8..334012a85b 100644 --- a/system_launch/system_launch.drawio.svg +++ b/system_launch/system_launch.drawio.svg @@ -1,408 +1,308 @@ - - - - - - - -
-
-
- system.launch.xml -
-
-
- - package: system_launch - -
-
-
-
- - - system.launch.xml... - - - - - - - -
-
-
- system_monitor.launch.py -
-
-
- package: system_monitor -
-
-
-
- - - system_monitor.launch.py... - - - - - - - - - - - - -
-
-
- online -
-
-
- - - online - - - - - - - - -
-
-
- planning_simulation -
-
-
- - - planning_simulation - - - - - - - -
-
-
- $(var run_mode) -
-
-
- - - $(var run_mode) - - - - - - - -
-
-
- launch name -
-
-
- - package: package name - -
-
-
-
- - - launch name... - - - - - - - -
-
-
- ex: -
-
-
- - - ex: - - - - - - - -
-
-
- node name -
-
-
- - package: package name - -
-
-
-
- - - node name... - - - - - - - -
-
-
- other name -
-
-
- - package: package name - -
-
-
-
- - - other name... - - - - - - - -
-
-
- ad_service_state_monitor.launch.xml -
-
-
- package: ad_service_state_monitor -
-
-
-
-
- args: config_file = - - ad_service_state_monitor.param.yaml - -
-
-
-
- - - ad_service_state_monitor.launch.xml... - - - - - - - -
-
-
- ad_service_state_monitor.launch.xml -
-
-
- package: ad_service_state_monitor -
-
-
-
-
- args: config_file = - - ad_service_state_monitor.planning_simulation.param.yaml - -
-
-
-
- - - ad_service_state_monitor.launch.xml... - - - - - - - - - - -
-
-
- online -
-
-
- - - online - - - - - - - - -
-
-
- planning_simulation -
-
-
- - - planning_simulation - - - - - - - -
-
-
- $(var run_mode) -
-
-
- - - $(var run_mode) - - - - - - - -
-
-
- system_error_monitor.launch.xml -
-
-
- package: system_error_monitor -
-
-
-
-
- args: config_file = - - system_error_monitor.param.yaml - -
-
-
-
- - - system_error_monitor.launch.xml... - - - - - - - -
-
-
- system_error_monitor.launch.xml -
-
-
- package: system_error_monitor -
-
-
-
-
- args: config_file = - - system_error_monitor.planning_simulation.param.yaml - -
-
-
-
- - - system_error_monitor.launch.xml... - - - - - - - -
-
-
- emergency_handler.launch.xml -
-
-
- package: emergency_handler -
-
-
-
- - - emergency_handler.launch.xml... - - - - - + + + + + + + + + + + + + + + +
+
+
+ system.launch.xml +
+
+
+ package: system_launch +
+
+
+
+ + system.launch.xml... + - - - - - Viewer does not support full SVG 1.1 - - - + + + + +
+
+
+ system_monitor.launch.py +
+
+
package: system_monitor
+
+
+
+ + system_monitor.launch.py... + + + + + + +
+
+
+ launch name +
+
+
+ package: package name +
+
+
+
+ + launch name... + + + + + + +
+
+
+ ex: +
+
+
+ + ex: + + + + + + +
+
+
+ node name +
+
+
+ package: package name +
+
+
+
+ + node name... + + + + + + +
+
+
+ other name +
+
+
+ package: package name +
+
+
+
+ + other name... + + + + + + +
+
+
+ component_state_monitor.launch.py +
+
+
+ package: + component_state_monitor +
+
+
+
+ + component_state_monitor.launch.py... + + + + + + + +
+
+
+ online +
+
+
+ + online + + + + + + + +
+
+
+ planning_simulation +
+
+
+ + planning_simulation + + + + + + +
+
+
+ $(var run_mode) +
+
+
+ + $(var run_mode) + + + + + + +
+
+
+ autoware_error_monitor.launch.xml +
+
+
package: autoware_error_monitor
+
+
+
+
+ args: config_file = + autoware_error_monitor.param.yaml +
+
+
+
+ + autoware_error_monitor.launch.xml... + + + + + + +
+
+
+ autoware_error_monitor.launch.xml +
+
+
package: autoware_error_monitor
+
+
+
+
+ args: config_file = + autoware_error_monitor.planning_simulation.param.yaml +
+
+
+
+ + autoware_error_monitor.launch.xml... + + + + + + +
+
+
+ emergency_handler.launch.xml +
+
+
package: emergency_handler
+
+
+
+ + emergency_handler.launch.xml... + + + + + + + Viewer does not support full SVG 1.1 + +