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chore: sync awf/autoware_launch #50

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merged 2 commits into from
Apr 14, 2023
Merged

chore: sync awf/autoware_launch #50

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9f677fc
feat(avoidance): margin can be set independently for each class (#286)
satoshi-ota Apr 13, 2023
6b97c8c
feat(rviz): add rough goal (#295)
kosuke55 Apr 14, 2023
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51 changes: 40 additions & 11 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,6 @@
detection_area_left_expand_dist: 1.0 # [m]
drivable_area_right_bound_offset: 0.0 # [m]
drivable_area_left_bound_offset: 0.0 # [m]
object_envelope_buffer: 0.3 # [m]

# avoidance module common setting
enable_bound_clipping: false
Expand All @@ -26,14 +25,46 @@

# avoidance is performed for the object type with true
target_object:
car: true
truck: true
bus: true
trailer: true
unknown: false
bicycle: false
motorcycle: false
pedestrian: false
car:
enable: true
envelope_buffer_margin: 0.3
safety_buffer_lateral: 0.7
safety_buffer_longitudinal: 0.0
truck:
enable: true
envelope_buffer_margin: 0.3
safety_buffer_lateral: 0.7
safety_buffer_longitudinal: 0.0
bus:
enable: true
envelope_buffer_margin: 0.3
safety_buffer_lateral: 0.7
safety_buffer_longitudinal: 0.0
trailer:
enable: true
envelope_buffer_margin: 0.3
safety_buffer_lateral: 0.7
safety_buffer_longitudinal: 0.0
unknown:
enable: false
envelope_buffer_margin: 0.3
safety_buffer_lateral: 0.7
safety_buffer_longitudinal: 0.0
bicycle:
enable: false
envelope_buffer_margin: 0.8
safety_buffer_lateral: 1.0
safety_buffer_longitudinal: 1.0
motorcycle:
enable: false
envelope_buffer_margin: 0.8
safety_buffer_lateral: 1.0
safety_buffer_longitudinal: 1.0
pedestrian:
enable: false
envelope_buffer_margin: 0.8
safety_buffer_lateral: 1.0
safety_buffer_longitudinal: 1.0

# For target object filtering
target_filtering:
Expand Down Expand Up @@ -66,7 +97,6 @@
# avoidance lateral parameters
lateral:
lateral_collision_margin: 1.0 # [m]
lateral_collision_safety_buffer: 0.7 # [m]
lateral_passable_safety_buffer: 1.0 # [m]
road_shoulder_safety_margin: 0.3 # [m]
avoidance_execution_lateral_threshold: 0.499
Expand All @@ -75,7 +105,6 @@
# avoidance distance parameters
longitudinal:
prepare_time: 2.0 # [s]
longitudinal_collision_safety_buffer: 0.0 # [m]
min_prepare_distance: 1.0 # [m]
min_avoidance_distance: 10.0 # [m]
min_nominal_avoidance_speed: 7.0 # [m/s]
Expand Down
7 changes: 7 additions & 0 deletions autoware_launch/rviz/autoware.rviz
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Expand Up @@ -2141,6 +2141,13 @@ Visualization Manager:
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/mission_planning/goal
- Class: tier4_adapi_rviz_plugins::RouteTool
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /rviz/routing/rough_goal
- Class: rviz_plugins/PedestrianInitialPoseTool
Pose Topic: /simulation/dummy_perception_publisher/object_info
Theta std deviation: 0.0872664600610733
Expand Down