Merge remote-tracking branch 'origin/awf-latest' into obstacle_cruise…

…_planner_pointcloud
mitukou1109 · Jun 20, 2024 · 5daaa28 · 5daaa28
2 parents 40a87e1 + 94d15ee
commit 5daaa28
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Showing 10 changed files with 16 additions and 7 deletions.
diff --git a/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -3,6 +3,8 @@
     # Ego path calculation
     use_predicted_trajectory: true
     use_imu_path: false
+    use_pointcloud_data: true
+    use_predicted_object_data: false
     use_object_velocity_calculation: true
     min_generated_path_length: 0.5
     imu_prediction_time_horizon: 1.5

diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -8,7 +8,7 @@ launch:
       default: "true"
   - arg:
       name: launch_dynamic_obstacle_avoidance
-      default: "false"
+      default: "true"
   - arg:
       name: launch_sampling_planner_module
       default: "false" # Warning, experimental module, use only in simulations
@@ -120,7 +120,7 @@ launch:
 
   - arg:
       name: launch_surround_obstacle_checker
-      default: "false"
+      default: "true"
 
   # parking modules
   - arg:

diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    max_vel: 4.17           # max velocity limit [m/s]
+    max_vel: 11.1           # max velocity limit [m/s]
 
     # constraints param for normal driving
     normal:

diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -89,7 +89,7 @@
           object_time_margin_to_collision_point: 4.0
 
       occlusion:
-        enable: false
+        enable: true
         occlusion_attention_area_length: 70.0
         free_space_max: 43
         occupied_min: 58

diff --git a/...o_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml b/...o_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml
@@ -3,7 +3,7 @@
     option:
       enable_skip_optimization: false                              # skip elastic band and model predictive trajectory
       enable_reset_prev_optimization: false                        # If true, optimization has no fix constraint to the previous result.
-      enable_outside_drivable_area_stop: true                      # stop if the ego's trajectory footprint is outside the drivable area
+      enable_outside_drivable_area_stop: false                     # stop if the ego's trajectory footprint is outside the drivable area
       use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered.
 
       debug:

diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -12,7 +12,7 @@
       idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
       min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
       min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
-      safe_distance_margin : 6.0 # This is also used as a stop margin [m]
+      safe_distance_margin : 5.0 # This is also used as a stop margin [m]
       terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
       hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
       hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]

diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
@@ -3,3 +3,4 @@ files:
 
 edits:
   - { type: remove, path: /autoware/system/duplicated_node_checker }
+  - { type: remove, path: /autoware/control/emergency_braking }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
@@ -1,2 +1,5 @@
 files:
   - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml }
+
+edits:
+  - { type: remove, path: /autoware/control/emergency_braking }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
@@ -1,2 +1,5 @@
 files:
   - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml }
+
+edits:
+  - { type: remove, path: /autoware/control/emergency_braking }
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -4,7 +4,7 @@
   <arg name="lateral_controller_mode" default="mpc"/>
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
-  <arg name="enable_autonomous_emergency_braking" default="true"/>
+  <arg name="enable_autonomous_emergency_braking" default="false"/>
   <arg name="enable_predicted_path_checker" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
Original file line number	Diff line number	Diff line change
Expand Up		@@ -3,3 +3,4 @@ files:

		edits:
		- { type: remove, path: /autoware/system/duplicated_node_checker }
		- { type: remove, path: /autoware/control/emergency_braking }