From 2dd9b4556fc5bf2293900c04e8be3d39f033c1f8 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 23 Jan 2023 10:05:37 +0900 Subject: [PATCH 1/3] fix(obstacle_stop_planner): rename param for obstacle stop planner (#174) fix(obstacle_stop_planner): hunting -> chattering Signed-off-by: satoshi-ota Signed-off-by: satoshi-ota --- .../obstacle_stop_planner/obstacle_stop_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index 8954a46ab1..93f9d522fb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - hunting_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for hunting_threshold [s] + chattering_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for chattering_threshold [s] lowpass_gain: 0.9 # gain parameter for low pass filter [-] max_velocity: 20.0 # max velocity [m/s] enable_slow_down: False # whether to use slow down planner [-] From b7e3651052a160d1951ecd42ee48b0d604a7b695 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 23 Jan 2023 12:47:11 +0900 Subject: [PATCH 2/3] fix(autoware_launch): add missing simulator param (#164) Signed-off-by: kminoda Signed-off-by: kminoda --- .../simulator/fault_injection.param.yaml | 37 +++++++++++++++++++ 1 file changed, 37 insertions(+) create mode 100644 autoware_launch/config/simulator/fault_injection.param.yaml diff --git a/autoware_launch/config/simulator/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml new file mode 100644 index 0000000000..1a57b852f7 --- /dev/null +++ b/autoware_launch/config/simulator/fault_injection.param.yaml @@ -0,0 +1,37 @@ +/**: + ros__parameters: + event_diag_list: + vehicle_is_out_of_lane: "lane_departure" + trajectory_deviation_is_high: "trajectory_deviation" + localization_matching_score_is_low: "ndt_scan_matcher" + localization_accuracy_is_low: "localization_accuracy" + map_version_is_different: "map_version" + trajectory_is_invalid: "trajectory_point_validation" + cpu_temperature_is_high: "CPU Temperature" + cpu_usage_is_high: "CPU Usage" + cpu_is_in_thermal_throttling: "CPU Thermal Throttling" + storage_temperature_is_high: "HDD Temperature" + storage_usage_is_high: "HDD Usage" + network_usage_is_high: "Network Usage" + clock_error_is_large: "NTP Offset" + gpu_temperature_is_high: "GPU Temperature" + gpu_usage_is_high: "GPU Usage" + gpu_memory_usage_is_high: "GPU Memory Usage" + gpu_is_in_thermal_throttling: "GPU Thermal Throttling" + driving_recorder_storage_error: "driving_recorder" + debug_data_logger_storage_error: "bagpacker" + emergency_stop_operation: "emergency_stop_operation" + vehicle_error_occurred: "vehicle_errors" + vehicle_ecu_connection_is_lost: "can_bus_connection" + obstacle_crash_sensor_is_activated: "obstacle_crash" + /control/command_gate/node_alive_monitoring: "vehicle_cmd_gate: heartbeat" + /control/autonomous_driving/node_alive_monitoring: "control_topic_status" + /control/external_command_selector/node_alive_monitoring: "external_cmd_selector: heartbeat" + /localization/node_alive_monitoring: "localization_topic_status" + /map/node_alive_monitoring: "map_topic_status" + /planning/node_alive_monitoring: "planning_topic_status" + /sensing/lidar/node_alive_monitoring: "lidar_topic_status" + /sensing/imu/node_alive_monitoring: "imu_connection" + /sensing/gnss/node_alive_monitoring: "gnss_connection" + /system/node_alive_monitoring: "system_topic_status" + /vehicle/node_alive_monitoring: "vehicle_topic_status" From 4ebb81b1e7177adf6d1725044ac66aee9488f468 Mon Sep 17 00:00:00 2001 From: beyzanurkaya <32412808+beyzanurkaya@users.noreply.github.com> Date: Mon, 23 Jan 2023 21:24:49 +0300 Subject: [PATCH 3/3] feat(autoware_launch): add param for considering footprint edges when check the drivable area (#175) * add is_considering_footprint_edges param Signed-off-by: beyza * add description Signed-off-by: beyza Signed-off-by: beyza Co-authored-by: beyza --- .../obstacle_avoidance_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index fbe6b5d756..78e123ded7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -18,6 +18,7 @@ enable_pre_smoothing: true # enable EB skip_optimization: false # skip MPT and EB reset_prev_optimization: false + is_considering_footprint_edges: false # consider ego footprint edges to decide whether footprint is outside drivable area common: # sampling