Merge pull request #721 from tier4/sync-awf-latest

chore: sync awf-latest
tier4 · Dec 19, 2024 · 2b60659 · 2b60659
2 parents a2b42aa + 67933de
commit 2b60659
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Showing 4 changed files with 13 additions and 5 deletions.
diff --git a/.github/CODEOWNERS-manual b/.github/CODEOWNERS-manual
@@ -1,7 +1,7 @@
 # /**
 # .github/**
 autoware_launch/** [email protected] [email protected] [email protected]
-autoware_launch/config/control/** [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/control/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/localization/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/map/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/perception/** [email protected] [email protected] [email protected] [email protected]

diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -3,8 +3,6 @@
     # -- system --
     traj_resample_dist: 0.1         # path resampling interval [m]
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
-    admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
-    admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
     use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory
 
     # -- path smoothing --

diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -16,8 +16,6 @@
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1
     emergency_state_overshoot_stop_dist: 1.5
-    emergency_state_traj_trans_dev: 3.0
-    emergency_state_traj_rot_dev: 0.7854
 
     # drive state
     kp: 1.0

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -2464,6 +2464,18 @@ Visualization Manager:
                 Reliability Policy: Reliable
                 Value: /control/autonomous_emergency_braking/virtual_wall
               Value: true
+            - Class: rviz_default_plugins/MarkerArray
+              Enabled: true
+              Name: VirtualWall (velocity control)
+              Namespaces:
+                {}
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /control/trajectory_follower/controller_node_exe/virtual_wall
+              Value: true
           Enabled: true
           Name: VirtualWall
         - Class: rviz_default_plugins/Marker