Feature/global parameters tactical (#289)

carla_ground_truth_integration/VehicleConfigParams.yaml

@@ -41,6 +41,17 @@ vehicle_wheel_base: 2.79
 # Units: Meters
 vehicle_tire_radius: 0.39
 
+# Int: The maximum duration that Plan Delegator will wait after calling a tactical plugin's trajectory planning service; if trajectory
+# generation takes longer than this, then trajectory planning will immediately end for the current trajectory planning iteration.
+# NOTE: It is highly desirable to maintain a timeout of 100 ms or less, but trajectory generation success cannot be guaranteed with this duration
+#       for tactical plugins (primarily cooperative_lanechange) in all test scenarios at this time.
+# Units: Milliseconds
+tactical_plugin_service_call_timeout: 100
+
+# Activates object avoidance logics in trajectory planning plugins
+# Units: Boolean
+enable_object_avoidance: false
+
 # Acceleration limit
 # Value type: Desired
 # Units: m/s^2

chrysler_pacifica_ehybrid_s_2019/VehicleConfigParams.yaml

@@ -1,5 +1,5 @@
 # Defines the ros parameters which define the characteristics of this host vehicle configuration
-# The value type field is used to indicate how the field should be set. 
+# The value type field is used to indicate how the field should be set.
 # Should it be treated as a measured value (Measured) or a desired behavior constraint (Desired)
 
 # String: Host vehicle make
@@ -40,6 +40,17 @@ vehicle_wheel_base: 3.09
 # Units: Meters
 vehicle_tire_radius: 0.39
 
+# Int: The maximum duration that Plan Delegator will wait after calling a tactical plugin's trajectory planning service; if trajectory
+# generation takes longer than this, then trajectory planning will immediately end for the current trajectory planning iteration.
+# NOTE: It is highly desirable to maintain a timeout of 100 ms or less, but trajectory generation success cannot be guaranteed with this duration
+#       for tactical plugins (primarily cooperative_lanechange) in all test scenarios at this time.
+# Units: Milliseconds
+tactical_plugin_service_call_timeout: 100
+
+# Activates object avoidance logics in trajectory planning plugins
+# Units: Boolean
+enable_object_avoidance: false
+
 # Acceleration limit
 # Value type: Desired
 # Units: m/s^2
@@ -75,12 +86,12 @@ vehicle_steering_gear_ratio: 16.2
 # Unit: deg
 vehicle_steer_lim_deg: 35.3
 
-# steering dynamics time constant 
-# Value type: Measured 
+# steering dynamics time constant
+# Value type: Measured
 # Unit: s
 vehicle_model_steer_tau : 0.3
 
-# Vehicle Participation Type corresponding to the Lanelet2 participant type standards. 
+# Vehicle Participation Type corresponding to the Lanelet2 participant type standards.
 # Used for interpreting traffic rules in world model instances
 vehicle_participant_type: "vehicle:car"
 
@@ -101,94 +112,94 @@ excluded_default_topics:
   - (.*)/sent_messages
   - (.*)/scan
   - (.*)/compressed(.*)
-  - /environment/base_map 
-  - /environment/external_object_predictions   
+  - /environment/base_map
+  - /environment/external_object_predictions
   - /environment/external_objects_viz
   - /environment/lanelet2_map_viz
-  - /environment/map_update 
-  - /environment/points_no_ground   
-  - /environment/roadway_objects  
-  - /environment/semantic_map 
+  - /environment/map_update
+  - /environment/points_no_ground
+  - /environment/roadway_objects
+  - /environment/semantic_map
   - /environment/tcm_visualizer
-  - /environment/tcr_bounding_points 
-  - /guidance/angular_gravity  
-  - /guidance/deviation_of_current_position  
-  - /guidance/next_target_mark 
-  - /guidance/next_waypoint_mark 
+  - /environment/tcr_bounding_points
+  - /guidance/angular_gravity
+  - /guidance/deviation_of_current_position
+  - /guidance/next_target_mark
+  - /guidance/next_waypoint_mark
   - /guidance/node_status
-  - /guidance/platoon_info   
-  - /guidance/platooning_info   
+  - /guidance/platoon_info
+  - /guidance/platooning_info
   - /guidance/plugin_discovery
-  - /guidance/route_marker 
-  - /guidance/search_circle_mark 
-  - /guidance/trajectory_circle_mark 
+  - /guidance/route_marker
+  - /guidance/search_circle_mark
+  - /guidance/trajectory_circle_mark
   - /guidance/trajectory_visualizer
   - /guidance/twist_cmd
-  - /guidance/twist_filter/limitation_debug/ctrl/lateral_accel  
-  - /guidance/twist_filter/limitation_debug/ctrl/lateral_jerk  
-  - /guidance/twist_filter/limitation_debug/twist/lateral_accel  
-  - /guidance/twist_filter/limitation_debug/twist/lateral_jerk  
-  - /guidance/twist_filter/result/ctrl/lateral_accel  
-  - /guidance/twist_filter/result/ctrl/lateral_jerk  
-  - /guidance/twist_filter/result/twist/lateral_accel  
-  - /guidance/twist_filter/result/twist/lateral_jerk  
+  - /guidance/twist_filter/limitation_debug/ctrl/lateral_accel
+  - /guidance/twist_filter/limitation_debug/ctrl/lateral_jerk
+  - /guidance/twist_filter/limitation_debug/twist/lateral_accel
+  - /guidance/twist_filter/limitation_debug/twist/lateral_jerk
+  - /guidance/twist_filter/result/ctrl/lateral_accel
+  - /guidance/twist_filter/result/ctrl/lateral_jerk
+  - /guidance/twist_filter/result/twist/lateral_accel
+  - /guidance/twist_filter/result/twist/lateral_jerk
   - /guidance/twist_raw
-  - /guidance/upcoming_lane_change_status 
-  - /hardware_interface/brake_command_echo 
+  - /guidance/upcoming_lane_change_status
+  - /hardware_interface/brake_command_echo
   - /hardware_interface/comms/inbound_binary_msg
   - /hardware_interface/comms/outbound_binary_msg
   - /hardware_interface/curvature_feedback
-  - /hardware_interface/dbw_enabled_feedback 
-  - /hardware_interface/gear_command_echo  
-  - /hardware_interface/gear_estimation   
-  - /hardware_interface/gear_select  
-  - /hardware_interface/lightbar/light_bar_status   
-  - /hardware_interface/lightbar_manager/indicator_control 
-  - /hardware_interface/module_states 
-  - /hardware_interface/speed_model_config   
-  - /hardware_interface/speed_pedals  
-  - /hardware_interface/steering_command_echo  
-  - /hardware_interface/steering_model_config   
-  - /hardware_interface/throttle_command_echo  
+  - /hardware_interface/dbw_enabled_feedback
+  - /hardware_interface/gear_command_echo
+  - /hardware_interface/gear_estimation
+  - /hardware_interface/gear_select
+  - /hardware_interface/lightbar/light_bar_status
+  - /hardware_interface/lightbar_manager/indicator_control
+  - /hardware_interface/module_states
+  - /hardware_interface/speed_model_config
+  - /hardware_interface/speed_pedals
+  - /hardware_interface/steering_command_echo
+  - /hardware_interface/steering_model_config
+  - /hardware_interface/throttle_command_echo
   - /hardware_interface/turn_signal_command
-  - /hardware_interface/veh_controller_config   
-  - /hardware_interface/veh_interface_config   
-  - /hardware_interface/vehicle/engage 
-  - /hardware_interface/vehicle_platform   
-  - /hardware_interface/vehicle_status   
-  - /localization/config/random_filter   
+  - /hardware_interface/veh_controller_config
+  - /hardware_interface/veh_interface_config
+  - /hardware_interface/vehicle/engage
+  - /hardware_interface/vehicle_platform
+  - /hardware_interface/vehicle_status
+  - /localization/config/random_filter
   - /localization/config/voxel_grid_filter
-  - /localization/current_pose_with_covariance   
+  - /localization/current_pose_with_covariance
   - /localization/ekf_localizer/debug
-  - /localization/ekf_localizer/debug/measured_pose 
-  - /localization/ekf_localizer/estimated_yaw_bias  
+  - /localization/ekf_localizer/debug/measured_pose
+  - /localization/ekf_localizer/estimated_yaw_bias
   - /localization/ekf_twist
-  - /localization/ekf_twist_with_covariance  
+  - /localization/ekf_twist_with_covariance
   - /localization/estimate_twist
-  - /localization/estimated_vel  
-  - /localization/estimated_vel_kmph  
-  - /localization/estimated_vel_mps  
-  - /localization/filtered_points   
-  - /localization/gnss_pose 
-  - /localization/initialpose   
-  - /localization/localizer_pose 
-  - /localization/managed_initialpose   
-  - /localization/ndt_pose 
-  - /localization/ndt_reliability  
-  - /localization/ndt_stat 
-  - /localization/node_status   
-  - /localization/pmap_stat 
-  - /localization/points_downsampler_info   
-  - /localization/predict_pose 
-  - /localization/predict_pose_imu 
-  - /localization/predict_pose_imu_odom 
-  - /localization/predict_pose_odom 
-  - /localization/random_points   
-  - /localization/selected_pose 
-  - /localization/time_ndt_matching  
-  - /localization/vehicle/odom 
+  - /localization/estimated_vel
+  - /localization/estimated_vel_kmph
+  - /localization/estimated_vel_mps
+  - /localization/filtered_points
+  - /localization/gnss_pose
+  - /localization/initialpose
+  - /localization/localizer_pose
+  - /localization/managed_initialpose
+  - /localization/ndt_pose
+  - /localization/ndt_reliability
+  - /localization/ndt_stat
+  - /localization/node_status
+  - /localization/pmap_stat
+  - /localization/points_downsampler_info
+  - /localization/predict_pose
+  - /localization/predict_pose_imu
+  - /localization/predict_pose_imu_odom
+  - /localization/predict_pose_odom
+  - /localization/random_points
+  - /localization/selected_pose
+  - /localization/time_ndt_matching
+  - /localization/vehicle/odom
   - /tf
-  - /tf_static 
+  - /tf_static
   - /ui/client_count
   - /ui/connected_clients
 
@@ -204,7 +215,7 @@ excluded_lidar_topics:
   - /environment/detection/object_tracker/objects
   - /environment/detection/object_tracker/objects_markers
   - /environment/detection/objects
-  
+
 exclude_camera: true
 excluded_camera_topics:
   - /hardware_interface/camera/camera_info
@@ -222,5 +233,5 @@ excluded_camera_topics:
 
 exclude_can: false
 excluded_can_topics:
-  - /hardware_interface/ds_fusion/can_bus_dbw/can_rx 
+  - /hardware_interface/ds_fusion/can_bus_dbw/can_rx
   - /hardware_interface/ds_fusion/can_bus_dbw/can_tx

development/VehicleConfigParams.yaml

@@ -1,5 +1,5 @@
 # Defines the ros parameters which define the characteristics of this host vehicle configuration
-# The value type field is used to indicate how the field should be set. 
+# The value type field is used to indicate how the field should be set.
 # Should it be treated as a measured value (Measured) or a desired behavior constraint (Desired)
 
 # String: Host vehicle make
@@ -40,6 +40,17 @@ vehicle_wheel_base: 2.79
 # Units: Meters
 vehicle_tire_radius: 0.39
 
+# Int: The maximum duration that Plan Delegator will wait after calling a tactical plugin's trajectory planning service; if trajectory
+# generation takes longer than this, then trajectory planning will immediately end for the current trajectory planning iteration.
+# NOTE: It is highly desirable to maintain a timeout of 100 ms or less, but trajectory generation success cannot be guaranteed with this duration
+#       for tactical plugins (primarily cooperative_lanechange) in all test scenarios at this time.
+# Units: Milliseconds
+tactical_plugin_service_call_timeout: 100
+
+# Activates object avoidance logics in trajectory planning plugins
+# Units: Boolean
+enable_object_avoidance: false
+
 # Acceleration limit
 # Value type: Desired
 # Units: m/s^2
@@ -75,12 +86,12 @@ vehicle_steering_gear_ratio: 16.863
 # Unit: deg
 vehicle_steer_lim_deg: 29.2
 
-# steering dynamics time constant 
-# Value type: Measured 
+# steering dynamics time constant
+# Value type: Measured
 # Unit: s
 vehicle_model_steer_tau : 0.3
 
-# Vehicle Participation Type corresponding to the Lanelet2 participant type standards. 
+# Vehicle Participation Type corresponding to the Lanelet2 participant type standards.
 # Used for interpreting traffic rules in world model instances
 vehicle_participant_type: "vehicle:car"
 
@@ -111,7 +122,7 @@ excluded_lidar_topics:
   - /environment/detection/object_tracker/objects
   - /environment/detection/object_tracker/objects_markers
   - /environment/detection/objects
-  
+
 exclude_camera: true
 excluded_camera_topics:
   - /hardware_interface/camera/camera_info
@@ -129,5 +140,5 @@ excluded_camera_topics:
 
 exclude_can: false
 excluded_can_topics:
-  - /hardware_interface/ds_fusion/can_bus_dbw/can_rx 
+  - /hardware_interface/ds_fusion/can_bus_dbw/can_rx
   - /hardware_interface/ds_fusion/can_bus_dbw/can_tx