chore: sync upstream (#141)

* feat(behavior_path _planner): divide planner manager modules into dependent slots (autowarefoundation#1091)

* Revert "fix(api): disable rosbridge to fix duplicated node" (#523)

Revert "fix(api): disable rosbridge to fix duplicated node (#497)"

This reverts commit 1b04604.

* feat(autonomous_emergency_braking): add info marker to aeb and state check override (autowarefoundation#1103)

* add info marker and override for state

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* make stop wall viz default

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* feat(lane_change): add param for lateral angle  deviation (autowarefoundation#1087)

* RT1-6514 adding lateral angle deviation param

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* decrease angle deviation threshold to fix rtc issue

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* feat(lane_change): use different rss param to deal with parked vehicle (autowarefoundation#1104)

use separate rss for parked vehicle

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* feat: increase the number of processes monitored by process_monitor (autowarefoundation#1110)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix(mpc_lateral_controller): publish predicted trajectory in Frenet coordinate and visualize it on Rviz (autowarefoundation#1111)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat(tracking_object_merger): add merge frame (autowarefoundation#1112)

* fix(lane_change): skip generating path if longitudinal distance difference is less than threshold (autowarefoundation#1108)

add skip process lon dist diff threshold

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* feat(static_obstacle_avoidance): change policy for ambiguous avoidance situation (autowarefoundation#1113)

* feat(static_obstacle_avoidance): change policy for ambiguous avoidance situation

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(static_obstacle_avoidance): tune ambiguous vehicle ignore area

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(goal_planner): fix lane departure check not working correctly due to uninitialized variable (autowarefoundation#1116)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* feat(psim)!: change a setting parameter type from bool to string (autowarefoundation#1106)

* change a param type, bool to string
---------
Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

* feat(autoware_map_based_prediction): add debug parameters for map-based prediction (autowarefoundation#1118)

* feat: add debug parameters for map-based prediction

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(lane_change): parameter update (autowarefoundation#1115)

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* feat(psim)!: preapre settings to launch localization modules on psim (autowarefoundation#1094)

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

* chore(autoware_multi_object_tracker): fix typo in input_channels (autowarefoundation#1121)

chore: fix typo of lidar_pointpainitng channel

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix(lidar_model): add centerpoint_sigma param file (autowarefoundation#1086)

fix: add centerpoint_sigma param file

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* feat(tier4_perception_launch): add transfusion option for lidar_detection_model (autowarefoundation#1124)

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

* feat(freespace_planning_algorithms): add new parameters for astar planning algorithm (autowarefoundation#1120)

* add new astar planner parameters

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

* add flag for obstacle confidence check

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

* reduce freespace planner th_arrived_distance_m param value

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

* reduce object polygon expand size in costmap generator

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

* reduce vehicle shape margin in freespace planner

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

* replace flag param by time threshold param

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

---------

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

* chore(vehicle_cmd_gate): delete deprecated parameters (autowarefoundation#1127)

delete deprecated params in vehicle_cmd_gate.param.yaml

Signed-off-by: Autumn60 <harada.akiro@gmail.com>

* perf(goal_planner): faster path sorting and selection (autowarefoundation#1119)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* feat(static_obstacle_avoidance): add parameter for envelope polygon creation (autowarefoundation#1130)

* add threshold for eclipse long radius

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

* change parameter

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

---------

Signed-off-by: Go Sakayori <gsakayori@gmail.com>
Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

* refactor(lane_change): rename prepare_segment_ignore_object_velocity_thresh (autowarefoundation#1125)

change parameter name to a more expressive one

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* feat(lane_change): consider deceleration in safety check for cancel (autowarefoundation#1068)

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

* feat(raw_vehicle_cmd_converter): add steer command conversion with VGR (autowarefoundation#1131)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* chore(e2e_launch): add launch_sensing_driver arg (autowarefoundation#1095)

* feat(raw_vehicle_cmd_converter): disable actuation to steering (autowarefoundation#1132)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* feat(localization): add lidar_marker_localizer (#861)

* add config files

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* style(pre-commit): autofix

* add param marker_height_from_ground

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* save log param

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* apply PointXYZIRC

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* to pass spell-check

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* refactor

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* change flag

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* fix typo

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

---------

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: SakodaShintaro <rgbygscrsedppbwg@gmail.com>

* feat(out_of_lane): redesign to improve accuracy and performance (autowarefoundation#1117)

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

* fix(ekf_localizer): change roll, pitch proc dev (autowarefoundation#1140)

change roll, pitch proc dev

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* feat(obstacle_pointcloud_based_validator): add enable_debugger parameter (autowarefoundation#1123)

* feat: add enable debugger parameter

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* style(pre-commit): autofix

---------

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(occupancy_grid_based_outlier_fillter): add config file to autoware_launch (autowarefoundation#1137)

* feat: add config file

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* style(pre-commit): autofix

---------

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(pid_longitudinal_controller)!: add acceleration feedback block (autowarefoundation#1139)

* add params
---------
Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

* feat(detected_object_validation): copy parameter files update from universe (autowarefoundation#1126)

feat: copy params from universe

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* feat: fix parameter type error in occupancy_grid_map_outlier_filter.param.yaml (autowarefoundation#1146)

* feat: fix parameter type

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* chore: change param name

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

---------

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* chore(stop_filter): extract stop_filter.param.yaml to autoware_launch (autowarefoundation#1145)

Extract stop_filter.param.yaml to autoware_launch

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

* fix(min-velocity-map-based-prediction): reduce min_velocity_for_map_based_prediction (autowarefoundation#994)

fix(min-velocity-map-based-prediction): reduce min_velocity_for_map_based_prediction to let intersection module run with low speed npc

Signed-off-by: Ahmed Ebrahim <ahmed.ebrahim@leodrive.ai>

* fix(static_obstacle_avoidance): tune parameters (autowarefoundation#1143)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(static_obstacle_avoidance): increase prepare time (autowarefoundation#1148)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(autoware_lidar_transfusion): add transfusion config (autowarefoundation#1093)

Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>

* feat: add simulator rviz config (autowarefoundation#1150)

Signed-off-by: KhalilSelyan <khalil@leodrive.ai>

* feat(autoware_launch): add expansion params (autowarefoundation#1133)

make expansion optional

Signed-off-by: beyza <bnk@leodrive.ai>

* chore: add taekjin lee to perception launcher and configuration maintainer (autowarefoundation#1154)

chore: add taekjin lee to perception launcher and configuration maintainer

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat(autoware_mpc_lateral_controller): add resampled reference trajectory for debug purpose (autowarefoundation#1114)

* chore: add debug_publish_resampled_reference_trajectory to parameter

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* feat: add use_delayed_initial_state flag to lateral MPC configuration

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

---------

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* feat(occupancy_grid_map_outlier_filter): add option for time keeper (autowarefoundation#1147)

add timekeeper option

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
Co-authored-by: Taekjin LEE <technolojin@gmail.com>

* feat(ground_segmentation): add option for time keeper (autowarefoundation#1134)

add option for time keeper

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
Co-authored-by: Taekjin LEE <technolojin@gmail.com>

* feat(occupancy_grid_map): add option for time keeper (autowarefoundation#1138)

* add option for time keeper

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* set default to false

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

---------

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
Co-authored-by: Taekjin LEE <technolojin@gmail.com>

* chore(tier4_pereption_component): add image_segmentation_based_filter option param (autowarefoundation#1158)

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* feat(goal_planner): dense goal candidate sampling in BusStopArea (autowarefoundation#1156)

* chore(planning): add maintainer (autowarefoundation#1161)

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

* feat: add parameters for restart suppression in crosswalk (autowarefoundation#1160)

* feat: add parameters for restart suppression in crosswalk

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update parameter

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat(mission_planner): add option to prevent rerouting in autonomous driving mode (autowarefoundation#1153)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* feat(run_out): speed up run out response (autowarefoundation#1163)

speed up run out response

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* feat(start_planner): add option to skip rear vehicle check (autowarefoundation#1165)

Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>

* feat: add an env variable to enable the new rviz2 theme (autowarefoundation#1017)

Signed-off-by: KhalilSelyan <khalil@leodrive.ai>

* feat(crosswalk)!: update stop position caluculation (autowarefoundation#1162)

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

* feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory (autowarefoundation#1164)

* PoseHistory to PoseWithCovarianceHistory

Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

* style(pre-commit): autofix

* fix param of alpha related to PoseWithCovarianceHistory

Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

---------

Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* style(rviz-config): use colors consistent with new theme (autowarefoundation#1169)

Signed-off-by: KhalilSelyan <khalil@leodrive.ai>

* feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (autowarefoundation#1144)

change the way to declare camera num

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

* refactor(behavior_path_planner): remove unnecessary parameters (autowarefoundation#1172)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* refactor(behavior_path_planner): remove unnecessary parameters (autowarefoundation#1172)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* refactor(system_monitor/ntp_monitor): add-missing-parameters (autowarefoundation#1174)

refactor: add-missing-parameters

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* refactor(system_monitor/net_monitor): remove-missing-patameters (autowarefoundation#1175)

refactor: remove-missing-patameters

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat(emergency_handler): delete package (autowarefoundation#1173)

* feat(emergency_handler): delete package

Signed-off-by: veqcc <ryuta.kambe@tier4.jp>

* fix(avoidance_by_lane_change): remove unused parameter (autowarefoundation#1176)

remove unused parameter

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

* feat(lane_change): add lane change parameter (autowarefoundation#1157)

add parameter to enable/disable bound check

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

* refactor(system_monitor/ntp_monitor): add-missing-parameters (autowarefoundation#1174)

refactor: add-missing-parameters

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* refactor(system_monitor/net_monitor): remove-missing-patameters (autowarefoundation#1175)

refactor: remove-missing-patameters

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat(emergency_handler): delete package (autowarefoundation#1173)

* feat(emergency_handler): delete package

Signed-off-by: veqcc <ryuta.kambe@tier4.jp>

* fix(perception): adopt awsim (tlr) camera topic (autowarefoundation#1177)

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

* revert: feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory (autowarefoundation#1164) (autowarefoundation#1179)

Revert "feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory (autowarefoundation#1164)"

This reverts commit 593ad1f.

* feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (autowarefoundation#1144)

change the way to declare camera num

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

* fix(perception): adopt awsim (tlr) camera topic (autowarefoundation#1177)

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

* feat(system_error_monitor): delete system error monitor (autowarefoundation#1178)

feat: delete system error monitor

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat(system_error_monitor): delete system error monitor (autowarefoundation#1178)

feat: delete system error monitor

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat(autonomous_emergency_braking): initiate speed_calculation_expansion_margin parameter (autowarefoundation#1168)

initiate speed_calculation_expansion_margin parameter

Signed-off-by: ismetatabay <ismet@leodrive.ai>

* feat(pose_initializer): add new parameter for check error between initial pose and GNSS pose (autowarefoundation#1180)

* add pose_error_check_enabled parameter

Signed-off-by: RyuYamamoto <ryu.yamamoto@tier4.jp>

* change default value

Signed-off-by: RyuYamamoto <ryu.yamamoto@tier4.jp>

---------

Signed-off-by: RyuYamamoto <ryu.yamamoto@tier4.jp>

* fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios (autowarefoundation#1166)

fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios

Signed-off-by: Ahmed Ebrahim <ahmed.ebrahim@leodrive.ai>

* revert(obstacle_cruise): revert an awf change (#617)

Revert "fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios (autowarefoundation#1166)"

* feat(autonomous_emergency_braking): set max imu path length (autowarefoundation#1183)

* set param for max imu path distance

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* change param

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* chore(crop_box_filter): add missing default parameter (autowarefoundation#1155)

fix: add missing parameter after crop_box_filter rework

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out (autowarefoundation#1142)

Signed-off-by: Berkay Karaman <berkay@leodrive.ai>

* revert(obstacle_cruise): reduce using predicted paths to maintain conventional behavior (#621)

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

* revert(obstacle_cruisse): revert "fix(obstacle_cruise_planner): guarantee the stop margin (autowarefoundation#1076)" (autowarefoundation#1185)

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

* Remove emergency braking from autoware-psim.yaml and enable autonomous emergency braking in tier4_control_component.launch.xml

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* refactor(rviz): add VirtualWall display for Autonomous Emergency Braking (autowarefoundation#1187)

feat(rviz): add VirtualWall display for Autonomous Emergency Braking

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* chore: sync files (autowarefoundation#1188)

Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
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* fix(.github): change runs-on value to to ubuntu-22.04 (autowarefoundation#1189)

change to ubuntu-22.04

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

* fix(pointcloud_map_filter): add threshold for split map grid size  (autowarefoundation#1184)

* fix(pointcloud_map_filter): add param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: disable dynamic map loader for default unsplit-map

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

---------

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
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Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
Signed-off-by: ismetatabay <ismet@leodrive.ai>
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Signed-off-by: Berkay Karaman <berkay@leodrive.ai>
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Signed-off-by: Hayato Mizushima <hayato-m126@users.noreply.github.com>
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Author: 42 people

.github/CODEOWNERS

@@ -9,7 +9,7 @@ autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier
 autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
 autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
 autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
-autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
+autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp alqudah.mohammad@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp yuki.takagi@tier4.jp
 autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
 autoware_launch/config/system/** fumihito.ito@tier4.jp isamu.takagi@tier4.jp
 autoware_launch/config/vehicle/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp

.github/CODEOWNERS-manual

@@ -4,7 +4,7 @@ autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodr
 autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
 autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
 autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
-autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
+autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp
 autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
 autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
 autoware_launch/config/system/** fumihito.ito@tier4.jp isamu.takagi@tier4.jp
@@ -13,7 +13,7 @@ autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.
 autoware_launch/launch/components/tier4_control_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
 autoware_launch/launch/components/tier4_localization_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
 autoware_launch/launch/components/tier4_map_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
-autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
+autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp
 autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
 autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
 autoware_launch/launch/components/tier4_simulator_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp

.github/workflows/build-and-test-differential.yaml

@@ -17,7 +17,7 @@ jobs:
   build-and-test-differential:
     needs: make-sure-label-is-present
     if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     strategy:
       fail-fast: false

.github/workflows/build-and-test.yaml

@@ -9,7 +9,7 @@ on:
 jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     strategy:
       fail-fast: false

.github/workflows/cancel-previous-workflows.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   cancel-previous-workflows:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Cancel previous runs
         uses: styfle/cancel-workflow-action@0.12.1

.github/workflows/github-release.yaml

@@ -15,7 +15,7 @@ on:
 
 jobs:
   github-release:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Set tag name
         id: set-tag-name

.github/workflows/pr-labeler.yaml

@@ -8,7 +8,7 @@ on:
 
 jobs:
   label:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/labeler@v4
         with:

.github/workflows/pre-commit-autoupdate.yaml

@@ -14,7 +14,7 @@ jobs:
   pre-commit-autoupdate:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

.github/workflows/pre-commit-optional.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   pre-commit-optional:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4

.github/workflows/pre-commit.yaml

@@ -6,7 +6,7 @@ on:
 jobs:
   pre-commit:
     if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

.github/workflows/spell-check-differential.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   spell-check-differential:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4

.github/workflows/sync-files.yaml

@@ -14,7 +14,7 @@ jobs:
   sync-files:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

.github/workflows/update-codeowners-from-packages.yaml

@@ -14,7 +14,7 @@ jobs:
   update-codeowners-from-packages:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

.github/workflows/update-sync-param-files.yaml

@@ -7,7 +7,7 @@ on:
 
 jobs:
   update-sync-param-files:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml

@@ -6,7 +6,9 @@
     use_pointcloud_data: true
     use_predicted_object_data: false
     use_object_velocity_calculation: true
-    min_generated_path_length: 0.5
+    check_autoware_state: true
+    min_generated_imu_path_length: 0.5
+    max_generated_imu_path_length: 10.0
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1
     mpc_prediction_time_horizon: 4.5
@@ -26,6 +28,7 @@
     # Point cloud cropping
     expand_width: 0.1
     path_footprint_extra_margin: 4.0
+    speed_calculation_expansion_margin: 0.5
 
     # Point cloud clustering
     cluster_tolerance: 0.15 #[m]

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -5,6 +5,7 @@
     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 --
     enable_path_smoothing: false   # flag for path smoothing
@@ -75,4 +76,4 @@
       average_num: 1000
       steering_offset_limit: 0.02
 
-    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
+    publish_debug_trajectories: true # flag to publish predicted trajectory and resampled reference trajectory for debug purpose

autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

@@ -60,6 +60,10 @@
     emergency_acc: -5.0 # denotes acceleration
     emergency_jerk: -3.0
 
+    # acceleration feedback
+    lpf_acc_error_gain: 0.98
+    acc_feedback_gain: 0.0
+
     # acceleration limit
     max_acc: 3.0
     min_acc: -5.0

autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -4,15 +4,13 @@
     system_emergency_heartbeat_timeout: 0.5
     use_emergency_handling: true
     check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
-    use_start_request: true
     enable_cmd_limit_filter: true
     filter_activated_count_threshold: 5
     filter_activated_velocity_threshold: 1.0
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4
     moderate_stop_service_acceleration: -1.5
-    stopped_state_entry_duration_time: 0.1
     stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -30,8 +30,8 @@
     simple_1d_filter_parameters:
       #Simple1DFilter parameters
       z_filter_proc_dev: 1.0
-      roll_filter_proc_dev: 0.01
-      pitch_filter_proc_dev: 0.01
+      roll_filter_proc_dev: 0.1
+      pitch_filter_proc_dev: 0.1
 
     diagnostics:
       # for diagnostics

autoware_launch/config/localization/lidar_marker_localizer/lidar_marker_localizer.param.yaml

@@ -0,0 +1,42 @@
+/**:
+  ros__parameters:
+
+    # marker name
+    marker_name: "reflector"
+
+    # for marker detection algorithm
+    resolution: 0.05
+    # A sequence of high/low intensity to perform pattern matching.
+    # 1: high intensity (positive match), 0: not consider, -1: low intensity (negative match)
+    intensity_pattern: [-1, -1, 0, 1, 1, 1, 1, 1, 0, -1, -1]
+    match_intensity_difference_threshold: 20
+    positive_match_num_threshold: 3
+    negative_match_num_threshold: 3
+    vote_threshold_for_detect_marker: 20
+    marker_height_from_ground: 1.075
+
+    # for interpolate algorithm
+    self_pose_timeout_sec: 1.0
+    self_pose_distance_tolerance_m: 1.0
+
+    # for validation
+    limit_distance_from_self_pose_to_nearest_marker: 2.0
+    limit_distance_from_self_pose_to_marker: 2.0
+
+    # base_covariance
+    # [TBD] This value is dynamically scaled according to the distance at which markers are detected.
+    base_covariance: [0.04, 0.0,  0.0,  0.0,        0.0,        0.0,
+                      0.0,  0.04, 0.0,  0.0,        0.0,        0.0,
+                      0.0,  0.0,  0.01, 0.0,        0.0,        0.0,
+                      0.0,  0.0,  0.0,  0.00007569, 0.0,        0.0,
+                      0.0,  0.0,  0.0,  0.0,        0.00007569, 0.0,
+                      0.0,  0.0,  0.0,  0.0,        0.0,        0.00030625]
+
+    # for visualize the detected marker pointcloud
+    marker_width: 0.8
+
+    # for save log
+    enable_save_log: false
+    save_file_directory_path: detected_reflector_intensity
+    save_file_name: detected_reflector_intensity
+    save_frame_id: velodyne_top

autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    input_frame: "base_link"
+    output_frame: "base_link"
+    min_x: -10.0
+    max_x: 10.0
+    min_y: 0.0
+    max_y: 7.5
+    min_z: -5.0
+    max_z: 5.0
+    negative: False

autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml

@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    input_frame: "base_link"
+    output_frame: "base_link"
+    filter_field_name: "channel"
+    filter_limit_min: 5
+    filter_limit_max: 45
+    filter_limit_negative: False
+    keep_organized: False

autoware_launch/config/localization/pose_initializer.param.yaml

@@ -6,6 +6,8 @@
 
     gnss_pose_timeout: 3.0 # [sec]
     stop_check_duration: 3.0 # [sec]
+    pose_error_threshold: 5.0 # [m]
+    pose_error_check_enabled: false
     ekf_enabled: $(var ekf_enabled)
     gnss_enabled: $(var gnss_enabled)
     yabloc_enabled: $(var yabloc_enabled)

autoware_launch/config/localization/stop_filter.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    vx_threshold: 0.1  # [m/s]
+    wz_threshold: 0.02  # [rad/s]

autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml

@@ -15,3 +15,4 @@
     min_y: -200.0
     max_z: 2.0
     min_z: -10.0
+    negative: false

autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml

@@ -0,0 +1,21 @@
+/**:
+  ros__parameters:
+    filter_target_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false
+
+    filter_settings:
+      # polygon overlap based filter
+      polygon_overlap_filter:
+       enabled: true
+      # velocity direction based filter
+      lanelet_direction_filter:
+        enabled: false
+        velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
+        object_speed_threshold: 3.0 # [m/s]

autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_position_filter.param.yaml

@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    filter_target_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false
+
+    upper_bound_x: 100.0
+    lower_bound_x: 0.0
+    upper_bound_y: 10.0
+    lower_bound_y: -10.0

autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml

@@ -2,14 +2,15 @@
   ros__parameters:
     min_points_num:
     #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
-      [10,     10,  10,    10,         10,10,    10,         10]
+      [10,     10,  10,    10,     10,     10,      10,         10]
 
     max_points_num:
     #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
-      [10,     10,  10,    10,         10,10,    10,         10]
+      [10,     10,  10,    10,     10,     10,      10,         10]
 
     min_points_and_distance_ratio:
-    #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
-      [800.0,     880.0,     800.0,    800.0,         800.0, 800.0,    800.0,         800.0]
+    #UNKNOWN,  CAR,    TRUCK,     BUS,    TRAILER, MOTORBIKE, BICYCLE,      PEDESTRIAN
+      [800.0,  800.0,  800.0,    800.0,   800.0,      800.0,    800.0,         800.0]
 
     using_2d_validator: true
+    enable_debugger: false

autoware_launch/config/perception/object_recognition/detection/detected_object_validation/occupancy_grid_based_validator.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    mean_threshold: 0.6
+    enable_debug: false

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml

@@ -1,28 +1,21 @@
 /**:
   ros__parameters:
-    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-    point_feature_size: 4
-    max_voxel_size: 40000
-    point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
-    voxel_size: [0.32, 0.32, 10.0]
-    downsample_factor: 1
-    encoder_in_feature_size: 9
-    # post-process params
-    circle_nms_dist_threshold: 0.5
-    iou_nms_target_class_names: ["CAR"]
-    iou_nms_search_distance_2d: 10.0
-    iou_nms_threshold: 0.1
-    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-    score_threshold: 0.35
-    has_variance: true
-    has_twist: true
-    trt_precision: fp16
-    cloud_capacity: 2000000
-    densification_num_past_frames: 1
-    densification_world_frame_id: map
 
     # weight files
     encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
     encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
     head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
     head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
+    trt_precision: fp16
+    cloud_capacity: 2000000
+    post_process_params:
+      # post-process params
+      circle_nms_dist_threshold: 0.5
+      iou_nms_target_class_names: ["CAR"]
+      iou_nms_search_distance_2d: 10.0
+      iou_nms_threshold: 0.1
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+      score_threshold: 0.35
+    densification_params:
+      world_frame_id: map
+      num_past_frames: 1