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Merge pull request autowarefoundation#212 from tier4/sync-awf-upstream
chore: sync awf/autoware_launch
2 parents 0b8d047 + 28c86e6 commit ff4790f

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

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/**:
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ros__parameters:
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class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
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point_feature_size: 4
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max_voxel_size: 40000
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point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
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voxel_size: [0.32, 0.32, 10.0]
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downsample_factor: 1
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encoder_in_feature_size: 9
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# post-process params
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circle_nms_dist_threshold: 0.5
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iou_nms_target_class_names: ["CAR"]
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iou_nms_search_distance_2d: 10.0
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iou_nms_threshold: 0.1
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yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]

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

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/**:
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ros__parameters:
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class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
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point_feature_size: 4
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max_voxel_size: 40000
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point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
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voxel_size: [0.32, 0.32, 10.0]
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downsample_factor: 2
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encoder_in_feature_size: 9
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# post-process params
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circle_nms_dist_threshold: 0.5
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iou_nms_target_class_names: ["CAR"]
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iou_nms_search_distance_2d: 10.0
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iou_nms_threshold: 0.1
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yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]

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

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/**:
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ros__parameters:
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allow_remapping_by_area_matrix:
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# NOTE(kl): We turn all vehicles into trailers if they go over 3x12 [m^2].
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# NOTE(kl): We turn cars into trucks if they have an area between 2.2 x 5.5 and 3.0 * 12.0 [m^2]
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# row: original class. column: class to remap to
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#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
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[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
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0, 0, 1, 0, 1, 0, 0, 0, #CAR
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0, 0, 0, 0, 1, 0, 0, 0, #TRUCK
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0, 0, 0, 0, 1, 0, 0, 0, #BUS
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0, 0, 0, 0, 0, 0, 0, 0, #TRAILER
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0, 0, 0, 0, 0, 0, 0, 0, #MOTORBIKE
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0, 0, 0, 0, 0, 0, 0, 0, #BICYCLE
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0, 0, 0, 0, 0, 0, 0, 0] #PEDESTRIAN
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min_area_matrix:
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#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
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[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
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0.000, 0.000, 12.100, 0.000, 36.000, 0.000, 0.000, 0.000, #CAR
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0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #TRUCK
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0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #BUS
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0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
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0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
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0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
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0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN
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max_area_matrix:
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#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
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[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
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0.000, 0.000, 36.000, 0.000, inf, 0.000, 0.000, 0.000, #CAR
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0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #TRUCK
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0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #BUS
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0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
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0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
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0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
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0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN

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

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/**:
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ros__parameters:
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class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
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point_feature_size: 9 # x, y, z, time-lag and car, pedestrian, bicycle
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max_voxel_size: 40000
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point_cloud_range: [-102.4, -102.4, -4.0, 102.4, 102.4, 6.0]
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voxel_size: [0.32, 0.32, 10.0]
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downsample_factor: 1
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encoder_in_feature_size: 14
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yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
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# post-process params
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circle_nms_dist_threshold: 0.5
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iou_nms_target_class_names: ["CAR"]
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iou_nms_search_distance_2d: 10.0
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iou_nms_threshold: 0.1
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# omp params
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omp_num_threads: 1

‎autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml

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# distance threshold for compare compare
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distance_threshold: 0.5
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# ratio to reduce voxel_leaf_size and neighbor points distance threshold in z axis
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downsize_ratio_z_axis: 0.6
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# publish voxelized map pointcloud for debug
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publish_debug_pcd: False
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‎autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml

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/**:
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ros__parameters:
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can_assign_matrix:
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#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN <-Measurement
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[1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN <-Tracker
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0, 1, 1, 1, 1, 0, 0, 0, #CAR
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0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
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0, 1, 1, 1, 1, 0, 0, 0, #BUS
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0, 1, 1, 1, 1, 0, 0, 0, #TRAILER
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0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE
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0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE
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0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN
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max_dist_matrix:
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#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
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[4.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN
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4.0, 4.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR
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4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK
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4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS
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4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER
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3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #MOTORBIKE
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3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #BICYCLE
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2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN
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max_area_matrix:
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# NOTE: The size of truck is 12 m length x 3 m width.
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# NOTE: The size of trailer is 20 m length x 3 m width.
27+
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
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[100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, #UNKNOWN
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12.10, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #CAR
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36.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #TRUCK
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60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #BUS
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60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #TRAILER
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2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #MOTORBIKE
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2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #BICYCLE
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2.00, 10000.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00] #PEDESTRIAN
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min_area_matrix:
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#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
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[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
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3.600, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #CAR
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6.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRUCK
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10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #BUS
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10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRAILER
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0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, #MOTORBIKE
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0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, #BICYCLE
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0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100] #PEDESTRIAN
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max_rad_matrix: # If value is greater than pi, it will be ignored.
47+
#UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
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[3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN
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3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR
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3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK
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3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS
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3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER
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3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE
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3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE
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3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN
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57+
min_iou_matrix: # If value is negative, it will be ignored.
58+
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
59+
[0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN
60+
0.1, -0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR
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0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK
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0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS
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0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER
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0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE
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0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE
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0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001] #PEDESTRIAN

‎autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml

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/**:
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ros__parameters:
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car_tracker: "linear_motion_tracker"
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truck_tracker: "linear_motion_tracker"
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bus_tracker: "linear_motion_tracker"
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trailer_tracker: "linear_motion_tracker"
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pedestrian_tracker: "linear_motion_tracker"
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bicycle_tracker: "linear_motion_tracker"
9+
motorcycle_tracker: "linear_motion_tracker"

‎autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

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target_object:
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car:
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is_target: true # [-]
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execute_num: 1 # [-]
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moving_speed_threshold: 1.0 # [m/s]
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moving_time_threshold: 1.0 # [s]
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max_expand_ratio: 0.0 # [-]
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safety_buffer_longitudinal: 0.0 # [m]
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truck:
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is_target: true
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execute_num: 1
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moving_speed_threshold: 1.0 # 3.6km/h
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moving_time_threshold: 1.0
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max_expand_ratio: 0.0
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safety_buffer_longitudinal: 0.0
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bus:
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is_target: true
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execute_num: 1
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moving_speed_threshold: 1.0 # 3.6km/h
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moving_time_threshold: 1.0
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max_expand_ratio: 0.0
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safety_buffer_longitudinal: 0.0
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trailer:
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is_target: true
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execute_num: 1
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moving_speed_threshold: 1.0 # 3.6km/h
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moving_time_threshold: 1.0
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max_expand_ratio: 0.0
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safety_buffer_longitudinal: 0.0
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unknown:
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is_target: true
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execute_num: 1
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moving_speed_threshold: 0.28 # 1.0km/h
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moving_time_threshold: 1.0
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max_expand_ratio: 0.0
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safety_buffer_longitudinal: 0.0
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bicycle:
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is_target: true
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execute_num: 1
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moving_speed_threshold: 0.28 # 1.0km/h
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moving_time_threshold: 1.0
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max_expand_ratio: 0.0
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safety_buffer_longitudinal: 1.0
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motorcycle:
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is_target: true
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execute_num: 1
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moving_speed_threshold: 1.0 # 3.6km/h
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moving_time_threshold: 1.0
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max_expand_ratio: 0.0
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safety_buffer_longitudinal: 1.0
96103
pedestrian:
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is_target: true
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execute_num: 1
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moving_speed_threshold: 0.28 # 1.0km/h
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moving_time_threshold: 1.0
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max_expand_ratio: 0.0

‎autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml

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/**:
22
ros__parameters:
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avoidance_by_lane_change:
4-
execute_object_num: 1
5-
execute_object_longitudinal_margin: 0.0
6-
execute_only_when_lane_change_finish_before_object: true
4+
execute_object_longitudinal_margin: 80.0
5+
execute_only_when_lane_change_finish_before_object: false
6+
7+
# avoidance is performed for the object type with true
8+
target_object:
9+
car:
10+
is_target: true # [-]
11+
execute_num: 2 # [-]
12+
moving_speed_threshold: 1.0 # [m/s]
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moving_time_threshold: 1.0 # [s]
14+
max_expand_ratio: 0.0 # [-]
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envelope_buffer_margin: 0.3 # [m]
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avoid_margin_lateral: 0.0 # [m]
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safety_buffer_lateral: 0.0 # [m]
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truck:
19+
is_target: true
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execute_num: 2
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moving_speed_threshold: 1.0 # 3.6km/h
22+
moving_time_threshold: 1.0
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max_expand_ratio: 0.0
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envelope_buffer_margin: 0.3
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avoid_margin_lateral: 0.0
26+
safety_buffer_lateral: 0.0
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bus:
28+
is_target: true
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execute_num: 2
30+
moving_speed_threshold: 1.0 # 3.6km/h
31+
moving_time_threshold: 1.0
32+
max_expand_ratio: 0.0
33+
envelope_buffer_margin: 0.3
34+
avoid_margin_lateral: 0.0
35+
safety_buffer_lateral: 0.0
36+
trailer:
37+
is_target: true
38+
execute_num: 2
39+
moving_speed_threshold: 1.0 # 3.6km/h
40+
moving_time_threshold: 1.0
41+
max_expand_ratio: 0.0
42+
envelope_buffer_margin: 0.3
43+
avoid_margin_lateral: 0.0
44+
safety_buffer_lateral: 0.0
45+
unknown:
46+
is_target: true
47+
execute_num: 1
48+
moving_speed_threshold: 0.28 # 1.0km/h
49+
moving_time_threshold: 1.0
50+
max_expand_ratio: 0.0
51+
envelope_buffer_margin: 0.3
52+
avoid_margin_lateral: 0.0
53+
safety_buffer_lateral: 0.0
54+
bicycle:
55+
is_target: false
56+
execute_num: 2
57+
moving_speed_threshold: 0.28 # 1.0km/h
58+
moving_time_threshold: 1.0
59+
max_expand_ratio: 0.0
60+
envelope_buffer_margin: 0.8
61+
avoid_margin_lateral: 0.0
62+
safety_buffer_lateral: 1.0
63+
motorcycle:
64+
is_target: false
65+
execute_num: 2
66+
moving_speed_threshold: 1.0 # 3.6km/h
67+
moving_time_threshold: 1.0
68+
max_expand_ratio: 0.0
69+
envelope_buffer_margin: 0.8
70+
avoid_margin_lateral: 0.0
71+
safety_buffer_lateral: 1.0
72+
pedestrian:
73+
is_target: false
74+
execute_num: 2
75+
moving_speed_threshold: 0.28 # 1.0km/h
76+
moving_time_threshold: 1.0
77+
max_expand_ratio: 0.0
78+
envelope_buffer_margin: 0.8
79+
avoid_margin_lateral: 0.0
80+
safety_buffer_lateral: 1.0
81+
lower_distance_for_polygon_expansion: 0.0 # [m]
82+
upper_distance_for_polygon_expansion: 1.0 # [m]

‎autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml

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priority: 5
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max_module_size: 1
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# NOTE: This module is unstable. Deprecated for now.
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avoidance_by_lc:
72-
enable_module: false
71+
enable_module: true
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enable_rtc: true
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enable_simultaneous_execution_as_approved_module: false
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enable_simultaneous_execution_as_candidate_module: false

‎autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml

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- "lane_change_right"
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- "avoidance_left"
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- "avoidance_right"
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- "avoidance_by_lane_change_left"
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- "avoidance_by_lane_change_right"
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- "goal_planner"
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- "start_planner"
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- "intersection_occlusion"
@@ -26,6 +28,8 @@
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- "lane_change_right"
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- "avoidance_left"
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- "avoidance_right"
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- "avoidance_by_lane_change_left"
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- "avoidance_by_lane_change_right"
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- "goal_planner"
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- "start_planner"
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- "intersection_occlusion"

‎autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml

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max_curvature: 0.1 # [m⁻¹] maximum curvature of a sampled path
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min_curvature: -0.1 # [m⁻¹] minimum curvature of a sampled path
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soft:
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lateral_deviation_weight: 0.1 # cost weight for lateral deviation between the end of a sampled path and the reference path
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lateral_deviation_weight: 1.0 # cost weight for lateral deviation between the end of a sampled path and the reference path
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length_weight: 1.0 # cost weight for the length of a sampled path
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curvature_weight: 1.0 # cost weight for the curvature of a sampled path
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sampling:

‎autoware_launch/launch/components/tier4_perception_component.launch.xml

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name="object_recognition_detection_object_merger_distance_threshold_list_path"
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value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
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/>
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<arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
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<arg
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name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
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value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
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/>
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<arg
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name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"
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value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml"
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/>
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<arg
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name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"
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value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml"
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/>
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<!-- obstacle segmentation -->
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<arg

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