diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 7b1db618d1..94740e295e 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -5,20 +5,20 @@ autoware_launch/** mfc@leodrive.ai ryohsuke.mitsudome@tier4.jp yukihiro.saito@ti # /** # .github/** autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodrive.ai -autoware_launch/config/control/** 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 +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/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/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 -autoware_launch/config/vehicle/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp mamoru.sobue@tier4.jp +autoware_launch/config/vehicle/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.takagi@tier4.jp -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 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 +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_planning_component.launch.xml 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 +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 autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp diff --git a/.github/CODEOWNERS-manual b/.github/CODEOWNERS-manual index a27c2cc109..5415bc479e 100644 --- a/.github/CODEOWNERS-manual +++ b/.github/CODEOWNERS-manual @@ -1,7 +1,7 @@ # /** # .github/** autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodrive.ai -autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp +autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp kosuke.takeuchi@tier4.jp yuki.takagi@tier4.jp alqudah.mohammad@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 taekjin.lee@tier4.jp diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml index 8fd9b7f4ae..8e2d7193ae 100644 --- a/.github/dependabot.yaml +++ b/.github/dependabot.yaml @@ -6,8 +6,9 @@ version: 2 updates: - package-ecosystem: github-actions directory: / + # https://docs.github.com/en/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file#scheduleinterval schedule: - interval: daily + interval: monthly open-pull-requests-limit: 1 labels: - tag:bot diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index 4deb334463..1d2baf16b6 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -1,4 +1,5 @@ -- repository: autowarefoundation/autoware +- repository: autowarefoundation/sync-file-templates + source-dir: sources files: - source: CODE_OF_CONDUCT.md - source: CONTRIBUTING.md @@ -7,27 +8,27 @@ - source: .github/ISSUE_TEMPLATE/bug.yaml - source: .github/ISSUE_TEMPLATE/config.yml - source: .github/ISSUE_TEMPLATE/task.yaml - - source: .github/PULL_REQUEST_TEMPLATE.md - - source: .github/PULL_REQUEST_TEMPLATE/small-change.md - - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md + - source: .github/pull_request_template.md - source: .github/dependabot.yaml - source: .github/stale.yml + - source: .github/workflows/comment-on-pr.yaml - source: .github/workflows/github-release.yaml - source: .github/workflows/pre-commit.yaml - source: .github/workflows/pre-commit-optional.yaml - source: .github/workflows/semantic-pull-request.yaml + - source: .github/workflows/spell-check-daily.yaml - source: .github/workflows/spell-check-differential.yaml - source: .github/workflows/sync-files.yaml - source: .markdown-link-check.json - source: .markdownlint.yaml + - source: .pre-commit-config.yaml - source: .pre-commit-config-optional.yaml - source: .prettierignore + pre-commands: | + sd "rviz\n" "rviz\n**/diagnostic_graph_aggregator/\n" {source} - source: .prettierrc.yaml - source: .yamllint.yaml - source: setup.cfg - -- repository: autowarefoundation/autoware_common - files: - source: .github/workflows/build-and-test.yaml - source: .github/workflows/build-and-test-differential.yaml - source: .github/workflows/cancel-previous-workflows.yaml diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 0ebc08a92e..151269cc71 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -16,7 +16,7 @@ jobs: make-sure-label-is-present: uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1 with: - label: tag:run-build-and-test-differential + label: run:build-and-test-differential build-and-test-differential: needs: make-sure-label-is-present diff --git a/.github/workflows/pr-labeler.yaml b/.github/workflows/pr-labeler.yaml index cc2b26fd3e..0ad3413589 100644 --- a/.github/workflows/pr-labeler.yaml +++ b/.github/workflows/pr-labeler.yaml @@ -10,7 +10,7 @@ jobs: label: runs-on: ubuntu-22.04 steps: - - uses: actions/labeler@v4 + - uses: actions/labeler@v5 with: repo-token: ${{ secrets.GITHUB_TOKEN }} configuration-path: .github/labeler.yaml diff --git a/.github/workflows/update-sync-param-files.yaml b/.github/workflows/update-sync-param-files.yaml index 5fa57ad472..aa2859eef1 100644 --- a/.github/workflows/update-sync-param-files.yaml +++ b/.github/workflows/update-sync-param-files.yaml @@ -30,7 +30,7 @@ jobs: - name: Create PR id: create-pr - uses: peter-evans/create-pull-request@v6 + uses: peter-evans/create-pull-request@v7 with: token: ${{ steps.generate-token.outputs.token }} base: ${{ github.event.repository.default_branch }} diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index ff325af5e8..56000d93a8 100644 --- a/.pre-commit-config-optional.yaml +++ b/.pre-commit-config-optional.yaml @@ -4,7 +4,7 @@ repos: - repo: https://github.com/tcort/markdown-link-check - rev: v3.12.2 + rev: v3.13.6 hooks: - id: markdown-link-check args: [--quiet, --config=.markdown-link-check.json] diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index cb627ad738..a87ad293fd 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,16 +1,24 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +# https://pre-commit.ci/#configuration ci: autofix_commit_msg: "style(pre-commit): autofix" - autoupdate_commit_msg: "ci(pre-commit): autoupdate" + # we already have our own daily update mechanism, we set this to quarterly + autoupdate_schedule: quarterly + autoupdate_commit_msg: "ci(pre-commit): quarterly autoupdate" repos: - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.6.0 + rev: v5.0.0 hooks: - id: check-json - id: check-merge-conflict - id: check-toml - id: check-xml - id: check-yaml + args: [--unsafe] - id: detect-private-key - id: end-of-file-fixer - id: mixed-line-ending @@ -18,7 +26,7 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.41.0 + rev: v0.43.0 hooks: - id: markdownlint args: [-c, .markdownlint.yaml, --fix] @@ -49,7 +57,7 @@ repos: - id: shellcheck - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.8.0-1 + rev: v3.10.0-2 hooks: - id: shfmt args: [-w, -s, -i=4] @@ -60,9 +68,42 @@ repos: - id: isort - repo: https://github.com/psf/black - rev: 24.4.2 + rev: 24.10.0 hooks: - id: black args: [--line-length=100] -exclude: .svg + - repo: https://github.com/pre-commit/mirrors-clang-format + rev: v19.1.4 + hooks: + - id: clang-format + types_or: [c++, c, cuda] + + - repo: https://github.com/cpplint/cpplint + rev: 2.0.0 + hooks: + - id: cpplint + args: [--quiet] + exclude: .cu + + - repo: https://github.com/python-jsonschema/check-jsonschema + rev: 0.30.0 + hooks: + - id: check-metaschema + files: ^.+/schema/.*schema\.json$ + + - repo: local + hooks: + - id: prettier-svg + name: prettier svg + description: Apply Prettier with plugin-xml to svg. + entry: prettier --write --list-different --ignore-unknown --print-width 200 --xml-self-closing-space false --xml-whitespace-sensitivity ignore + language: node + files: .svg$ + additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"] + + - repo: https://github.com/AleksaC/hadolint-py + rev: v2.12.1b3 + hooks: + - id: hadolint + exclude: .svg$ diff --git a/autoware_launch/CHANGELOG.rst b/autoware_launch/CHANGELOG.rst index c1fe15a0e4..eb70402c40 100644 --- a/autoware_launch/CHANGELOG.rst +++ b/autoware_launch/CHANGELOG.rst @@ -2,6 +2,108 @@ Changelog for package autoware_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge remote-tracking branch 'origin/main' into release-0.40.0 +* refactor(obstacle_cruise_planner)!: refactor rviz and terminal info (`#1264 `_) +* fix(pointcloud_container.launch.py): autoware_glog_component (`#1260 `_) + Fixed autoware_glog_component +* chore(package.xml): bump version to 0.39.0 (`#1248 `_) (`#1261 `_) + Co-authored-by: Yutaka Kondo +* feat(lane_change): add new lane change parameter (`#1224 `_) + * add minimum prepare duration parameter + * increase min_prepare_duration to 1.0 s + * increase min prepare duration value, add new parameter + --------- +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#1246 `_) +* refactor(glog_component): prefix package and namespace with autoware (`#1245 `_) +* fix(rviz): fix a bug about visualizing ego model (`#1257 `_) + fix a visulization bug. +* feat(object_lanelet_filter): add configurable margin for object lanel… (`#1210 `_) + feat(object_lanelet_filter): add configurable margin for object lanelet filter + Co-authored-by: Sebastian Zęderowski +* refactor(system_diagnostic_monitor, dummy_diag_publisher, diagnostic_graph_aggregator): combine diag list setting directories (`#1253 `_) +* feat(autonomous_emergency_braking): add parameter to limit IMU path length and rename longitudinal offset (`#1251 `_) +* feat(lane_change): add delay lane change parameters (`#1256 `_) + add delay lane change parameters +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#1254 `_) +* fix(dynamic_obstacle_avoidance): improve avoidance for moving NPCs (`#1170 `_) +* fix(static_obstacle_avoidance): improve avoidance for parked NPCs (`#1129 `_) +* refactor(lane_change): refactor lane change parameters (`#1247 `_) + refactor lane change params +* change username +* feat(scan_ground_filter): update grid size for ground segmentation (`#1223 `_) + feat: update grid size for ground segmentation + The grid size for ground segmentation has been updated from 0.1 to 0.5. This change improves the performance with the new grid data structure. +* Update autoware_launch/CHANGELOG.rst + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* feat(autonomous_emergency_braking) add params for limiting imu path with lat deviation (`#1244 `_) + add params +* 0.39.0 +* update changelog +* youtalk username +* Merge commit '9d0e7055a' into release-0.39.0 +* feat(processing_time_checker): update processing time list (`#1236 `_) +* fix: default value for control_module_preset (`#1243 `_) +* fix: default value for control_module_preset (`#1242 `_) +* feat: add an option of odometry uncertainty consideration in multi_object_tracker_node (`#1196 `_) + feat: add an option of odometry uncertainty consideration in multi_object_tracker_node.param.yaml +* feat(control): use preset.yaml to control which modules to launch for control modules (`#1237 `_) + * add control_module_preset + * fix typo + --------- +* chore(system_diagnostic_monitor): sort paths (`#1230 `_) +* feat(freespace_planner): lower safety distance margin from 0.5 to 0.4m (`#1234 `_) +* feat(rviz): show velocity/steering factors (`#1235 `_) +* chore(crosswalk)!: delete wide crosswalk corresponding function (`#1233 `_) +* feat(goal_planner): loosen safety check to prevent unnecessary stop (`#1231 `_) +* feat(crosswalk): disable slowdowns when the crosswalk is occluded (`#1232 `_) +* chore(package.xml): bump version to 0.38.0 (`#1226 `_) (`#1229 `_) + * add changelog + * unify package.xml version to 0.37.0 + * 0.38.0 + * fix organization + --------- +* feat(psim, dummy_diag, diagnostic_graph_aggregator)!: launch dummy_diag_publisher (`#1220 `_) +* feat: change the old diagnostic_convertor to scenario_simulator_v2_adapter (`#1227 `_) + Co-authored-by: xtk8532704 <1041084556@qq.com> +* feat(costmap_generator): change lidar height thresholds to vehicle frame (`#1225 `_) +* revert(obstacle_cruise): disable ouside stop feature (`#1222 `_) +* feat(aeb): set global param to override autoware state check (`#1218 `_) + * set global param to override autoware state check + * change variable for a more generic name + * set var to false by default + * move param to control component launch + * change param name to be more straightforward + --------- +* fix(pid_longitudinal_controller): revive hysteresis of state transition (`#1219 `_) +* feat(detection_area)!: add retruction feature (`#1216 `_) +* feat(system_monitor): add on/off config for network traffic monitor (`#1186 `_) + feat(system_monitor): add config for network traffic monitor + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> +* feat(goal_planner): set lane departure check margin 0.20 (`#1214 `_) +* fix(autoware_ekf_localizer): removed `publish_tf` (`#1212 `_) + Removed `publish_tf` +* feat(rviz): add rviz config for debugging (`#1213 `_) + * feat(rviz): add rviz config for debugging + * feat(launch): select rviz config name + --------- +* feat(lane_change): enable cancel when ego in turn direction lane main (RT0-33893) (`#1209 `_) + RT0-33893 add dist from prev intersection +* fix: changed `loc_config_path` declaration from let to arg (`#1204 `_) + Changed loc_config_path declaration from let to arg +* chore: update fusion_common.param.yaml with new image projection sett… (`#1207 `_) + chore: update fusion_common.param.yaml with new image projection settings +* feat(goal_planner): set lane departure check margin 0.3 (`#1199 `_) +* feat(collision detector): add collision detector to launch/config (`#1205 `_) + * add collision_detector + * change collision detector default to false + --------- +* chore(diagnostic_graph_aggregator, system_diagnostic_monitor)!: change the config file directories from universe to autoware_launch (`#1201 `_) + * prepare dir + * copy files from universe +* Contributors: Ahmed Ebrahim, Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kazunori-Nakajima, Kem (TiankuiXian), Kosuke Takeuchi, Kyoichi Sugahara, Maxime CLEMENT, Ryohsuke Mitsudome, SakodaShintaro, Satoshi OTA, Sebastian Zęderowski, Taekjin LEE, Takayuki Murooka, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo, Zulfaqar Azmi, beyzanurkaya, danielsanchezaran, iwatake, mkquda + 0.39.0 (2024-11-25) ------------------- * autowarefoundation username diff --git a/autoware_launch/autoware_launch.drawio.svg b/autoware_launch/autoware_launch.drawio.svg index aa1735d154..77d9f7795f 100644 --- a/autoware_launch/autoware_launch.drawio.svg +++ b/autoware_launch/autoware_launch.drawio.svg @@ -1,4 +1,1360 @@ -
autoware.launch.xml

package: autoware_launch
autoware.launch.xml...
launch name

package: package name
launch name...
ex:
ex:
node name

package: package name
node name...
vehicle_info_launch.py

package: tier4_vehicle_launch
vehicle_info_launch.py...
vehicle.launch.xml

package: tier4_vehicle_launch
vehicle.launch.xml...
system.launch.xml

package: tier4_system_launch
system.launch.xml...
map.launch.py

package: tier4_map_launch
map.launch.py...
localization.launch.xml

package: tier4_localization_launch
localization.launch.xml...
perception.launch.xml

package: tier4_perception_launch
perception.launch.xml...
planning.launch.xml

package: tier4_planning_launch
planning.launch.xml...
control.launch.py

package: tier4_control_launch
control.launch.py...
awapi_awiv_adapter.launch.xml

package: tier4_control_launch
awapi_awiv_adapter.launch.xml...
web_controller.launch.xml

package: tier4_control_launch
web_controller.launch.xml...
clock_publisher.launch.xml

package: tier4_control_launch
clock_publisher.launch.xml...
rviz2

package: rviz2
rviz2...
planning_simulator.xml

package: autoware_launch
planning_simulator.xml...
vehicle_info_launch.py

package: tier4_vehicle_launch
vehicle_info_launch.py...
vehicle.launch.xml

package: tier4_vehicle_launch
vehicle.launch.xml...
system.launch.xml

package: tier4_system_launch
system.launch.xml...
map.launch.py

package: tier4_map_launch
map.launch.py...
planning.launch.xml

package: tier4_planning_launch
planning.launch.xml...
control.launch.py

package: tier4_control_launch
control.launch.py...
awapi_awiv_adapter.launch.xml

package: tier4_control_launch
awapi_awiv_adapter.launch.xml...
web_controller.launch.xml

package: tier4_control_launch
web_controller.launch.xml...
clock_publisher.launch.xml

package: tier4_control_launch
clock_publisher.launch.xml...
rviz2

package: rviz2
rviz2...
logging_simulator.launch.xml

package: autoware_launch
logging_simulator.launch.xml...
vehicle_info_launch.py

package: tier4_vehicle_launch
vehicle_info_launch.py...
vehicle_description.launch.xml

package: tier4_vehicle_launch
vehicle_description.launch.xml...
system.launch.xml

package: tier4_system_launch
system.launch.xml...
map.launch.py

package: tier4_map_launch
map.launch.py...
perception.launch.xml

package: tier4_perception_launch
perception.launch.xml...
planning.launch.xml

package: tier4_planning_launch
planning.launch.xml...
control.launch.py

package: tier4_control_launch
control.launch.py...
web_controller.launch.xml

package: tier4_control_launch
web_controller.launch.xml...
rviz2

package: rviz2
rviz2...
$(var vehicle)
$(var vehicle)
True
True
$(var system)
$(var system)
True
True
$(var map)
$(var map)
True
True
sensing.launch.xml

package: tier4_sensing_launch
sensing.launch.xml...
sensing.launch.xml

package: tier4_sensing_launch
sensing.launch.xml...
$(var sensing)
$(var sensing)
True
True
localization.launch.xml

package: tier4_localization_launch
localization.launch.xml...
$(var localization)
$(var localization)
True
True
$(var perception)
$(var perception)
True
True
$(var planning)
$(var planning)
True
True
$(var control)
$(var control)
True
True
simulator.launch.xml

package: tier4_simulator_launch
simulator.launch.xml...
simulator.launch.xml

package: tier4_simulator_launch
simulator.launch.xml...Viewer does not support full SVG 1.1 \ No newline at end of file + + + + + + + +
+
+
+ autoware.launch.xml +
+
+
+ package: autoware_launch +
+
+
+
+ + autoware.launch.xml... + + + + + + + + +
+
+
+ launch name +
+
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+ package: package name +
+
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+ + launch name... + + + + + + +
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+ node name +
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+ package: package name +
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+ + node name... + + + + + + +
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+
+ vehicle_info_launch.py +
+
+
+ package: tier4_vehicle_launch +
+
+
+
+ + vehicle_info_launch.py... + + + + + + +
+
+
+ vehicle.launch.xml +
+
+
+ package: tier4_vehicle_launch +
+
+
+
+ + vehicle.launch.xml... + + + + + + + + +
+
+
+ system.launch.xml +
+
+
+ package: tier4_system_launch +
+
+
+
+ + system.launch.xml... + + + + + + + + +
+
+
+ map.launch.py +
+
+
+ package: tier4_map_launch +
+
+
+
+ + map.launch.py... + + + + + + + + +
+
+
+ localization.launch.xml +
+
+
+ package: tier4_localization_launch +
+
+
+
+ + localization.launch.xml... + + + + + + + + +
+
+
+ perception.launch.xml +
+
+
+ package: tier4_perception_launch +
+
+
+
+ + perception.launch.xml... + + + + + + + + +
+
+
+ planning.launch.xml +
+
+
+ package: tier4_planning_launch +
+
+
+
+ + planning.launch.xml... + + + + + + + + +
+
+
+ control.launch.py +
+
+
+ package: tier4_control_launch +
+
+
+
+ + control.launch.py... + + + + + + + + +
+
+
+ awapi_awiv_adapter.launch.xml +
+
+
+ package: tier4_control_launch +
+
+
+
+ + awapi_awiv_adapter.launch.xml... + + + + + + + + +
+
+
+ web_controller.launch.xml +
+
+
+ package: tier4_control_launch +
+
+
+
+ + web_controller.launch.xml... + + + + + + +
+
+
+ clock_publisher.launch.xml +
+
+
+ package: tier4_control_launch +
+
+
+
+ + clock_publisher.launch.xml... + + + + + + + + + + +
+
+
+ rviz2 +
+
+
+ package: rviz2 +
+
+
+
+ + rviz2... + + + + + + + + + + +
+
+
+ planning_simulator.xml +
+
+
+ package: autoware_launch +
+
+
+
+ + planning_simulator.xml... + + + + + + + + +
+
+
+ vehicle_info_launch.py +
+
+
+ package: tier4_vehicle_launch +
+
+
+
+ + vehicle_info_launch.py... + + + + + + +
+
+
+ vehicle.launch.xml +
+
+
+ package: tier4_vehicle_launch +
+
+
+
+ + vehicle.launch.xml... + + + + + + + + +
+
+
+ system.launch.xml +
+
+
+ package: tier4_system_launch +
+
+
+
+ + system.launch.xml... + + + + + + + + +
+
+
+ map.launch.py +
+
+
+ package: tier4_map_launch +
+
+
+
+ + map.launch.py... + + + + + + + + +
+
+
+ planning.launch.xml +
+
+
+ package: tier4_planning_launch +
+
+
+
+ + planning.launch.xml... + + + + + + + + +
+
+
+ control.launch.py +
+
+
+ package: tier4_control_launch +
+
+
+
+ + control.launch.py... + + + + + + + + +
+
+
+ awapi_awiv_adapter.launch.xml +
+
+
+ package: tier4_control_launch +
+
+
+
+ + awapi_awiv_adapter.launch.xml... + + + + + + + + +
+
+
+ web_controller.launch.xml +
+
+
+ package: tier4_control_launch +
+
+
+
+ + web_controller.launch.xml... + + + + + + +
+
+
+ clock_publisher.launch.xml +
+
+
+ package: tier4_control_launch +
+
+
+
+ + clock_publisher.launch.xml... + + + + + + + + + + +
+
+
+ rviz2 +
+
+
+ package: rviz2 +
+
+
+
+ + rviz2... + + + + + + + + + + +
+
+
+ logging_simulator.launch.xml +
+
+
+ package: autoware_launch +
+
+
+
+ + logging_simulator.launch.xml... + + + + + + + + +
+
+
+ vehicle_info_launch.py +
+
+
+ package: tier4_vehicle_launch +
+
+
+
+ + vehicle_info_launch.py... + + + + + + +
+
+
+ vehicle_description.launch.xml +
+
+
+ package: tier4_vehicle_launch +
+
+
+
+ + vehicle_description.launch.xml... + + + + + + + + +
+
+
+ system.launch.xml +
+
+
+ package: tier4_system_launch +
+
+
+
+ + system.launch.xml... + + + + + + + + +
+
+
+ map.launch.py +
+
+
+ package: tier4_map_launch +
+
+
+
+ + map.launch.py... + + + + + + + + + + +
+
+
+ perception.launch.xml +
+
+
+ package: tier4_perception_launch +
+
+
+
+ + perception.launch.xml... + + + + + + + + +
+
+
+ planning.launch.xml +
+
+
+ package: tier4_planning_launch +
+
+
+
+ + planning.launch.xml... + + + + + + + + +
+
+
+ control.launch.py +
+
+
+ package: tier4_control_launch +
+
+
+
+ + control.launch.py... + + + + + + + + +
+
+
+ web_controller.launch.xml +
+
+
+ package: tier4_control_launch +
+
+
+
+ + web_controller.launch.xml... + + + + + + + + +
+
+
+ rviz2 +
+
+
+ package: rviz2 +
+
+
+
+ + rviz2... + + + + + + + + +
+
+
+ $(var vehicle) +
+
+
+ + $(var vehicle) + + + + + + + +
+
+
+ True +
+
+
+ + True + + + + + + +
+
+
+ $(var system) +
+
+
+ + $(var system) + + + + + + + +
+
+
+ True +
+
+
+ + True + + + + + + +
+
+
+ $(var map) +
+
+
+ + $(var map) + + + + + + + +
+
+
+ True +
+
+
+ + True + + + + + + +
+
+
+ sensing.launch.xml +
+
+
+ package: tier4_sensing_launch +
+
+
+
+ + sensing.launch.xml... + + + + + + + + +
+
+
+ sensing.launch.xml +
+
+
+ package: tier4_sensing_launch +
+
+
+
+ + sensing.launch.xml... + + + + + + + + +
+
+
+ $(var sensing) +
+
+
+ + $(var sensing) + + + + + + + +
+
+
+ True +
+
+
+ + True + + + + + + +
+
+
+ localization.launch.xml +
+
+
+ package: tier4_localization_launch +
+
+
+
+ + localization.launch.xml... + + + + + + +
+
+
+ $(var localization) +
+
+
+ + $(var localization) + + + + + + + +
+
+
+ True +
+
+
+ + True + + + + + + +
+
+
+ $(var perception) +
+
+
+ + $(var perception) + + + + + + + +
+
+
+ True +
+
+
+ + True + + + + + + +
+
+
+ $(var planning) +
+
+
+ + $(var planning) + + + + + + + +
+
+
+ True +
+
+
+ + True + + + + + + +
+
+
+ $(var control) +
+
+
+ + $(var control) + + + + + + + +
+
+
+ True +
+
+
+ + True + + + + + + +
+
+
+ simulator.launch.xml +
+
+
+ package: + tier4_simulator_launch +
+
+
+
+ + simulator.launch.xml... + + + + + + +
+
+
+ simulator.launch.xml +
+
+
+ package: + tier4_simulator_launch +
+
+
+
+ + simulator.launch.xml... + + + + + + + Viewer does not support full SVG 1.1 + + + diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index b358e95f86..1d30a28d05 100644 --- 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 index 3f42dbd599..c011c67430 100644 --- 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 @@ -75,7 +73,7 @@ # slope compensation lpf_pitch_gain: 0.95 - slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive + slope_source: "trajectory_adaptive" # raw_pitch, trajectory_pitch or trajectory_adaptive adaptive_trajectory_velocity_th: 1.0 max_pitch_rad: 0.1 min_pitch_rad: -0.1 diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml index c0a437a125..fa04c2c632 100644 --- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml @@ -12,5 +12,7 @@ #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN [800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0] + validate_max_distance_m: 70.0 # [m] + using_2d_validator: true enable_debugger: false diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml index bd5fc5f356..f4a5d59c3c 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml @@ -11,7 +11,6 @@ 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] diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml index bd5fc5f356..f4a5d59c3c 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml @@ -11,7 +11,6 @@ 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] diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml index bd5fc5f356..f4a5d59c3c 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml @@ -11,7 +11,6 @@ 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] diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml index 90a71a5bd1..89841193d5 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml @@ -9,7 +9,6 @@ post_process_params: # post-process params circle_nms_dist_threshold: 0.3 - iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 score_threshold: 0.45 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml index 47eaa800e6..979f8b9cc0 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml @@ -10,7 +10,6 @@ densification_world_frame_id: map # 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] # refers to the class_names diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml index 5a272a67e0..fdab3a382a 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -15,6 +15,21 @@ enable_delay_compensation: true consider_odometry_uncertainty: false + # tracker parameters + tracker_lifetime: 1.0 # [s] + min_known_object_removal_iou: 0.1 # [ratio] + min_unknown_object_removal_iou: 0.001 # [ratio] + distance_threshold: 5.0 # [m] + confident_count_threshold: + UNKNOWN: 3 + CAR: 3 + TRUCK: 3 + BUS: 3 + TRAILER: 3 + MOTORBIKE: 3 + BICYCLE: 3 + PEDESTRIAN: 3 + # debug parameters publish_processing_time: true publish_tentative_objects: false diff --git a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml index 4d576457f2..1ee2699a23 100644 --- a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml +++ b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: update_rate: 30 - target_acceleration: -3.0 - target_jerk: -3.0 + target_acceleration: -2.5 + target_jerk: -1.5 diff --git a/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml index e82ee36a78..2370259cbe 100644 --- a/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml +++ b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml @@ -10,7 +10,7 @@ timeout_emergency_recovery: 5.0 use_parking_after_stopped: false use_pull_over: false - use_comfortable_stop: false + use_comfortable_stop: true # setting whether to turn hazard lamp on for each situation turning_hazard_on: diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py index d7e31a3e9b..a71527611f 100644 --- a/autoware_launch/launch/pointcloud_container.launch.py +++ b/autoware_launch/launch/pointcloud_container.launch.py @@ -40,7 +40,7 @@ def add_launch_arg(name: str, default_value=None): glog_component = ComposableNode( package="autoware_glog_component", - plugin="GlogComponent", + plugin="autoware::glog_component::GlogComponent", name="glog_component", namespace="pointcloud_container", ) diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index f767fafdd4..1bb9f7e210 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -1,7 +1,7 @@ autoware_launch - 0.39.0 + 0.40.0 The autoware_launch package Yukihiro Saito diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index c53d5d62e6..3f029ff75d 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2068,7 +2068,7 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (ObstacleCruise) + Name: VirtualWall (ObstacleCruise Stop) Namespaces: {} Topic: @@ -2076,7 +2076,31 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -2199,30 +2223,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: CruiseVirtualWall - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: SlowDownVirtualWall - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: DebugMarker @@ -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 @@ -3690,6 +3702,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/debug/objects_of_interest/no_stopping_area Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleCruise + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/obstacle_cruise_planner + Value: true Enabled: true Name: Objects Of Interest Enabled: true diff --git a/autoware_launch/rviz/perception.rviz b/autoware_launch/rviz/perception.rviz index 79d0eff13e..635d3c9fb0 100644 --- a/autoware_launch/rviz/perception.rviz +++ b/autoware_launch/rviz/perception.rviz @@ -2685,7 +2685,7 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (ObstacleCruise) + Name: VirtualWall (ObstacleCruise Stop) Namespaces: {} Topic: @@ -2693,7 +2693,31 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -2816,30 +2840,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: CruiseVirtualWall - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: SlowDownVirtualWall - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: DebugMarker @@ -4435,6 +4435,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/debug/objects_of_interest/no_stopping_area Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleCruise + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/obstacle_cruise_planner + Value: true Enabled: true Name: Objects Of Interest Enabled: false diff --git a/autoware_launch/rviz/planning_bev.rviz b/autoware_launch/rviz/planning_bev.rviz index 533b601ccf..84b4ec1779 100644 --- a/autoware_launch/rviz/planning_bev.rviz +++ b/autoware_launch/rviz/planning_bev.rviz @@ -2521,16 +2521,39 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (ObstacleCruise) + Name: VirtualWall (ObstacleCruise Stop) Namespaces: - stop_factor_text: true - stop_virtual_wall: true + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -2653,32 +2676,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: CruiseVirtualWall - Namespaces: - slow_down_factor_text: true - slow_down_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: SlowDownVirtualWall - Namespaces: - slow_down_factor_text: true - slow_down_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: DebugMarker @@ -4240,6 +4237,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/debug/objects_of_interest/no_stopping_area Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleCruise + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/obstacle_cruise_planner + Value: true Enabled: true Name: Objects Of Interest Enabled: true diff --git a/autoware_launch/rviz/planning_tpv.rviz b/autoware_launch/rviz/planning_tpv.rviz index 6b11e3e570..0b88e6724d 100644 --- a/autoware_launch/rviz/planning_tpv.rviz +++ b/autoware_launch/rviz/planning_tpv.rviz @@ -2733,16 +2733,39 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (ObstacleCruise) + Name: VirtualWall (ObstacleCruise Stop) Namespaces: - stop_factor_text: true - stop_virtual_wall: true + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -2865,31 +2888,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: CruiseVirtualWall - Namespaces: - slow_down_factor_text: true - slow_down_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: SlowDownVirtualWall - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: false Name: DebugMarker @@ -4452,6 +4450,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/debug/objects_of_interest/no_stopping_area Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleCruise + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/obstacle_cruise_planner + Value: true Enabled: true Name: Objects Of Interest Enabled: true diff --git a/autoware_launch/rviz/scenario_simulator.rviz b/autoware_launch/rviz/scenario_simulator.rviz index d0b57f225b..2c4af14446 100644 --- a/autoware_launch/rviz/scenario_simulator.rviz +++ b/autoware_launch/rviz/scenario_simulator.rviz @@ -2492,14 +2492,39 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (ObstacleCruise) - Namespaces: {} + Name: VirtualWall (ObstacleCruise Stop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down Value: true Enabled: true Name: VirtualWall @@ -2572,28 +2597,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: CruiseVirtualWall - Namespaces: {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: SlowDownVirtualWall - Namespaces: {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: DebugMarker