From 569922cd7a010fe5cc619049db66af07e60d1275 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 15 Jan 2024 00:25:32 +0900 Subject: [PATCH 01/39] feat: use obstacle_cruise_planner and change safe_distance_margin Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 7bd3dd26b3..8954026761 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -94,7 +94,7 @@ launch: - arg: name: motion_stop_planner_type - default: obstacle_stop_planner + default: obstacle_cruise_planner # option: obstacle_stop_planner # obstacle_cruise_planner # none diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 90e897fda3..4d38226c26 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -12,7 +12,7 @@ idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s] min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] - safe_distance_margin : 6.0 # This is also used as a stop margin [m] + safe_distance_margin : 5.0 # This is also used as a stop margin [m] terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s] hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m] From 40935760292c21974bd17e70438dec137c1ace54 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 15 Jan 2024 00:26:09 +0900 Subject: [PATCH 02/39] feat: set max_vel to 40km/h Signed-off-by: Takayuki Murooka --- .../motion_velocity_smoother.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 235c76a5c1..44450b1848 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: # motion state constraints - max_velocity: 20.0 # max velocity limit [m/s] + max_velocity: 11.1 # max velocity limit [m/s] stop_decel: 0.0 # deceleration at a stop point[m/ss] # external velocity limit parameter From df2779015b1b807ce70a4a62487d885c4156be6a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 16 Jan 2024 11:31:15 +0900 Subject: [PATCH 03/39] feat: enable surround_obstacle_checker Signed-off-by: Takayuki Murooka --- .../launch/components/tier4_planning_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 06740146f5..a6b5744f1b 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -8,7 +8,7 @@ - + From 39191f2dc0b589c61a592303f1cca8fd73a19200 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 16 Jan 2024 16:13:18 +0900 Subject: [PATCH 04/39] feat: enable surround_obstacle_checker Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index b57696d324..7c4b452bbf 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -112,7 +112,7 @@ launch: - arg: name: launch_surround_obstacle_checker - default: "false" + default: "true" # parking modules - arg: From 1e6387a7bdfd1c00afa9a727d68d122d1d766ba6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 22 Jan 2024 02:04:51 +0900 Subject: [PATCH 05/39] feat: enable dynamic_avoidance and disable outside_drivable_area_stop Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- .../obstacle_avoidance_planner.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 7c4b452bbf..72921af441 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -8,7 +8,7 @@ launch: default: "true" - arg: name: launch_dynamic_avoidance_module - default: "false" + default: "true" - arg: name: launch_lane_change_right_module default: "true" diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index db89a81e47..17a044fb67 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -3,7 +3,7 @@ option: enable_skip_optimization: false # skip elastic band and model predictive trajectory enable_reset_prev_optimization: false # If true, optimization has no fix constraint to the previous result. - enable_outside_drivable_area_stop: true # stop if the ego's trajectory footprint is outside the drivable area + enable_outside_drivable_area_stop: false # stop if the ego's trajectory footprint is outside the drivable area use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered. debug: From 45bb96c523138405c90f533b007f22968994c7af Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 6 Mar 2024 22:47:49 +0900 Subject: [PATCH 06/39] feat: disable AEB and set the maximum velocity to 40km/h Signed-off-by: Takayuki Murooka --- .../config/planning/scenario_planning/common/common.param.yaml | 2 +- .../launch/components/tier4_control_component.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 0dba945718..face8610c7 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - max_vel: 4.17 # max velocity limit [m/s] + max_vel: 11.1 # max velocity limit [m/s] # constraints param for normal driving normal: diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 5c3cf06ad0..d15e050d7a 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -4,7 +4,7 @@ - + From ae6d0bb952374ac38ff6752dcc69a0827b0a6d68 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 19 Mar 2024 23:53:45 +0900 Subject: [PATCH 07/39] enable intersection_occlusion detection Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index 68d4070cbf..abd12a9470 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -89,7 +89,7 @@ object_time_margin_to_collision_point: 4.0 occlusion: - enable: false + enable: true occlusion_attention_area_length: 70.0 free_space_max: 43 occupied_min: 58 From d8b1c9199fe76bc85213d54d9fd92b33bb136fbe Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 3 Jun 2024 21:16:19 +0900 Subject: [PATCH 08/39] chore(planning_launch): update motion module name (#1014) Signed-off-by: satoshi-ota --- .../config/planning/preset/default_preset.yaml | 6 +++--- .../Analytical.param.yaml | 0 .../JerkFiltered.param.yaml | 0 .../L2.param.yaml | 0 .../Linf.param.yaml | 0 .../velocity_smoother.param.yaml} | 0 .../path_optimizer.param.yaml} | 0 .../components/tier4_planning_component.launch.xml | 13 ++++++++----- autoware_launch/rviz/autoware.rviz | 2 +- 9 files changed, 12 insertions(+), 9 deletions(-) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/Analytical.param.yaml (100%) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/JerkFiltered.param.yaml (100%) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/L2.param.yaml (100%) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/Linf.param.yaml (100%) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother/motion_velocity_smoother.param.yaml => autoware_velocity_smoother/velocity_smoother.param.yaml} (100%) rename autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/{obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml => autoware_path_optimizer/path_optimizer.param.yaml} (100%) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 82fbd43399..55c9de67ad 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -93,8 +93,8 @@ launch: - arg: name: motion_path_planner_type - default: obstacle_avoidance_planner - # option: obstacle_avoidance_planner + default: path_optimizer + # option: path_optimizer # path_sampler # none @@ -111,7 +111,7 @@ launch: # none - arg: - name: motion_velocity_smoother_type + name: velocity_smoother_type default: JerkFiltered # option: JerkFiltered # L2 diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/JerkFiltered.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/JerkFiltered.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/L2.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/L2.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Linf.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Linf.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index c9f4e2ceae..5a48ea8908 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -43,7 +43,7 @@ - + @@ -68,7 +68,7 @@ - + @@ -77,11 +77,14 @@ - + - - + + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 627d9e8923..5e7cba18cf 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2127,7 +2127,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/motion_velocity_smoother/virtual_wall + Value: /planning/scenario_planning/velocity_smoother/virtual_wall Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true From 2fd46d00be5c8265243247cd4815bdc25ee9ac79 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Thu, 20 Jun 2024 10:09:27 +0900 Subject: [PATCH 09/39] disable AEB diag check Signed-off-by: Daniel Sanchez --- .../system/diagnostic_graph_aggregator/autoware-awsim.yaml | 1 + .../system/diagnostic_graph_aggregator/autoware-main.yaml | 3 +++ .../system/diagnostic_graph_aggregator/autoware-psim.yaml | 3 +++ 3 files changed, 7 insertions(+) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml index 9950acbc7e..7f002b1380 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml @@ -3,3 +3,4 @@ files: edits: - { type: remove, path: /autoware/system/duplicated_node_checker } + - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml index 42af3f79a3..f35f219df6 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml @@ -1,2 +1,5 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml } + +edits: + - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml index dfc820f93c..e11f391606 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml @@ -1,2 +1,5 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml } + +edits: + - { type: remove, path: /autoware/control/emergency_braking } From 321cffa4237a625acaa04637ba64799fe06c3222 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 20 Jun 2024 15:16:34 +0900 Subject: [PATCH 10/39] feat(diagnostic_graph_utils): launch logging node for diagnostic_graph Signed-off-by: Takamasa Horibe --- .../launch/components/tier4_system_component.launch.xml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index d5082a91e8..6fda11ac7a 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -34,4 +34,11 @@ + + + + + + + From 14946c04dc8f3eb5867a12802db568c2e6f98117 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 18 Jul 2024 17:35:11 +0900 Subject: [PATCH 11/39] feat(api): set launch_deprecated_api true (#496) feat(api): launch_deprecated_api=true Signed-off-by: kosuke55 --- .../components/tier4_autoware_api_component.launch.xml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index 1c7b520108..bc582fbb9a 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -1,7 +1,8 @@ - - + + + From 1b046040129bc661ffa1993888cbe8e6b114ade8 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 19 Jul 2024 14:00:39 +0900 Subject: [PATCH 12/39] fix(api): disable rosbridge to fix duplicated node (#497) Signed-off-by: kosuke55 --- .../launch/components/tier4_autoware_api_component.launch.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index bc582fbb9a..2b6083bed6 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -2,7 +2,5 @@ - - From 2f787838cbc0ea7ae31738194020cae3f1263dd9 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 1 Aug 2024 11:23:49 +0900 Subject: [PATCH 13/39] Revert "fix(api): disable rosbridge to fix duplicated node" (#523) Revert "fix(api): disable rosbridge to fix duplicated node (#497)" This reverts commit 1b046040129bc661ffa1993888cbe8e6b114ade8. --- .../launch/components/tier4_autoware_api_component.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index 2b6083bed6..bc582fbb9a 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -2,5 +2,7 @@ + + From 6ed90f92c382140de55e44c64078a08e666fa0e4 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 1 Oct 2024 17:28:17 +0900 Subject: [PATCH 14/39] 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 (#1166)" --- .../obstacle_cruise_planner.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 3de8577c60..5f27fef6fb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -88,8 +88,8 @@ stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle # hysteresis for cruise and stop - obstacle_velocity_threshold_from_cruise_to_stop : 1.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] - obstacle_velocity_threshold_from_stop_to_cruise : 1.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] + obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] + obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] # if crossing vehicle is determined as target obstacles or not crossing_obstacle: From 53cd6f32274b2e82227d92c4df88c109638ae78c Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 10 Oct 2024 15:51:38 +0900 Subject: [PATCH 15/39] revert(obstacle_cruise): reduce using predicted paths to maintain conventional behavior (#621) Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index d37554eba7..d31c30ce61 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -126,7 +126,7 @@ ego_obstacle_overlap_time_threshold : 0.2 # time threshold to decide cut-in obstacle for cruise or stop [s] max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s] - num_of_predicted_paths: 3 # number of the highest confidence predicted path to check collision between obstacle and ego + num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego yield: enable_yield: true lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding From 39b51361df7de62b1d263276fc85154b2666bf2d Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Thu, 10 Oct 2024 18:19:38 +0900 Subject: [PATCH 16/39] Remove emergency braking from autoware-psim.yaml and enable autonomous emergency braking in tier4_control_component.launch.xml Signed-off-by: kyoichi-sugahara --- .../system/diagnostic_graph_aggregator/autoware-psim.yaml | 3 --- .../launch/components/tier4_control_component.launch.xml | 2 +- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml index e11f391606..dfc820f93c 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml @@ -1,5 +1,2 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml } - -edits: - - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index bfa64229ee..a66ed49405 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -4,7 +4,7 @@ - + From 487faa67a1ea440687f5897735d14826e32dca9c Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 31 Oct 2024 19:30:52 +0900 Subject: [PATCH 17/39] revert(diagnostic_graph_aggregeator): revert aeb diag (#646) delete remove Signed-off-by: Yuki Takagi --- .../system/diagnostic_graph_aggregator/autoware-awsim.yaml | 1 - .../system/diagnostic_graph_aggregator/autoware-main.yaml | 3 --- 2 files changed, 4 deletions(-) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml index 7f002b1380..9950acbc7e 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml @@ -3,4 +3,3 @@ files: edits: - { type: remove, path: /autoware/system/duplicated_node_checker } - - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml index f35f219df6..42af3f79a3 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml @@ -1,5 +1,2 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml } - -edits: - - { type: remove, path: /autoware/control/emergency_braking } From b181ae1efb3d3a72c3af237be998a6674bcc3b81 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 7 Nov 2024 12:07:59 +0900 Subject: [PATCH 18/39] enable collision_detector Signed-off-by: Go Sakayori --- .../config/system/system_diagnostic_monitor/control.yaml | 6 ++++++ .../launch/components/tier4_control_component.launch.xml | 2 +- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml index 5551ed4575..32877af749 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml @@ -9,6 +9,7 @@ units: - { type: link, link: /autoware/control/performance_monitoring/lane_departure } - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation } - { type: link, link: /autoware/control/performance_monitoring/control_state } + - { type: link, link: /autoware/control/collision_detector} - path: /autoware/control/local type: and @@ -66,3 +67,8 @@ units: type: diag node: external_cmd_converter name: remote_control_topic_status + + - path: /autoware/control/collision_detector + type: diag + node: collision_detector + name: collision_detect diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 64061ce176..095d0a2c60 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -6,7 +6,7 @@ - + From d890e00678cee4d4f908e4689b087e26ceefebdc Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 7 Nov 2024 07:39:35 +0000 Subject: [PATCH 19/39] style(pre-commit): autofix --- .../config/system/system_diagnostic_monitor/control.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml index 32877af749..6a04ed6714 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml @@ -9,7 +9,7 @@ units: - { type: link, link: /autoware/control/performance_monitoring/lane_departure } - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation } - { type: link, link: /autoware/control/performance_monitoring/control_state } - - { type: link, link: /autoware/control/collision_detector} + - { type: link, link: /autoware/control/collision_detector } - path: /autoware/control/local type: and From 69ab8e036cfaaf6eb2c2d5327400e55a714251aa Mon Sep 17 00:00:00 2001 From: xtk8532704 <1041084556@qq.com> Date: Fri, 25 Oct 2024 17:28:20 +0900 Subject: [PATCH 20/39] change the old diagnostic_convertor to scenario_simulator_v2_adapter. --- .../launch/components/tier4_simulator_component.launch.xml | 4 ++-- autoware_launch/launch/planning_simulator.launch.xml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index 504337c1a0..864088a40a 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -4,7 +4,7 @@ - + @@ -20,7 +20,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 3aba78c292..798e6ec99b 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -88,14 +88,14 @@ - + - + From 28767b448f5d29f83311cfdbe836d97bcfefaea9 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 19 Nov 2024 11:35:12 +0900 Subject: [PATCH 21/39] feat: enable MRM summary Signed-off-by: Takayuki Murooka --- autoware_launch/rviz/autoware.rviz | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index c53d5d62e6..589c9cbfd5 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -269,13 +269,13 @@ Visualization Manager: Enabled: true Name: Vehicle - Class: rviz_plugins/MrmSummaryOverlayDisplay - Enabled: false + Enabled: true Font Size: 10 - Left: 512 + Left: 10 Max Letter Num: 100 Name: MRM Summary Text Color: 25; 255; 240 - Top: 64 + Top: 10 Topic: Depth: 5 Durability Policy: Volatile From c9ac4fe529cdc3cda1498c0b9327797cbb2fd48b Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 21 Nov 2024 19:50:27 +0900 Subject: [PATCH 22/39] feat(rviz): visualize error diag graph (false by default) Signed-off-by: Takayuki Murooka --- .../components/tier4_system_component.launch.xml | 1 + autoware_launch/rviz/autoware.rviz | 14 +++++++------- 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index fa5056b9d9..d800bd7822 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -34,5 +34,6 @@ + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 589c9cbfd5..de169a0d18 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -268,20 +268,20 @@ Visualization Manager: Primary Color: 174; 174; 174 Enabled: true Name: Vehicle - - Class: rviz_plugins/MrmSummaryOverlayDisplay + - Class: rviz_plugins/StringStampedOverlayDisplay Enabled: true - Font Size: 10 + Font Size: 12 Left: 10 - Max Letter Num: 100 - Name: MRM Summary - Text Color: 25; 255; 240 + Max Letter Num: 70 + Name: Error Diag Graph + Text Color: 51; 201; 220 Top: 10 Topic: - Depth: 5 + Depth: 1 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /system/emergency/hazard_status + Value: /logging_diag_graph/debug/error_graph Value: false Value height offset: 0 Enabled: true From 7979bedb26da0ee66323a7a51fbfa8d12ad0f611 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 21 Nov 2024 20:05:18 +0900 Subject: [PATCH 23/39] enable Signed-off-by: Takayuki Murooka --- autoware_launch/rviz/autoware.rviz | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index de169a0d18..fa87d5f3c3 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -282,7 +282,7 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /logging_diag_graph/debug/error_graph - Value: false + Value: true Value height offset: 0 Enabled: true Name: System From 8e5f348a0dbb2432381181d84e47a7565557a3f4 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 21 Nov 2024 21:17:10 +0900 Subject: [PATCH 24/39] increase show_rate Signed-off-by: Takayuki Murooka --- .../launch/components/tier4_system_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index d800bd7822..b80bde9b78 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -33,7 +33,7 @@ - + From 72c84f116e5e1546e42e851b24ccfe67668552b0 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Wed, 27 Nov 2024 17:43:37 +0900 Subject: [PATCH 25/39] chore: rename codeowners file Signed-off-by: tomoya.kimura --- .github/{CODEOWNERS => _CODEOWNERS} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename .github/{CODEOWNERS => _CODEOWNERS} (100%) diff --git a/.github/CODEOWNERS b/.github/_CODEOWNERS similarity index 100% rename from .github/CODEOWNERS rename to .github/_CODEOWNERS From cf5cdb7225571c56256c4a3d8090e39229a0c694 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 28 Nov 2024 05:48:29 +0900 Subject: [PATCH 26/39] Revert "fix(dynamic_obstacle_avoidance): improve avoidance for moving NPCs (#1170)" This reverts commit e14b2c849950930475fc644b78e62630f2510cd7. --- .../dynamic_obstacle_avoidance.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml index 9bba8c52dc..aa1fdb3048 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml @@ -56,10 +56,10 @@ object_path_base: min_longitudinal_polygon_margin: 3.0 # [m] - lat_offset_from_obstacle: 0.3 # [m] - margin_distance_around_pedestrian: 0.8 # [m] + lat_offset_from_obstacle: 1.0 # [m] + margin_distance_around_pedestrian: 2.0 # [m] predicted_path: - end_time_to_consider: 1.0 # [s] + end_time_to_consider: 2.0 # [s] threshold_confidence: 0.0 # [] not probability max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s] From 9a4809d8593b581adcf5342bdd242a95d03d2085 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 28 Nov 2024 05:48:42 +0900 Subject: [PATCH 27/39] Revert "fix(static_obstacle_avoidance): improve avoidance for parked NPCs (#1129)" This reverts commit d91c508a2dce751b158460995434b601d7e53c21. --- .../static_obstacle_avoidance.param.yaml | 36 +++++++++---------- 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index 3480bb66e5..31e35dcad5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -23,9 +23,9 @@ th_moving_time: 2.0 # [s] longitudinal_margin: 0.0 # [m] lateral_margin: - soft_margin: 0.5 # [m] + soft_margin: 0.7 # [m] hard_margin: 0.2 # [m] - hard_margin_for_parked_vehicle: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 # [-] FOR DEVELOPER envelope_buffer_margin: 0.1 # [m] FOR DEVELOPER th_error_eclipse_long_radius : 0.6 # [m] @@ -34,9 +34,9 @@ th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.5 + soft_margin: 0.7 hard_margin: 0.2 - hard_margin_for_parked_vehicle: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 th_error_eclipse_long_radius : 0.6 @@ -45,9 +45,9 @@ th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.5 + soft_margin: 0.7 hard_margin: 0.2 - hard_margin_for_parked_vehicle: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 th_error_eclipse_long_radius : 0.6 @@ -56,9 +56,9 @@ th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.5 + soft_margin: 0.7 hard_margin: 0.2 - hard_margin_for_parked_vehicle: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 th_error_eclipse_long_radius : 0.6 @@ -67,7 +67,7 @@ th_moving_time: 1.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.5 + soft_margin: 0.7 hard_margin: -0.2 hard_margin_for_parked_vehicle: -0.2 max_expand_ratio: 0.0 @@ -76,33 +76,33 @@ bicycle: th_moving_speed: 0.28 th_moving_time: 1.0 - longitudinal_margin: 0.6 + longitudinal_margin: 1.0 lateral_margin: soft_margin: 0.7 hard_margin: 0.5 - hard_margin_for_parked_vehicle: 0.2 + hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 th_error_eclipse_long_radius : 0.6 motorcycle: th_moving_speed: 1.0 th_moving_time: 1.0 - longitudinal_margin: 0.6 + longitudinal_margin: 1.0 lateral_margin: - soft_margin: 0.5 + soft_margin: 0.7 hard_margin: 0.3 - hard_margin_for_parked_vehicle: 0.2 + hard_margin_for_parked_vehicle: 0.3 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 th_error_eclipse_long_radius : 0.6 pedestrian: th_moving_speed: 0.28 th_moving_time: 1.0 - longitudinal_margin: 0.6 + longitudinal_margin: 1.0 lateral_margin: soft_margin: 0.7 hard_margin: 0.5 - hard_margin_for_parked_vehicle: 0.2 + hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 th_error_eclipse_long_radius : 0.6 @@ -232,7 +232,7 @@ # avoidance distance parameters longitudinal: min_prepare_time: 1.0 # [s] - max_prepare_time: 2.0 # [s] + max_prepare_time: 3.0 # [s] min_prepare_distance: 1.0 # [m] min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER @@ -294,7 +294,7 @@ velocity: [1.39, 4.17, 11.1] # [m/s] max_accel_values: [0.5, 0.5, 0.5] # [m/ss] min_jerk_values: [0.2, 0.2, 0.2] # [m/sss] - max_jerk_values: [3.0, 3.0, 3.0] # [m/sss] + max_jerk_values: [1.0, 1.0, 1.0] # [m/sss] # longitudinal constraints longitudinal: From 1a43361b194a6db6ed2d396b00a6a22031ee0758 Mon Sep 17 00:00:00 2001 From: "tier4-autoware-public-bot[bot]" <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Date: Fri, 29 Nov 2024 15:35:24 +0900 Subject: [PATCH 28/39] chore: sync awf-latest (#696) * refactor(system_diagnostic_monitor, dummy_diag_publisher, diagnostic_graph_aggregator): combine diag list setting directories (#1253) Signed-off-by: yuki-takagi-66 * refactor(system_diagnostic_monitor, dummy_diag_publisher, diagnostic_graph_aggregator): combine diag list setting directories (#1253) Signed-off-by: yuki-takagi-66 --------- Signed-off-by: yuki-takagi-66 Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Co-authored-by: yuki-takagi-66 --- .../system/diagnostic_graph_aggregator/autoware-awsim.yaml | 5 ----- .../system/diagnostic_graph_aggregator/autoware-main.yaml | 2 -- .../config/system/diagnostics/autoware-awsim.yaml | 5 +++++ .../autoware-main.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/control.yaml | 0 .../dummy_diag_publisher.param.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/hardware.yaml | 0 .../localization.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/map.yaml | 0 .../perception.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/planning.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/system.yaml | 0 .../{system_diagnostic_monitor => diagnostics}/vehicle.yaml | 0 autoware_launch/launch/autoware.launch.xml | 2 +- .../launch/components/tier4_system_component.launch.xml | 4 ++-- autoware_launch/launch/e2e_simulator.launch.xml | 2 +- autoware_launch/launch/logging_simulator.launch.xml | 2 +- autoware_launch/launch/planning_simulator.launch.xml | 2 +- 18 files changed, 11 insertions(+), 13 deletions(-) delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml create mode 100644 autoware_launch/config/system/diagnostics/autoware-awsim.yaml rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/autoware-main.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/control.yaml (100%) rename autoware_launch/config/system/{dummy_diag_publisher => diagnostics}/dummy_diag_publisher.param.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/hardware.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/localization.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/map.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/perception.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/planning.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/system.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => diagnostics}/vehicle.yaml (100%) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml deleted file mode 100644 index 937cfdeb65..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml +++ /dev/null @@ -1,5 +0,0 @@ -files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml } - -edits: - - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml deleted file mode 100644 index c96dd5ed46..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml +++ /dev/null @@ -1,2 +0,0 @@ -files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml } diff --git a/autoware_launch/config/system/diagnostics/autoware-awsim.yaml b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml new file mode 100644 index 0000000000..4abae34a31 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml @@ -0,0 +1,5 @@ +files: + - { path: $(dirname)/autoware-main.yaml } + +edits: + - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/diagnostics/autoware-main.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml rename to autoware_launch/config/system/diagnostics/autoware-main.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/diagnostics/control.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/control.yaml rename to autoware_launch/config/system/diagnostics/control.yaml diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml similarity index 100% rename from autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml rename to autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml b/autoware_launch/config/system/diagnostics/hardware.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml rename to autoware_launch/config/system/diagnostics/hardware.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml b/autoware_launch/config/system/diagnostics/localization.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/localization.yaml rename to autoware_launch/config/system/diagnostics/localization.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/map.yaml b/autoware_launch/config/system/diagnostics/map.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/map.yaml rename to autoware_launch/config/system/diagnostics/map.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml b/autoware_launch/config/system/diagnostics/perception.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/perception.yaml rename to autoware_launch/config/system/diagnostics/perception.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml b/autoware_launch/config/system/diagnostics/planning.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/planning.yaml rename to autoware_launch/config/system/diagnostics/planning.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/diagnostics/system.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/system.yaml rename to autoware_launch/config/system/diagnostics/system.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml b/autoware_launch/config/system/diagnostics/vehicle.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml rename to autoware_launch/config/system/diagnostics/vehicle.yaml diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 29378cc0c8..4bf18af889 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -37,7 +37,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index fa5056b9d9..e729fef464 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,7 +1,7 @@ - + @@ -14,7 +14,7 @@ - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 3237754c48..c4fd15b41c 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -71,7 +71,7 @@ - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index f1a9ad5fab..123bd01ed3 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -65,7 +65,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index be175553b7..3c56e11412 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -70,7 +70,7 @@ - + From abcd4eabcf0ef92143c49768af2b3013a0b2d1e8 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 29 Nov 2024 16:53:53 +0900 Subject: [PATCH 29/39] refactor(diag): fork diag graph settings from awf (#698) Signed-off-by: yuki-takagi-66 --- .../tier4_diagnostics/autoware-awsim.yaml | 5 + .../tier4_diagnostics/autoware-main.yaml | 70 ++++++++++ .../system/tier4_diagnostics/control.yaml | 74 +++++++++++ .../dummy_diag_publisher.param.yaml | 36 ++++++ .../system/tier4_diagnostics/hardware.yaml | 121 ++++++++++++++++++ .../tier4_diagnostics/localization.yaml | 43 +++++++ .../config/system/tier4_diagnostics/map.yaml | 16 +++ .../system/tier4_diagnostics/perception.yaml | 16 +++ .../system/tier4_diagnostics/planning.yaml | 90 +++++++++++++ .../system/tier4_diagnostics/system.yaml | 27 ++++ .../system/tier4_diagnostics/vehicle.yaml | 16 +++ autoware_launch/launch/autoware.launch.xml | 2 +- .../tier4_system_component.launch.xml | 4 +- .../launch/e2e_simulator.launch.xml | 2 +- .../launch/logging_simulator.launch.xml | 2 +- .../launch/planning_simulator.launch.xml | 2 +- 16 files changed, 520 insertions(+), 6 deletions(-) create mode 100644 autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml create mode 100644 autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml create mode 100644 autoware_launch/config/system/tier4_diagnostics/control.yaml create mode 100644 autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml create mode 100644 autoware_launch/config/system/tier4_diagnostics/hardware.yaml create mode 100644 autoware_launch/config/system/tier4_diagnostics/localization.yaml create mode 100644 autoware_launch/config/system/tier4_diagnostics/map.yaml create mode 100644 autoware_launch/config/system/tier4_diagnostics/perception.yaml create mode 100644 autoware_launch/config/system/tier4_diagnostics/planning.yaml create mode 100644 autoware_launch/config/system/tier4_diagnostics/system.yaml create mode 100644 autoware_launch/config/system/tier4_diagnostics/vehicle.yaml diff --git a/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml b/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml new file mode 100644 index 0000000000..4abae34a31 --- /dev/null +++ b/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml @@ -0,0 +1,5 @@ +files: + - { path: $(dirname)/autoware-main.yaml } + +edits: + - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml b/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml new file mode 100644 index 0000000000..fbbfe384f2 --- /dev/null +++ b/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml @@ -0,0 +1,70 @@ +files: + - { path: $(dirname)/control.yaml } + - { path: $(dirname)/localization.yaml } + - { path: $(dirname)/map.yaml } + - { path: $(dirname)/perception.yaml } + - { path: $(dirname)/planning.yaml } + - { path: $(dirname)/system.yaml } + - { path: $(dirname)/vehicle.yaml } + +units: + - path: /autoware/modes/local + type: and + list: + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + - { type: link, link: /autoware/control/local } + + - path: /autoware/modes/remote + type: and + list: + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + - { type: link, link: /autoware/control/remote } + + - path: /autoware/modes/stop + type: ok + + - path: /autoware/modes/autonomous + type: and + list: + - { type: link, link: /autoware/map } + - { type: link, link: /autoware/localization } + - { type: link, link: /autoware/planning } + - { type: link, link: /autoware/perception } + - { type: link, link: /autoware/control } + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/modes/pull_over + type: and + list: + - { type: link, link: /autoware/map } + - { type: link, link: /autoware/localization } + - { type: link, link: /autoware/planning } + - { type: link, link: /autoware/perception } + - { type: link, link: /autoware/control } + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/modes/comfortable_stop + type: and + list: + - { type: link, link: /autoware/map } + - { type: link, link: /autoware/localization } + - { type: link, link: /autoware/planning } + - { type: link, link: /autoware/perception } + - { type: link, link: /autoware/control } + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/modes/emergency_stop + type: and + list: + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/debug/tools + type: and + list: + - { type: link, link: /autoware/system/service_log_checker } diff --git a/autoware_launch/config/system/tier4_diagnostics/control.yaml b/autoware_launch/config/system/tier4_diagnostics/control.yaml new file mode 100644 index 0000000000..6a04ed6714 --- /dev/null +++ b/autoware_launch/config/system/tier4_diagnostics/control.yaml @@ -0,0 +1,74 @@ +units: + - path: /autoware/control + type: and + list: + - { type: link, link: /autoware/control/topic_rate_check/trajectory_follower } + - { type: link, link: /autoware/control/topic_rate_check/control_command } + - { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate } + - { type: link, link: /autoware/control/emergency_braking } + - { type: link, link: /autoware/control/performance_monitoring/lane_departure } + - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation } + - { type: link, link: /autoware/control/performance_monitoring/control_state } + - { type: link, link: /autoware/control/collision_detector } + + - path: /autoware/control/local + type: and + list: + - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector } + - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter } + + - path: /autoware/control/remote + type: and + list: + - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector } + - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter } + + - path: /autoware/control/topic_rate_check/trajectory_follower + type: diag + node: topic_state_monitor_trajectory_follower_control_cmd + name: control_topic_status + + - path: /autoware/control/topic_rate_check/control_command + type: diag + node: topic_state_monitor_control_command_control_cmd + name: control_topic_status + + - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate + type: diag + node: vehicle_cmd_gate + name: heartbeat + + - path: /autoware/control/emergency_braking + type: diag + node: autonomous_emergency_braking + name: aeb_emergency_stop + + - path: /autoware/control/performance_monitoring/lane_departure + type: diag + node: lane_departure_checker_node + name: lane_departure + + - path: /autoware/control/performance_monitoring/trajectory_deviation + type: diag + node: lane_departure_checker_node + name: trajectory_deviation + + - path: /autoware/control/performance_monitoring/control_state + type: diag + node: controller_node_exe + name: control_state + + - path: /autoware/control/topic_rate_check/external_cmd_selector + type: diag + node: external_cmd_selector + name: heartbeat + + - path: /autoware/control/topic_rate_check/external_cmd_converter + type: diag + node: external_cmd_converter + name: remote_control_topic_status + + - path: /autoware/control/collision_detector + type: diag + node: collision_detector + name: collision_detect diff --git a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml new file mode 100644 index 0000000000..0ed824d3c8 --- /dev/null +++ b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml @@ -0,0 +1,36 @@ +# Description: +# required_diags: +# : {is_active: , status: } +# name: diag name +# is_active: Force update or not +# status: diag status set by dummy diag publisher "OK, Warn, Error, Stale" +# +# Note: +# +# default values are: +# is_active: "true" +# status: "OK" +--- +/**: + ros__parameters: + required_diags: + # map + ## /autoware/map/topic_rate_check/pointcloud_map + "topic_state_monitor_pointcloud_map: map_topic_status": default + + # localization + ## /autoware/localization/scan_matching_status + "ndt_scan_matcher: scan_matching_status": default + + ## /autoware/localization/accuracy + "localization_error_monitor: ellipse_error_status": default + + ## /autoware/localization/sensor_fusion_status + "localization: ekf_localizer": default + + ## /autoware/localization/topic_rate_check/pose_twist_fusion + "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default + + # perception + ## /autoware/perception/topic_rate_check/pointcloud + "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default diff --git a/autoware_launch/config/system/tier4_diagnostics/hardware.yaml b/autoware_launch/config/system/tier4_diagnostics/hardware.yaml new file mode 100644 index 0000000000..d73f723670 --- /dev/null +++ b/autoware_launch/config/system/tier4_diagnostics/hardware.yaml @@ -0,0 +1,121 @@ +# TODO(Takagi, Isamu): This file is under construction. +units: + - path: /autoware/system/resources/clock/offset + diag: ": NTP Offset" + timeout: 10.0 + + - path: /autoware/system/resources/cpu/offset + diag: ": CPU Temperature" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/usage + diag: ": CPU Usage" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/thermal_throttling + diag: ": CPU Thermal Throttling" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/frequency + diag: ": CPU Frequency" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/load_average + diag: ": CPU Load Average" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/temperature + diag: ": GPU Temperature" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/usage + diag: ": GPU Usage" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/memory_usage + diag: ": GPU Memory Usage" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/thermal_throttling + diag: ": GPU Thermal Throttling" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/frequency + diag: ": GPU Frequency" + timeout: 3.0 + + - path: /autoware/system/resources/memory/usage + diag: ": Memory Usage" + timeout: 3.0 + + - path: /autoware/system/resources/network/usage + diag: ": Network Usage" + timeout: 3.0 + + - path: /autoware/system/resources/network/traffic + diag: ": Network Traffic" + timeout: 3.0 + + - path: /autoware/system/resources/network/crc + diag: ": Network CRC Error" + timeout: 3.0 + + - path: /autoware/system/resources/network/packet_reassembles + diag: ": IP Packet Reassembles Failed" + timeout: 3.0 + + - path: /autoware/system/resources/storage/temperature + diag: ": HDD Temperature" + timeout: 3.0 + + - path: /autoware/system/resources/storage/recovered_error + diag: ": HDD RecoveredError" + timeout: 3.0 + + - path: /autoware/system/resources/storage/read_data_rate + diag: ": HDD ReadDataRate" + timeout: 3.0 + + - path: /autoware/system/resources/storage/write_data_rate + diag: ": HDD WriteDataRate" + timeout: 3.0 + + - path: /autoware/system/resources/storage/read_iops + diag: ": HDD ReadIOPS" + timeout: 3.0 + + - path: /autoware/system/resources/storage/write_iops + diag: ": HDD WriteIOPS" + timeout: 3.0 + + - path: /autoware/system/resources/storage/usage + diag: ": HDD Usage" + timeout: 3.0 + + - path: /autoware/system/resources/storage/power_on_hours + diag: ": HDD PowerOnHours" + timeout: 3.0 + + - path: /autoware/system/resources/storage/total_data_written + diag: ": HDD TotalDataWritten" + timeout: 3.0 + + - path: /autoware/system/resources/storage/connection + diag: ": HDD Connection" + timeout: 3.0 + + - path: /autoware/system/resources/process/high_load + diag: ": High-load" + timeout: 3.0 + + - path: /autoware/system/resources/process/high_mem + diag: ": High-mem" + timeout: 3.0 + + - path: /autoware/system/resources/process/tasks_summary + diag: ": Tasks Summary" + timeout: 3.0 + + - path: /autoware/system/resources/voltage/battery + diag: ": CMOS Battery Status" + timeout: 3.0 diff --git a/autoware_launch/config/system/tier4_diagnostics/localization.yaml b/autoware_launch/config/system/tier4_diagnostics/localization.yaml new file mode 100644 index 0000000000..1100f2edac --- /dev/null +++ b/autoware_launch/config/system/tier4_diagnostics/localization.yaml @@ -0,0 +1,43 @@ +units: + - path: /autoware/localization + type: short-circuit-and + list: + - type: link + link: /autoware/localization/state + - type: and + list: + - { type: link, link: /autoware/localization/topic_rate_check/transform } + - { type: link, link: /autoware/localization/topic_rate_check/pose_twist_fusion } + - { type: link, link: /autoware/localization/scan_matching_status } + - { type: link, link: /autoware/localization/accuracy } + - { type: link, link: /autoware/localization/sensor_fusion_status } + + - path: /autoware/localization/state + type: diag + node: component_state_diagnostics + name: localization_state + + - path: /autoware/localization/topic_rate_check/transform + type: diag + node: topic_state_monitor_transform_map_to_base_link + name: localization_topic_status + + - path: /autoware/localization/topic_rate_check/pose_twist_fusion + type: diag + node: topic_state_monitor_pose_twist_fusion_filter_pose + name: localization_topic_status + + - path: /autoware/localization/scan_matching_status + type: diag + node: ndt_scan_matcher + name: scan_matching_status + + - path: /autoware/localization/accuracy + type: diag + node: localization_error_monitor + name: ellipse_error_status + + - path: /autoware/localization/sensor_fusion_status + type: diag + node: localization + name: ekf_localizer diff --git a/autoware_launch/config/system/tier4_diagnostics/map.yaml b/autoware_launch/config/system/tier4_diagnostics/map.yaml new file mode 100644 index 0000000000..231ac6eb5f --- /dev/null +++ b/autoware_launch/config/system/tier4_diagnostics/map.yaml @@ -0,0 +1,16 @@ +units: + - path: /autoware/map + type: and + list: + - { type: link, link: /autoware/map/topic_rate_check/vector_map } + - { type: link, link: /autoware/map/topic_rate_check/pointcloud_map } + + - path: /autoware/map/topic_rate_check/vector_map + type: diag + node: topic_state_monitor_vector_map + name: map_topic_status + + - path: /autoware/map/topic_rate_check/pointcloud_map + type: diag + node: topic_state_monitor_pointcloud_map + name: map_topic_status diff --git a/autoware_launch/config/system/tier4_diagnostics/perception.yaml b/autoware_launch/config/system/tier4_diagnostics/perception.yaml new file mode 100644 index 0000000000..24e3c4eed5 --- /dev/null +++ b/autoware_launch/config/system/tier4_diagnostics/perception.yaml @@ -0,0 +1,16 @@ +units: + - path: /autoware/perception + type: and + list: + - { type: link, link: /autoware/perception/topic_rate_check/objects } + - { type: link, link: /autoware/perception/topic_rate_check/pointcloud } + + - path: /autoware/perception/topic_rate_check/objects + type: diag + node: topic_state_monitor_object_recognition_objects + name: perception_topic_status + + - path: /autoware/perception/topic_rate_check/pointcloud + type: diag + node: topic_state_monitor_obstacle_segmentation_pointcloud + name: perception_topic_status diff --git a/autoware_launch/config/system/tier4_diagnostics/planning.yaml b/autoware_launch/config/system/tier4_diagnostics/planning.yaml new file mode 100644 index 0000000000..c403fec237 --- /dev/null +++ b/autoware_launch/config/system/tier4_diagnostics/planning.yaml @@ -0,0 +1,90 @@ +units: + - path: /autoware/planning + type: short-circuit-and + list: + - type: link + link: /autoware/planning/routing/state + - type: and + list: + - { type: link, link: /autoware/planning/topic_rate_check/route } + - { type: link, link: /autoware/planning/topic_rate_check/trajectory } + - { type: link, link: /autoware/planning/trajectory_validation } + + - path: /autoware/planning/trajectory_validation + type: and + list: + - { type: link, link: /autoware/planning/trajectory_validation/finite } + - { type: link, link: /autoware/planning/trajectory_validation/interval } + - { type: link, link: /autoware/planning/trajectory_validation/curvature } + - { type: link, link: /autoware/planning/trajectory_validation/angle } + - { type: link, link: /autoware/planning/trajectory_validation/lateral_acceleration } + - { type: link, link: /autoware/planning/trajectory_validation/acceleration } + - { type: link, link: /autoware/planning/trajectory_validation/deceleration } + - { type: link, link: /autoware/planning/trajectory_validation/steering } + - { type: link, link: /autoware/planning/trajectory_validation/steering_rate } + - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation } + + - path: /autoware/planning/routing/state + type: diag + node: component_state_diagnostics + name: route_state + + - path: /autoware/planning/topic_rate_check/route + type: diag + node: topic_state_monitor_mission_planning_route + name: planning_topic_status + + - path: /autoware/planning/topic_rate_check/trajectory + type: diag + node: topic_state_monitor_scenario_planning_trajectory + name: planning_topic_status + + - path: /autoware/planning/trajectory_validation/finite + type: diag + node: planning_validator + name: trajectory_validation_finite + + - path: /autoware/planning/trajectory_validation/interval + type: diag + node: planning_validator + name: trajectory_validation_interval + + - path: /autoware/planning/trajectory_validation/curvature + type: diag + node: planning_validator + name: trajectory_validation_curvature + + - path: /autoware/planning/trajectory_validation/angle + type: diag + node: planning_validator + name: trajectory_validation_relative_angle + + - path: /autoware/planning/trajectory_validation/lateral_acceleration + type: diag + node: planning_validator + name: trajectory_validation_lateral_acceleration + + - path: /autoware/planning/trajectory_validation/acceleration + type: diag + node: planning_validator + name: trajectory_validation_acceleration + + - path: /autoware/planning/trajectory_validation/deceleration + type: diag + node: planning_validator + name: trajectory_validation_deceleration + + - path: /autoware/planning/trajectory_validation/steering + type: diag + node: planning_validator + name: trajectory_validation_steering + + - path: /autoware/planning/trajectory_validation/steering_rate + type: diag + node: planning_validator + name: trajectory_validation_steering_rate + + - path: /autoware/planning/trajectory_validation/velocity_deviation + type: diag + node: planning_validator + name: trajectory_validation_velocity_deviation diff --git a/autoware_launch/config/system/tier4_diagnostics/system.yaml b/autoware_launch/config/system/tier4_diagnostics/system.yaml new file mode 100644 index 0000000000..cb96c2cd7f --- /dev/null +++ b/autoware_launch/config/system/tier4_diagnostics/system.yaml @@ -0,0 +1,27 @@ +units: + - path: /autoware/system + type: and + list: + - { type: link, link: /autoware/system/duplicated_node_checker } + - { type: link, link: /autoware/system/topic_rate_check/emergency_control_command } + - { type: link, link: /autoware/system/emergency_stop_operation } + + - path: /autoware/system/duplicated_node_checker + type: diag + node: duplicated_node_checker + name: duplicated_node_checker + + - path: /autoware/system/service_log_checker + type: diag + node: service_log_checker + name: response_status + + - path: /autoware/system/topic_rate_check/emergency_control_command + type: diag + node: topic_state_monitor_system_emergency_control_cmd + name: system_topic_status + + - path: /autoware/system/emergency_stop_operation + type: diag + node: vehicle_cmd_gate + name: emergency_stop_operation diff --git a/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml b/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml new file mode 100644 index 0000000000..e040e3c3c3 --- /dev/null +++ b/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml @@ -0,0 +1,16 @@ +units: + - path: /autoware/vehicle + type: and + list: + - { type: link, link: /autoware/vehicle/topic_rate_check/velocity } + - { type: link, link: /autoware/vehicle/topic_rate_check/steering } + + - path: /autoware/vehicle/topic_rate_check/velocity + type: diag + node: topic_state_monitor_vehicle_status_velocity_status + name: vehicle_topic_status + + - path: /autoware/vehicle/topic_rate_check/steering + type: diag + node: topic_state_monitor_vehicle_status_steering_status + name: vehicle_topic_status diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 4bf18af889..e22cd542f7 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -37,7 +37,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index e729fef464..a94960d8bf 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,7 +1,7 @@ - + @@ -14,7 +14,7 @@ - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index c4fd15b41c..03044cf090 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -71,7 +71,7 @@ - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 123bd01ed3..ad11e90bdf 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -65,7 +65,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 3c56e11412..3e0ed8d20c 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -70,7 +70,7 @@ - + From 63bfe660ede7f6dacd9bb34ae112eeb4de9d0d04 Mon Sep 17 00:00:00 2001 From: "tier4-autoware-public-bot[bot]" <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Date: Tue, 3 Dec 2024 11:34:57 +0900 Subject: [PATCH 30/39] chore: sync awf-latest (#697) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * refactor(system_diagnostic_monitor, dummy_diag_publisher, diagnostic_graph_aggregator): combine diag list setting directories (#1253) Signed-off-by: yuki-takagi-66 * feat(object_lanelet_filter): add configurable margin for object lanel… (#1210) feat(object_lanelet_filter): add configurable margin for object lanelet filter Signed-off-by: Sebastian Zęderowski Co-authored-by: Sebastian Zęderowski * fix(rviz): fix a bug about visualizing ego model (#1257) fix a visulization bug. Signed-off-by: temkei.kem <1041084556@qq.com> --------- Signed-off-by: yuki-takagi-66 Signed-off-by: Sebastian Zęderowski Signed-off-by: temkei.kem <1041084556@qq.com> Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Co-authored-by: Sebastian Zęderowski Co-authored-by: Sebastian Zęderowski Co-authored-by: Kem (TiankuiXian) <1041084556@qq.com> --- .../detected_object_validation/object_lanelet_filter.param.yaml | 2 ++ .../detection/object_filter/object_lanelet_filter.param.yaml | 2 ++ .../detection/object_filter/radar_lanelet_filter.param.yaml | 2 ++ autoware_launch/rviz/planning_bev.rviz | 2 +- 4 files changed, 7 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml index 99050d9738..d15b2c81cf 100644 --- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml @@ -19,3 +19,5 @@ enabled: false velocity_yaw_threshold: 0.785398 # [rad] (45 deg) object_speed_threshold: 3.0 # [m/s] + debug: false + lanelet_extra_margin: 0.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml index fb6f1131e1..da9b694564 100644 --- a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml @@ -19,3 +19,5 @@ enabled: false velocity_yaw_threshold: 0.785398 # [rad] (45 deg) object_speed_threshold: 3.0 # [m/s] + debug: false + lanelet_extra_margin: 0.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml index 330a4605a1..a784fcb8c0 100644 --- a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml @@ -19,3 +19,5 @@ enabled: false velocity_yaw_threshold: 0.785398 # [rad] (45 deg) object_speed_threshold: 3.0 # [m/s] + debug: false + lanelet_extra_margin: 0.0 diff --git a/autoware_launch/rviz/planning_bev.rviz b/autoware_launch/rviz/planning_bev.rviz index 4b7ce39e51..533b601ccf 100644 --- a/autoware_launch/rviz/planning_bev.rviz +++ b/autoware_launch/rviz/planning_bev.rviz @@ -118,7 +118,7 @@ Visualization Manager: Depth: 5 Durability Policy: Volatile History Policy: Keep Last - Reliability Policy: Best Effort + Reliability Policy: Reliable Value: /robot_description Enabled: true Links: From 491c77620c74f3681684672ff48e8eebba8be4ca Mon Sep 17 00:00:00 2001 From: "tier4-autoware-public-bot[bot]" <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Date: Thu, 5 Dec 2024 11:17:53 +0900 Subject: [PATCH 31/39] chore: sync awf-latest (#701) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * refactor(system_diagnostic_monitor, dummy_diag_publisher, diagnostic_graph_aggregator): combine diag list setting directories (#1253) Signed-off-by: yuki-takagi-66 * feat(object_lanelet_filter): add configurable margin for object lanel… (#1210) feat(object_lanelet_filter): add configurable margin for object lanelet filter Signed-off-by: Sebastian Zęderowski Co-authored-by: Sebastian Zęderowski * fix(rviz): fix a bug about visualizing ego model (#1257) fix a visulization bug. Signed-off-by: temkei.kem <1041084556@qq.com> * refactor(glog_component): prefix package and namespace with autoware (#1245) Signed-off-by: Esteve Fernandez * refactor(global_parameter_loader): prefix package and namespace with autoware (#1246) Signed-off-by: Esteve Fernandez * feat(lane_change): add new lane change parameter (#1224) * add minimum prepare duration parameter Signed-off-by: mohammad alqudah * increase min_prepare_duration to 1.0 s Signed-off-by: mohammad alqudah * increase min prepare duration value, add new parameter Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah --------- Signed-off-by: yuki-takagi-66 Signed-off-by: Sebastian Zęderowski Signed-off-by: temkei.kem <1041084556@qq.com> Signed-off-by: Esteve Fernandez Signed-off-by: mohammad alqudah Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Co-authored-by: Sebastian Zęderowski Co-authored-by: Sebastian Zęderowski Co-authored-by: Kem (TiankuiXian) <1041084556@qq.com> Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --- .../lane_change/lane_change.param.yaml | 4 +++- autoware_launch/config/system/diagnostics/control.yaml | 6 ------ autoware_launch/launch/autoware.launch.xml | 4 ++-- .../launch/components/tier4_system_component.launch.xml | 4 ++-- autoware_launch/launch/e2e_simulator.launch.xml | 2 +- autoware_launch/launch/logging_simulator.launch.xml | 2 +- autoware_launch/launch/planning_simulator.launch.xml | 2 +- autoware_launch/launch/pointcloud_container.launch.py | 2 +- autoware_launch/package.xml | 2 +- 9 files changed, 12 insertions(+), 16 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index fe8915c784..27349f077d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -11,7 +11,8 @@ # trajectory generation trajectory: - prepare_duration: 4.0 + max_prepare_duration: 4.0 + min_prepare_duration: 2.0 lateral_jerk: 0.5 min_longitudinal_acc: -1.0 max_longitudinal_acc: 1.0 @@ -20,6 +21,7 @@ min_lane_changing_velocity: 2.78 lon_acc_sampling_num: 5 lat_acc_sampling_num: 3 + lane_changing_decel_factor: 0.5 # delay lane change delay_lane_change: diff --git a/autoware_launch/config/system/diagnostics/control.yaml b/autoware_launch/config/system/diagnostics/control.yaml index 6a04ed6714..5551ed4575 100644 --- a/autoware_launch/config/system/diagnostics/control.yaml +++ b/autoware_launch/config/system/diagnostics/control.yaml @@ -9,7 +9,6 @@ units: - { type: link, link: /autoware/control/performance_monitoring/lane_departure } - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation } - { type: link, link: /autoware/control/performance_monitoring/control_state } - - { type: link, link: /autoware/control/collision_detector } - path: /autoware/control/local type: and @@ -67,8 +66,3 @@ units: type: diag node: external_cmd_converter name: remote_control_topic_status - - - path: /autoware/control/collision_detector - type: diag - node: collision_detector - name: collision_detect diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index e22cd542f7..b125d23186 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -37,7 +37,7 @@ - + @@ -52,7 +52,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index a94960d8bf..e729fef464 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,7 +1,7 @@ - + @@ -14,7 +14,7 @@ - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 03044cf090..c4fd15b41c 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -71,7 +71,7 @@ - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index ad11e90bdf..123bd01ed3 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -65,7 +65,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 3e0ed8d20c..3c56e11412 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -70,7 +70,7 @@ - + diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py index 650e555e27..d7e31a3e9b 100644 --- a/autoware_launch/launch/pointcloud_container.launch.py +++ b/autoware_launch/launch/pointcloud_container.launch.py @@ -39,7 +39,7 @@ def add_launch_arg(name: str, default_value=None): ) glog_component = ComposableNode( - package="glog_component", + package="autoware_glog_component", plugin="GlogComponent", name="glog_component", namespace="pointcloud_container", diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index 678c08d7b6..52101d1034 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -12,7 +12,7 @@ ament_cmake_auto ad_api_adaptors - global_parameter_loader + autoware_global_parameter_loader python3-bson python3-tornado rviz2 From 8a8f9c89e2f433af7d1550d3f28cfdd71673e96d Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 9 Dec 2024 15:03:29 +0900 Subject: [PATCH 32/39] feat(diag): use tier4 diag graph settings (#705) Signed-off-by: yuki-takagi-66 --- autoware_launch/launch/autoware.launch.xml | 2 +- .../launch/components/tier4_system_component.launch.xml | 4 ++-- autoware_launch/launch/e2e_simulator.launch.xml | 2 +- autoware_launch/launch/logging_simulator.launch.xml | 2 +- autoware_launch/launch/planning_simulator.launch.xml | 2 +- 5 files changed, 6 insertions(+), 6 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index b125d23186..b29819a1aa 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -37,7 +37,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index e729fef464..a94960d8bf 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,7 +1,7 @@ - + @@ -14,7 +14,7 @@ - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index c4fd15b41c..03044cf090 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -71,7 +71,7 @@ - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 123bd01ed3..ad11e90bdf 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -65,7 +65,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 3c56e11412..3e0ed8d20c 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -70,7 +70,7 @@ - + From ac972ab8e5da020f408e6eb1ef37f70e5e9abcb9 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 9 Dec 2024 15:36:57 +0900 Subject: [PATCH 33/39] feat(diag): build tier4 diag settings (#699) * build tier4 settings Signed-off-by: yuki-takagi-66 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../tier4_diagnostics/autoware-awsim.yaml | 3 - .../tier4_diagnostics/autoware-main.yaml | 67 +++---- .../system/tier4_diagnostics/control.yaml | 129 ++++++++---- .../dummy_diag_publisher.param.yaml | 38 ++-- .../tier4_diagnostics/localization.yaml | 110 +++++++--- .../config/system/tier4_diagnostics/map.yaml | 54 ++++- .../system/tier4_diagnostics/perception.yaml | 80 +++++++- .../system/tier4_diagnostics/planning.yaml | 189 ++++++++++++++---- .../system/tier4_diagnostics/sensing.yaml | 35 ++++ .../system/tier4_diagnostics/system.yaml | 61 ++++-- .../system/tier4_diagnostics/vehicle.yaml | 82 +++++++- 11 files changed, 666 insertions(+), 182 deletions(-) create mode 100644 autoware_launch/config/system/tier4_diagnostics/sensing.yaml diff --git a/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml b/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml index 4abae34a31..5456b20c7a 100644 --- a/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml @@ -1,5 +1,2 @@ files: - { path: $(dirname)/autoware-main.yaml } - -edits: - - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml b/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml index fbbfe384f2..fed7797849 100644 --- a/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml @@ -1,26 +1,21 @@ files: - { path: $(dirname)/control.yaml } + # - { path: $(dirname)/hardware.yaml } - { path: $(dirname)/localization.yaml } - { path: $(dirname)/map.yaml } - { path: $(dirname)/perception.yaml } - { path: $(dirname)/planning.yaml } + # - { path: $(dirname)/others.yaml } + # - { path: $(dirname)/sensing.yaml } - { path: $(dirname)/system.yaml } - { path: $(dirname)/vehicle.yaml } units: - path: /autoware/modes/local - type: and - list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - { type: link, link: /autoware/control/local } + type: stale - path: /autoware/modes/remote - type: and - list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - { type: link, link: /autoware/control/remote } + type: stale - path: /autoware/modes/stop type: ok @@ -28,43 +23,45 @@ units: - path: /autoware/modes/autonomous type: and list: - - { type: link, link: /autoware/map } - - { type: link, link: /autoware/localization } - - { type: link, link: /autoware/planning } - - { type: link, link: /autoware/perception } - - { type: link, link: /autoware/control } - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } + - { type: link, link: /map/autonomous_available } + - { type: link, link: /localization/autonomous_available } + - { type: link, link: /planning/autonomous_available } + - { type: link, link: /perception/autonomous_available } + - { type: link, link: /control/autonomous_available } + - { type: link, link: /vehicle/autonomous_available } + - { type: link, link: /system/autonomous_available } - path: /autoware/modes/pull_over type: and list: - - { type: link, link: /autoware/map } - - { type: link, link: /autoware/localization } - - { type: link, link: /autoware/planning } - - { type: link, link: /autoware/perception } - - { type: link, link: /autoware/control } - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } + - { type: link, link: /map/pull_over_available } + - { type: link, link: /localization/pull_over_available } + - { type: link, link: /planning/pull_over_available } + - { type: link, link: /perception/pull_over_available } + - { type: link, link: /control/pull_over_available } + - { type: link, link: /vehicle/pull_over_available } + - { type: link, link: /system/pull_over_available } - path: /autoware/modes/comfortable_stop type: and list: - - { type: link, link: /autoware/map } - - { type: link, link: /autoware/localization } - - { type: link, link: /autoware/planning } - - { type: link, link: /autoware/perception } - - { type: link, link: /autoware/control } - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } + - { type: link, link: /map/comfortable_stop_available } + - { type: link, link: /localization/comfortable_stop_available } + - { type: link, link: /planning/comfortable_stop_available } + - { type: link, link: /perception/comfortable_stop_available } + - { type: link, link: /control/comfortable_stop_available } + - { type: link, link: /vehicle/comfortable_stop_available } + - { type: link, link: /system/comfortable_stop_available } - path: /autoware/modes/emergency_stop - type: and - list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } + type: ok - path: /autoware/debug/tools type: and list: - { type: link, link: /autoware/system/service_log_checker } + + - path: /autoware/system/service_log_checker + type: diag + node: service_log_checker + name: response_status diff --git a/autoware_launch/config/system/tier4_diagnostics/control.yaml b/autoware_launch/config/system/tier4_diagnostics/control.yaml index 6a04ed6714..bedadc17bf 100644 --- a/autoware_launch/config/system/tier4_diagnostics/control.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/control.yaml @@ -1,74 +1,129 @@ units: - - path: /autoware/control + - path: /control/autonomous_available type: and list: - - { type: link, link: /autoware/control/topic_rate_check/trajectory_follower } - - { type: link, link: /autoware/control/topic_rate_check/control_command } - - { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate } - - { type: link, link: /autoware/control/emergency_braking } - - { type: link, link: /autoware/control/performance_monitoring/lane_departure } - - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation } - - { type: link, link: /autoware/control/performance_monitoring/control_state } - - { type: link, link: /autoware/control/collision_detector } - - - path: /autoware/control/local + - { type: link, link: /control/emergency_stop } + - { type: link, link: /control/pull_over } + - { type: link, link: /control/comfortable_stop } + + - path: /control/pull_over_available type: and list: - - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector } - - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter } + - { type: link, link: /control/emergency_stop } + - { type: link, link: /control/comfortable_stop } - - path: /autoware/control/remote + - path: /control/comfortable_stop_available type: and list: - - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector } - - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter } + - { type: link, link: /control/emergency_stop } - - path: /autoware/control/topic_rate_check/trajectory_follower - type: diag - node: topic_state_monitor_trajectory_follower_control_cmd - name: control_topic_status + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /control/emergency_stop + type: and + list: + - { type: link, link: /control/001-topic_status/control_command-error } + - { type: link, link: /control/004-lane_departure-error } + - { type: link, link: /control/005-trajectory_deviation-error } + - { type: link, link: /control/009-aeb_emergency_stop } + # - { type: link, link: /control/010-max_distance_deviation-error } + # - { type: link, link: /control/011-slip_detection } + - { type: link, link: /control/collision_detector } + + - path: /control/comfortable_stop + type: and + + - path: /control/pull_over + type: and + + - path: /control/none + type: and + list: + - { type: link, link: /control/003-gate_heartbeat } + - { type: link, link: /control/007-external_command_converter_heartbeat } + - { type: link, link: /control/008-external_command_selector_heartbeat } + + # Intermediate paths + - path: /control/001-topic_status/control_command-error + type: warn-to-ok + item: + type: link + link: /control/001-topic_status/control_command + + - path: /control/004-lane_departure-error + type: warn-to-ok + item: + type: link + link: /control/004-lane_departure + + - path: /control/005-trajectory_deviation-error + type: warn-to-ok + item: + type: link + link: /control/005-trajectory_deviation - - path: /autoware/control/topic_rate_check/control_command + - path: /control/010-max_distance_deviation-error + type: warn-to-ok + item: + type: link + link: /control/010-max_distance_deviation + + - path: /control/001-topic_status/control_command type: diag node: topic_state_monitor_control_command_control_cmd name: control_topic_status + timeout: 1.0 - - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate + - path: /control/003-gate_heartbeat type: diag node: vehicle_cmd_gate name: heartbeat + timeout: 1.0 - - path: /autoware/control/emergency_braking - type: diag - node: autonomous_emergency_braking - name: aeb_emergency_stop - - - path: /autoware/control/performance_monitoring/lane_departure + - path: /control/004-lane_departure type: diag node: lane_departure_checker_node name: lane_departure + timeout: 1.0 - - path: /autoware/control/performance_monitoring/trajectory_deviation + - path: /control/005-trajectory_deviation type: diag node: lane_departure_checker_node name: trajectory_deviation + timeout: 1.0 - - path: /autoware/control/performance_monitoring/control_state + - path: /control/007-external_command_converter_heartbeat type: diag - node: controller_node_exe - name: control_state + node: external_cmd_converter + name: remote_control_topic_status + timeout: 1.0 - - path: /autoware/control/topic_rate_check/external_cmd_selector + - path: /control/008-external_command_selector_heartbeat type: diag node: external_cmd_selector name: heartbeat + timeout: 1.0 - - path: /autoware/control/topic_rate_check/external_cmd_converter + - path: /control/009-aeb_emergency_stop type: diag - node: external_cmd_converter - name: remote_control_topic_status + node: autonomous_emergency_braking + name: aeb_emergency_stop + timeout: 1.0 + + - path: /control/010-max_distance_deviation + type: diag + node: control_validator + name: control_validation_max_distance_deviation + timeout: 1.0 + + - path: /control/011-slip_detection + type: diag + node: slip_detector + name: slip_status + timeout: 3.0 - - path: /autoware/control/collision_detector + - path: /control/collision_detector type: diag node: collision_detector name: collision_detect diff --git a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml index 0ed824d3c8..b5c168cdd0 100644 --- a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml @@ -14,23 +14,35 @@ /**: ros__parameters: required_diags: - # map - ## /autoware/map/topic_rate_check/pointcloud_map - "topic_state_monitor_pointcloud_map: map_topic_status": default - # localization - ## /autoware/localization/scan_matching_status - "ndt_scan_matcher: scan_matching_status": default + ## /localization/001-topic_status/initialpose + "topic_state_monitor_initialpose3d: localization_topic_status": default - ## /autoware/localization/accuracy - "localization_error_monitor: ellipse_error_status": default + ## /localization/001-topic_status/pose_twist_fusion_filter + "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default - ## /autoware/localization/sensor_fusion_status - "localization: ekf_localizer": default + ## /localization/002-tf + "topic_state_monitor_transform_map_to_base_link: localization_topic_status": default - ## /autoware/localization/topic_rate_check/pose_twist_fusion - "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default + ## /localization/003-matching_score + "ndt_scan_matcher: scan_matching_status": default + + ## /localization/004-accuracy + "localization: localization_error_monitor": default + + # map + ## /map/001-topic_status/pointcloud_map + "topic_state_monitor_pointcloud_map: map_topic_status": default # perception - ## /autoware/perception/topic_rate_check/pointcloud + ## /perception/001-topic_status/traffic_signals + "topic_state_monitor_traffic_light_recognition_traffic_signals: perception_topic_status": default + + ## /perception/001-topic_status/objects + "topic_state_monitor_object_recognition_objects: perception_topic_status": default + + ## /perception/001-topic_status/pointcloud "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default + + ## /perception/002-detection_delay + "multi_object_tracker: Perception delay check from original header stamp": default diff --git a/autoware_launch/config/system/tier4_diagnostics/localization.yaml b/autoware_launch/config/system/tier4_diagnostics/localization.yaml index 1100f2edac..45adcac68e 100644 --- a/autoware_launch/config/system/tier4_diagnostics/localization.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/localization.yaml @@ -1,43 +1,99 @@ units: - - path: /autoware/localization - type: short-circuit-and + - path: /localization/autonomous_available + type: and list: - - type: link - link: /autoware/localization/state - - type: and - list: - - { type: link, link: /autoware/localization/topic_rate_check/transform } - - { type: link, link: /autoware/localization/topic_rate_check/pose_twist_fusion } - - { type: link, link: /autoware/localization/scan_matching_status } - - { type: link, link: /autoware/localization/accuracy } - - { type: link, link: /autoware/localization/sensor_fusion_status } - - - path: /autoware/localization/state - type: diag - node: component_state_diagnostics - name: localization_state + - { type: link, link: /localization/emergency_stop } + - { type: link, link: /localization/pull_over } + - { type: link, link: /localization/comfortable_stop } + + - path: /localization/pull_over_available + type: and + list: + - { type: link, link: /localization/emergency_stop } + - { type: link, link: /localization/comfortable_stop } + + - path: /localization/comfortable_stop_available + type: and + list: + - { type: link, link: /localization/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /localization/emergency_stop + type: and + list: + - { type: link, link: /localization/001-topic_status/initialpose-error } + - { type: link, link: /localization/001-topic_status/pose_twist_fusion_filter-error } + - { type: link, link: /localization/002-tf-error } + - { type: link, link: /localization/003-matching_score-error } + - { type: link, link: /localization/004-accuracy-error } + + - path: /localization/comfortable_stop + type: and + + - path: /localization/pull_over + type: and + + - path: /localization/none + type: and + + - path: /localization/001-topic_status/initialpose-error + type: warn-to-ok + item: + type: link + link: /localization/001-topic_status/initialpose - - path: /autoware/localization/topic_rate_check/transform + - path: /localization/001-topic_status/pose_twist_fusion_filter-error + type: warn-to-ok + item: + type: link + link: /localization/001-topic_status/pose_twist_fusion_filter + + - path: /localization/002-tf-error + type: warn-to-ok + item: + type: link + link: /localization/002-tf + + - path: /localization/003-matching_score-error + type: warn-to-ok + item: + type: link + link: /localization/003-matching_score + + - path: /localization/004-accuracy-error + type: warn-to-ok + item: + type: link + link: /localization/004-accuracy + + - path: /localization/001-topic_status/initialpose type: diag - node: topic_state_monitor_transform_map_to_base_link + node: topic_state_monitor_initialpose3d name: localization_topic_status + timeout: 1.0 - - path: /autoware/localization/topic_rate_check/pose_twist_fusion + - path: /localization/001-topic_status/pose_twist_fusion_filter type: diag node: topic_state_monitor_pose_twist_fusion_filter_pose name: localization_topic_status + timeout: 1.0 - - path: /autoware/localization/scan_matching_status + - path: /localization/002-tf type: diag - node: ndt_scan_matcher - name: scan_matching_status + node: topic_state_monitor_transform_map_to_base_link + name: localization_topic_status + timeout: 1.0 - - path: /autoware/localization/accuracy + - path: /localization/003-matching_score type: diag - node: localization_error_monitor - name: ellipse_error_status + node: ndt_scan_matcher + name: scan_matching_status + timeout: 1.0 - - path: /autoware/localization/sensor_fusion_status + - path: /localization/004-accuracy type: diag node: localization - name: ekf_localizer + name: localization_error_monitor + timeout: 1.0 diff --git a/autoware_launch/config/system/tier4_diagnostics/map.yaml b/autoware_launch/config/system/tier4_diagnostics/map.yaml index 231ac6eb5f..685956f160 100644 --- a/autoware_launch/config/system/tier4_diagnostics/map.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/map.yaml @@ -1,16 +1,60 @@ units: - - path: /autoware/map + - path: /map/autonomous_available type: and list: - - { type: link, link: /autoware/map/topic_rate_check/vector_map } - - { type: link, link: /autoware/map/topic_rate_check/pointcloud_map } + - { type: link, link: /map/emergency_stop } + - { type: link, link: /map/pull_over } + - { type: link, link: /map/comfortable_stop } - - path: /autoware/map/topic_rate_check/vector_map + - path: /map/pull_over_available + type: and + list: + - { type: link, link: /map/emergency_stop } + - { type: link, link: /map/comfortable_stop } + + - path: /map/comfortable_stop_available + type: and + list: + - { type: link, link: /map/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /map/emergency_stop + type: and + list: + - { type: link, link: /map/001-topic_status/vector_map-error } + - { type: link, link: /map/001-topic_status/pointcloud_map-error } + + - path: /map/comfortable_stop + type: and + + - path: /map/pull_over + type: and + + - path: /map/none + type: and + + - path: /map/001-topic_status/vector_map-error + type: warn-to-ok + item: + type: link + link: /map/001-topic_status/vector_map + + - path: /map/001-topic_status/pointcloud_map-error + type: warn-to-ok + item: + type: link + link: /map/001-topic_status/pointcloud_map + + - path: /map/001-topic_status/vector_map type: diag node: topic_state_monitor_vector_map name: map_topic_status + timeout: 1.0 - - path: /autoware/map/topic_rate_check/pointcloud_map + - path: /map/001-topic_status/pointcloud_map type: diag node: topic_state_monitor_pointcloud_map name: map_topic_status + timeout: 1.0 diff --git a/autoware_launch/config/system/tier4_diagnostics/perception.yaml b/autoware_launch/config/system/tier4_diagnostics/perception.yaml index 24e3c4eed5..273e7ada84 100644 --- a/autoware_launch/config/system/tier4_diagnostics/perception.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/perception.yaml @@ -1,16 +1,86 @@ units: - - path: /autoware/perception + - path: /perception/autonomous_available type: and list: - - { type: link, link: /autoware/perception/topic_rate_check/objects } - - { type: link, link: /autoware/perception/topic_rate_check/pointcloud } + - { type: link, link: /perception/emergency_stop } + - { type: link, link: /perception/pull_over } + - { type: link, link: /perception/comfortable_stop } - - path: /autoware/perception/topic_rate_check/objects + - path: /perception/pull_over_available + type: and + list: + - { type: link, link: /perception/emergency_stop } + - { type: link, link: /perception/comfortable_stop } + + - path: /perception/comfortable_stop_available + type: and + list: + - { type: link, link: /perception/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /perception/emergency_stop + type: and + list: + - { type: link, link: /perception/001-topic_status/traffic_signals-error } + - { type: link, link: /perception/001-topic_status/objects-error } + - { type: link, link: /perception/001-topic_status/pointcloud-error } + - { type: link, link: /perception/002-detection_delay-error } + + - path: /perception/comfortable_stop + type: and + + - path: /perception/pull_over + type: and + + - path: /perception/none + type: and + + - path: /perception/001-topic_status/traffic_signals-error + type: warn-to-ok + item: + type: link + link: /perception/001-topic_status/traffic_signals + + - path: /perception/001-topic_status/objects-error + type: warn-to-ok + item: + type: link + link: /perception/001-topic_status/objects + + - path: /perception/001-topic_status/pointcloud-error + type: warn-to-ok + item: + type: link + link: /perception/001-topic_status/pointcloud + + - path: /perception/002-detection_delay-error + type: warn-to-ok + item: + type: link + link: /perception/002-detection_delay + + - path: /perception/001-topic_status/traffic_signals + type: diag + node: topic_state_monitor_traffic_light_recognition_traffic_signals + name: perception_topic_status + timeout: 1.0 + + - path: /perception/001-topic_status/objects type: diag node: topic_state_monitor_object_recognition_objects name: perception_topic_status + timeout: 1.0 - - path: /autoware/perception/topic_rate_check/pointcloud + - path: /perception/001-topic_status/pointcloud type: diag node: topic_state_monitor_obstacle_segmentation_pointcloud name: perception_topic_status + timeout: 1.0 + + - path: /perception/002-detection_delay + type: diag + node: multi_object_tracker + name: Perception delay check from original header stamp + timeout: 1.0 diff --git a/autoware_launch/config/system/tier4_diagnostics/planning.yaml b/autoware_launch/config/system/tier4_diagnostics/planning.yaml index c403fec237..3a8240aedd 100644 --- a/autoware_launch/config/system/tier4_diagnostics/planning.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/planning.yaml @@ -1,90 +1,203 @@ units: - - path: /autoware/planning - type: short-circuit-and + - path: /planning/autonomous_available + type: and list: - - type: link - link: /autoware/planning/routing/state - - type: and - list: - - { type: link, link: /autoware/planning/topic_rate_check/route } - - { type: link, link: /autoware/planning/topic_rate_check/trajectory } - - { type: link, link: /autoware/planning/trajectory_validation } - - - path: /autoware/planning/trajectory_validation + - { type: link, link: /planning/emergency_stop } + - { type: link, link: /planning/pull_over } + - { type: link, link: /planning/comfortable_stop } + + - path: /planning/pull_over_available type: and list: - - { type: link, link: /autoware/planning/trajectory_validation/finite } - - { type: link, link: /autoware/planning/trajectory_validation/interval } - - { type: link, link: /autoware/planning/trajectory_validation/curvature } - - { type: link, link: /autoware/planning/trajectory_validation/angle } - - { type: link, link: /autoware/planning/trajectory_validation/lateral_acceleration } - - { type: link, link: /autoware/planning/trajectory_validation/acceleration } - - { type: link, link: /autoware/planning/trajectory_validation/deceleration } - - { type: link, link: /autoware/planning/trajectory_validation/steering } - - { type: link, link: /autoware/planning/trajectory_validation/steering_rate } - - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation } - - - path: /autoware/planning/routing/state - type: diag - node: component_state_diagnostics - name: route_state + - { type: link, link: /planning/emergency_stop } + - { type: link, link: /planning/comfortable_stop } + + - path: /planning/comfortable_stop_available + type: and + list: + - { type: link, link: /planning/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /planning/emergency_stop + type: and + list: + - { type: link, link: /planning/001-topic_status/route-error } + - { type: link, link: /planning/001-topic_status/trajectory-error } + - { type: link, link: /planning/003-trajectory_finite_validation-error } + - { type: link, link: /planning/004-trajectory_interval_validation-error } + - { type: link, link: /planning/005-trajectory_curvature_validation-error } + - { type: link, link: /planning/006-trajectory_relative_angle_validation-error } + - { type: link, link: /planning/007-trajectory_lateral_acceleration_validation-error } + - { type: link, link: /planning/008-trajectory_acceleration_validation-error } + - { type: link, link: /planning/009-trajectory_deceleration_validation-error } + - { type: link, link: /planning/010-trajectory_steering_validation-error } + - { type: link, link: /planning/011-trajectory_steering_rate_validation-error } + - { type: link, link: /planning/012-trajectory_velocity_deviation_validation-error } + # - { type: link, link: /planning/013-collision_checker-error } + + - path: /planning/comfortable_stop + type: and + + - path: /planning/pull_over + type: and + + - path: /planning/none + type: and - - path: /autoware/planning/topic_rate_check/route + - path: /planning/001-topic_status/route-error + type: warn-to-ok + item: + type: link + link: /planning/001-topic_status/route + + - path: /planning/001-topic_status/trajectory-error + type: warn-to-ok + item: + type: link + link: /planning/001-topic_status/trajectory + + - path: /planning/003-trajectory_finite_validation-error + type: warn-to-ok + item: + type: link + link: /planning/003-trajectory_finite_validation + + - path: /planning/004-trajectory_interval_validation-error + type: warn-to-ok + item: + type: link + link: /planning/004-trajectory_interval_validation + + - path: /planning/005-trajectory_curvature_validation-error + type: warn-to-ok + item: + type: link + link: /planning/005-trajectory_curvature_validation + + - path: /planning/006-trajectory_relative_angle_validation-error + type: warn-to-ok + item: + type: link + link: /planning/006-trajectory_relative_angle_validation + + - path: /planning/007-trajectory_lateral_acceleration_validation-error + type: warn-to-ok + item: + type: link + link: /planning/007-trajectory_lateral_acceleration_validation + + - path: /planning/008-trajectory_acceleration_validation-error + type: warn-to-ok + item: + type: link + link: /planning/008-trajectory_acceleration_validation + + - path: /planning/009-trajectory_deceleration_validation-error + type: warn-to-ok + item: + type: link + link: /planning/009-trajectory_deceleration_validation + + - path: /planning/010-trajectory_steering_validation-error + type: warn-to-ok + item: + type: link + link: /planning/010-trajectory_steering_validation + + - path: /planning/011-trajectory_steering_rate_validation-error + type: warn-to-ok + item: + type: link + link: /planning/011-trajectory_steering_rate_validation + + - path: /planning/012-trajectory_velocity_deviation_validation-error + type: warn-to-ok + item: + type: link + link: /planning/012-trajectory_velocity_deviation_validation + + - path: /planning/013-collision_checker-error + type: warn-to-ok + item: + type: link + link: /planning/013-collision_checker + + - path: /planning/001-topic_status/route type: diag node: topic_state_monitor_mission_planning_route name: planning_topic_status + timeout: 1.0 - - path: /autoware/planning/topic_rate_check/trajectory + - path: /planning/001-topic_status/trajectory type: diag node: topic_state_monitor_scenario_planning_trajectory name: planning_topic_status + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/finite + - path: /planning/003-trajectory_finite_validation type: diag node: planning_validator name: trajectory_validation_finite + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/interval + - path: /planning/004-trajectory_interval_validation type: diag node: planning_validator name: trajectory_validation_interval + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/curvature + - path: /planning/005-trajectory_curvature_validation type: diag node: planning_validator name: trajectory_validation_curvature + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/angle + - path: /planning/006-trajectory_relative_angle_validation type: diag node: planning_validator name: trajectory_validation_relative_angle + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/lateral_acceleration + - path: /planning/007-trajectory_lateral_acceleration_validation type: diag node: planning_validator name: trajectory_validation_lateral_acceleration + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/acceleration + - path: /planning/008-trajectory_acceleration_validation type: diag node: planning_validator name: trajectory_validation_acceleration + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/deceleration + - path: /planning/009-trajectory_deceleration_validation type: diag node: planning_validator name: trajectory_validation_deceleration + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/steering + - path: /planning/010-trajectory_steering_validation type: diag node: planning_validator name: trajectory_validation_steering + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/steering_rate + - path: /planning/011-trajectory_steering_rate_validation type: diag node: planning_validator name: trajectory_validation_steering_rate + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/velocity_deviation + - path: /planning/012-trajectory_velocity_deviation_validation type: diag node: planning_validator name: trajectory_validation_velocity_deviation + timeout: 1.0 + + - path: /planning/013-collision_checker + type: diag + node: collision_checker + name: collision_check + timeout: 1.0 diff --git a/autoware_launch/config/system/tier4_diagnostics/sensing.yaml b/autoware_launch/config/system/tier4_diagnostics/sensing.yaml new file mode 100644 index 0000000000..a253858f7f --- /dev/null +++ b/autoware_launch/config/system/tier4_diagnostics/sensing.yaml @@ -0,0 +1,35 @@ +units: + - path: /sensing/autonomous_available + type: and + list: + - { type: link, link: /sensing/emergency_stop } + - { type: link, link: /sensing/pull_over } + - { type: link, link: /sensing/comfortable_stop } + + - path: /sensing/pull_over_available + type: and + list: + - { type: link, link: /sensing/emergency_stop } + - { type: link, link: /sensing/comfortable_stop } + + - path: /sensing/comfortable_stop_available + type: and + list: + - { type: link, link: /sensing/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /sensing/emergency_stop + type: + and + # - { type: link, link: /sensing/radar/001-connection } + + - path: /sensing/pull_over + type: and + + - path: /sensing/comfortable_stop + type: and + + - path: /sensing/none + type: and diff --git a/autoware_launch/config/system/tier4_diagnostics/system.yaml b/autoware_launch/config/system/tier4_diagnostics/system.yaml index cb96c2cd7f..8735ba5a98 100644 --- a/autoware_launch/config/system/tier4_diagnostics/system.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/system.yaml @@ -1,27 +1,60 @@ units: - - path: /autoware/system + - path: /system/autonomous_available type: and list: - - { type: link, link: /autoware/system/duplicated_node_checker } - - { type: link, link: /autoware/system/topic_rate_check/emergency_control_command } - - { type: link, link: /autoware/system/emergency_stop_operation } + - { type: link, link: /system/emergency_stop } + - { type: link, link: /system/pull_over } + - { type: link, link: /system/comfortable_stop } - - path: /autoware/system/duplicated_node_checker - type: diag - node: duplicated_node_checker - name: duplicated_node_checker + - path: /system/pull_over_available + type: and + list: + - { type: link, link: /system/emergency_stop } + - { type: link, link: /system/comfortable_stop } - - path: /autoware/system/service_log_checker - type: diag - node: service_log_checker - name: response_status + - path: /system/comfortable_stop_available + type: and + list: + - { type: link, link: /system/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /system/emergency_stop + type: and + list: + - { type: link, link: /system/001-topic_status-error } + - { type: link, link: /system/002-emergency_stop_operation-error } + + - path: /system/comfortable_stop + type: and + + - path: /system/pull_over + type: and + + - path: /system/none + type: and + + - path: /system/001-topic_status-error + type: warn-to-ok + item: + type: link + link: /system/001-topic_status + + - path: /system/002-emergency_stop_operation-error + type: warn-to-ok + item: + type: link + link: /system/002-emergency_stop_operation - - path: /autoware/system/topic_rate_check/emergency_control_command + - path: /system/001-topic_status type: diag node: topic_state_monitor_system_emergency_control_cmd name: system_topic_status + timeout: 1.0 - - path: /autoware/system/emergency_stop_operation + - path: /system/002-emergency_stop_operation type: diag node: vehicle_cmd_gate name: emergency_stop_operation + timeout: 1.0 diff --git a/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml b/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml index e040e3c3c3..0034709dbc 100644 --- a/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml @@ -1,16 +1,88 @@ units: - - path: /autoware/vehicle + - path: /vehicle/autonomous_available type: and list: - - { type: link, link: /autoware/vehicle/topic_rate_check/velocity } - - { type: link, link: /autoware/vehicle/topic_rate_check/steering } + - { type: link, link: /vehicle/emergency_stop } + - { type: link, link: /vehicle/pull_over } + - { type: link, link: /vehicle/comfortable_stop } - - path: /autoware/vehicle/topic_rate_check/velocity + - path: /vehicle/pull_over_available + type: and + list: + - { type: link, link: /vehicle/emergency_stop } + - { type: link, link: /vehicle/comfortable_stop } + + - path: /vehicle/comfortable_stop_available + type: and + list: + - { type: link, link: /vehicle/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /vehicle/emergency_stop + type: and + list: + - { type: link, link: /vehicle/001-topic_status/velocity-error } + - { type: link, link: /vehicle/001-topic_status/steering-error } + # - { type: link, link: /vehicle/005-vehicle_heartbeat-error } + # - { type: link, link: /vehicle/006-vehicle_errors-error } + + - path: /vehicle/comfortable_stop + type: and + # list: + # - { type: link, link: /vehicle/006-vehicle_errors } + + - path: /vehicle/pull_over + type: and + + - path: /vehicle/none + type: and + + - path: /vehicle/001-topic_status/velocity-error + type: warn-to-ok + item: + type: link + link: /vehicle/001-topic_status/velocity + + - path: /vehicle/001-topic_status/steering-error + type: warn-to-ok + item: + type: link + link: /vehicle/001-topic_status/steering + + # - path: /vehicle/005-vehicle_heartbeat-error + # type: warn-to-ok + # item: + # type: link + # link: /vehicle/005-vehicle_heartbeat + + # - path: /vehicle/006-vehicle_errors-error + # type: warn-to-ok + # item: + # type: link + # link: /vehicle/006-vehicle_errors + + - path: /vehicle/001-topic_status/velocity type: diag node: topic_state_monitor_vehicle_status_velocity_status name: vehicle_topic_status + timeout: 1.0 - - path: /autoware/vehicle/topic_rate_check/steering + - path: /vehicle/001-topic_status/steering type: diag node: topic_state_monitor_vehicle_status_steering_status name: vehicle_topic_status + timeout: 1.0 + + # - path: /vehicle/005-vehicle_heartbeat + # type: diag + # node: + # name: vehicle_heartbeat_errors + # timeout: 1.0 + + # - path: /vehicle/006-vehicle_errors + # type: diag + # node: + # name: vehicle_errors + # timeout: 1.0 From 5e3e6d10dcaa78cf729769335573fe62d0cdd9b6 Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Tue, 10 Dec 2024 09:03:26 +0900 Subject: [PATCH 34/39] Fixed the diag name of /localization/004-accuracy Signed-off-by: Shintaro Sakoda --- .../config/system/tier4_diagnostics/localization.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/system/tier4_diagnostics/localization.yaml b/autoware_launch/config/system/tier4_diagnostics/localization.yaml index 45adcac68e..22bfa26ae0 100644 --- a/autoware_launch/config/system/tier4_diagnostics/localization.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/localization.yaml @@ -94,6 +94,6 @@ units: - path: /localization/004-accuracy type: diag - node: localization - name: localization_error_monitor + node: localization_error_monitor + name: ellipse_error_status timeout: 1.0 From 244897d9986550025dc9cf1d3d924e6b5fdf6930 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 10 Dec 2024 12:10:41 +0900 Subject: [PATCH 35/39] Update autoware_launch/rviz/autoware.rviz Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> --- autoware_launch/rviz/autoware.rviz | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index fa87d5f3c3..f7d363655f 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -281,7 +281,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /logging_diag_graph/debug/error_graph + Value: /logging_diag_graph/debug/error_graph_text Value: true Value height offset: 0 Enabled: true From 7952ed90aafcf273d5c7300f744ccfd64a52d1fa Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Tue, 10 Dec 2024 18:53:01 +0900 Subject: [PATCH 36/39] Fixed tier4 dummy_diag_publisher.param.yaml Signed-off-by: Shintaro Sakoda --- .../system/tier4_diagnostics/dummy_diag_publisher.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml index b5c168cdd0..8a171c01f6 100644 --- a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml @@ -28,7 +28,7 @@ "ndt_scan_matcher: scan_matching_status": default ## /localization/004-accuracy - "localization: localization_error_monitor": default + "localization_error_monitor: ellipse_error_status": default # map ## /map/001-topic_status/pointcloud_map From a2b42aaf53c74d5446eebe4ffff8d71f0d9944b1 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Wed, 18 Dec 2024 17:54:00 +0900 Subject: [PATCH 37/39] feat(diagnostics_graph_aggregator): add velocity control diags (#720) Signed-off-by: yuki-takagi-66 --- .../config/system/tier4_diagnostics/control.yaml | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/autoware_launch/config/system/tier4_diagnostics/control.yaml b/autoware_launch/config/system/tier4_diagnostics/control.yaml index bedadc17bf..3904d210d5 100644 --- a/autoware_launch/config/system/tier4_diagnostics/control.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/control.yaml @@ -30,6 +30,8 @@ units: # - { type: link, link: /control/010-max_distance_deviation-error } # - { type: link, link: /control/011-slip_detection } - { type: link, link: /control/collision_detector } + - { type: link, link: /control/rolling_back } + - { type: link, link: /control/over_velocity } - path: /control/comfortable_stop type: and @@ -127,3 +129,13 @@ units: type: diag node: collision_detector name: collision_detect + + - path: /control/rolling_back + type: diag + node: control_validator + name: control_validation_rolling_back + + - path: /control/over_velocity + type: diag + node: control_validator + name: control_validation_over_velocity From 7e6dcb0de2455cf3a6f11efe88b91ef7d01596bb Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 25 Dec 2024 19:15:54 +0900 Subject: [PATCH 38/39] feat(rviz): visualize error dig graph by autoware_string_stamped_rviz_plugin/StringStampedOverlayDisplay Signed-off-by: Takayuki Murooka --- autoware_launch/rviz/autoware.rviz | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 9b267831c0..a1fe107c86 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -268,7 +268,7 @@ Visualization Manager: Primary Color: 174; 174; 174 Enabled: true Name: Vehicle - - Class: rviz_plugins/StringStampedOverlayDisplay + - Class: autoware_string_stamped_rviz_plugin/StringStampedOverlayDisplay Enabled: true Font Size: 12 Left: 10 From 9a26f15f151106058451ae0a92cc640502ef72d9 Mon Sep 17 00:00:00 2001 From: "Y.Hisaki" Date: Thu, 16 Jan 2025 22:51:36 +0900 Subject: [PATCH 39/39] add v2i to behavior_velocity_traffic_light Signed-off-by: Y.Hisaki --- .../behavior_velocity_planner/traffic_light.param.yaml | 6 ++++++ autoware_launch/launch/autoware.launch.xml | 10 ++++++++++ autoware_launch/launch/logging_simulator.launch.xml | 2 ++ autoware_launch/launch/planning_simulator.launch.xml | 2 ++ 4 files changed, 20 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml index 23746a61b6..191af77522 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml @@ -7,3 +7,9 @@ yellow_lamp_period: 2.75 enable_pass_judge: true enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval + + v2i: + use_rest_time: true + last_time_allowed_to_pass: 2.0 # relative time against at the time of turn to red + velocity_threshold: 0.5 # change the decision logic whether the current velocity is faster or not + required_time_to_departure: 3.0 # prevent low speed pass diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index b29819a1aa..c22202e452 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -23,6 +23,7 @@ + @@ -124,6 +125,15 @@ + + + + + + + + + + + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 3e0ed8d20c..c7343c0d7a 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -78,6 +78,8 @@ + +