chore: cherry pick misc (autowarefoundation#423)

* chore: remove unknown object form avoidance target (autowarefoundation#391) * Adjust parameters according to vehicle size * chore: display virtul wall of obstacle cruise slowdown (autowarefoundation#407) display virtul wall of obstacle cruise slowdown * fix: lidar_model_param_path (autowarefoundation#388) * fix: lidar_model_param_path * chore: move * chore: delete unused param --------- Co-authored-by: Shohei Sakai <[email protected]>
badai-nguyen · Sep 13, 2023 · 313327e · 313327e
1 parent ed947d4
commit 313327e
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Showing 6 changed files with 7 additions and 10 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -68,7 +68,7 @@
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         unknown:
-          is_target: true
+          is_target: false
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0

diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -96,7 +96,7 @@
           max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
 
       slow_down:
-        max_lat_margin: 1.1  # lateral margin between obstacle and trajectory band with ego's width
+        max_lat_margin: 0.8  # lateral margin between obstacle and trajectory band with ego's width
         lat_hysteresis_margin: 0.2
 
         successive_num_to_entry_slow_down_condition: 5
@@ -169,7 +169,7 @@
     slow_down:
       # parameters to calculate slow down velocity by linear interpolation
       min_lat_margin: 0.2
-      max_lat_margin: 1.0
+      max_lat_margin: 0.7
       min_ego_velocity: 2.0
       max_ego_velocity: 8.0
 

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -41,7 +41,6 @@
   <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
   <arg name="centerpoint_model_path" default="/opt/autoware/mlmodels/centerpoint" description="path of centerpoint model file"/>
-  <arg name="centerpoint_model_param_path" default="/opt/autoware/mlmodels/centerpoint/aip_x2.param.yaml" description="path of centerpoint parameter file"/>
 
   <!-- Global parameters -->
   <group scoped="false">

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -21,7 +21,7 @@
     <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
     <arg name="centerpoint_model_name" value="aip_x2"/>
     <arg name="centerpoint_model_path" value="$(var centerpoint_model_path)"/>
-    <arg name="centerpoint_model_param_path" value="$(var centerpoint_model_param_path)"/>
+    <arg name="object_recognition_detection_lidar_model_param_path" value="$(var centerpoint_model_path)"/>
     <arg name="traffic_light_recognition/fusion_only" value="true"/>
     <arg name="namespace1" value="camera7"/>
     <arg name="remove_unknown" value="false"/>
@@ -71,7 +71,7 @@
       name="object_recognition_detection_object_merger_distance_threshold_list_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
     />
-    <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
+    <!-- <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/> -->
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -33,7 +33,6 @@
   <arg name="scenario_simulation" default="true" description="use scenario simulation"/>
   <!-- Perception -->
   <arg name="centerpoint_model_path" default="/opt/autoware/mlmodels/centerpoint" description="path of centerpoint model file"/>
-  <arg name="centerpoint_model_param_path" default="/opt/autoware/mlmodels/centerpoint/aip_x2.param.yaml" description="path of centerpoint parameter file"/>
 
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
@@ -69,7 +68,6 @@
       <arg name="launch_sensing_driver" value="false"/>
       <!-- Perception -->
       <arg name="centerpoint_model_path" value="$(var centerpoint_model_path)"/>
-      <arg name="centerpoint_model_param_path" value="$(var centerpoint_model_param_path)"/>
       <!-- V2X -->
       <arg name="launch_v2x" value="false"/>
     </include>

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -2223,7 +2223,7 @@ Visualization Manager:
                                 Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall
                               Value: true
                             - Class: rviz_default_plugins/MarkerArray
-                              Enabled: true
+                              Enabled: false
                               Name: DebugMarker
                               Namespaces:
                                 {}
@@ -2234,7 +2234,7 @@ Visualization Manager:
                                 Reliability Policy: Reliable
                                 Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker
                               Value: true
-                          Enabled: false
+                          Enabled: true
                           Name: ObstacleCruise
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false