Merge pull request autowarefoundation#788 from tier4/sync-awf-latest

chore: sync awf-latest
tier4 · Feb 20, 2023 · 97572d3 · 97572d3
2 parents ef7cd4e + 8dd3ecb
commit 97572d3
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,5 +1,5 @@
 ci:
-  autofix_commit_msg: "ci(pre-commit): autofix"
+  autofix_commit_msg: "style(pre-commit): autofix"
   autoupdate_commit_msg: "ci(pre-commit): autoupdate"
 
 repos:
@@ -37,7 +37,10 @@ repos:
     rev: v0.8.0
     hooks:
       - id: flake8-ros
+      - id: prettier-xacro
+      - id: prettier-launch-xml
       - id: prettier-package-xml
+      - id: ros-include-guard
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py

diff --git a/README.md b/README.md
@@ -1,23 +1,3 @@
-# autoware_launcher
+# autoware_launch
 
-## Getting started
-
-### Using real vehicle
-
-```bash
-ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=[vehicle_name] sensor_model:=[sensor_name]
-```
-
-### Using planning simulator
-
-```bash
-ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map_folder vehicle_model:=[vehicle_name] sensor_model:=[sensor_name]
-```
-
-## Directory structure
-
-- [autoware_launch](./autoware_launch)
-- [control_launch](./control_launch)
-- [integration_launch](./integration_launch)
-- [planning_launch](./planning_launch)
-- [system_launch](./system_launch)
+A launch configuration repository for [Autoware](https://github.com/autowarefoundation/autoware), containing node configurations and their parameters.
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -51,6 +51,7 @@
     num_threads: 4
 
     # The covariance of output pose
+    # Do note that this covariance matrix is empirically derived
     output_pose_covariance:
       [
         0.0225, 0.0,   0.0,   0.0,      0.0,      0.0,

diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -2,6 +2,7 @@
   ros__parameters:
     lane_change:
       lane_change_prepare_duration: 4.0         # [s]
+      lane_changing_safety_check_duration: 8.0  # [s]
 
       minimum_lane_change_prepare_distance: 2.0 # [m]
       minimum_lane_change_length: 16.5          # [m]

diff --git a/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -15,15 +15,20 @@
         margin_behind: 0.5 # [m] ahead margin for detection area length
         margin_ahead: 1.0  # [m] behind margin for detection area length
 
+      # This area uses points not filtered by vector map to ensure safety
+      mandatory_area:
+        decel_jerk: -1.2 # [m/s^3] deceleration jerk for obstacles in this area
+
       # parameter to create abstracted dynamic obstacles
       dynamic_obstacle:
-        min_vel_kmph: 0.0         # [km/h] minimum velocity for dynamic obstacles
-        max_vel_kmph: 5.0         # [km/h] maximum velocity for dynamic obstacles
-        diameter: 0.1             # [m] diameter of obstacles. used for creating dynamic obstacles from points
-        height: 2.0               # [m] height of obstacles. used for creating dynamic obstacles from points
-        max_prediction_time: 10.0 # [sec] create predicted path until this time
-        time_step: 0.5            # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
-        points_interval: 0.1      # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
+        use_mandatory_area: false  # [-] whether to use mandatory detection area
+        min_vel_kmph: 0.0          # [km/h] minimum velocity for dynamic obstacles
+        max_vel_kmph: 5.0          # [km/h] maximum velocity for dynamic obstacles
+        diameter: 0.1              # [m] diameter of obstacles. used for creating dynamic obstacles from points
+        height: 2.0                # [m] height of obstacles. used for creating dynamic obstacles from points
+        max_prediction_time: 10.0  # [sec] create predicted path until this time
+        time_step: 0.5             # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
+        points_interval: 0.1       # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
 
       # approach if ego has stopped in the front of the obstacle for a certain amount of time
       approaching:

diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -152,6 +152,9 @@
               num: 3
               radius_ratio: 0.8
 
+            fitting_uniform_circle:
+              num: 3  # must be greater than 1
+
             rear_drive:
               num_for_calculation: 3
               front_radius_ratio: 1.0

diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
@@ -1,3 +1,5 @@
+# Default configuration for emergency handler
+---
 /**:
   ros__parameters:
     update_rate: 10

diff --git a/...m/diagnostic_aggregator/system.param.yaml → ...r/diagnostic_aggregator/system.param.yaml b/...m/diagnostic_aggregator/system.param.yaml → ...r/diagnostic_aggregator/system.param.yaml
diff --git a/.../diagnostic_aggregator/vehicle.param.yaml → .../diagnostic_aggregator/vehicle.param.yaml b/.../diagnostic_aggregator/vehicle.param.yaml → .../diagnostic_aggregator/vehicle.param.yaml
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -32,10 +32,11 @@
         /autoware/planning/node_alive_monitoring: default
         /autoware/planning/performance_monitoring/trajectory_validation: default
 
-        /autoware/sensing/node_alive_monitoring: default
+        # /autoware/sensing/node_alive_monitoring: default
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default
+        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
         /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" }
 
         /autoware/vehicle/node_alive_monitoring: default
@@ -46,5 +47,6 @@
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default
+        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
 
         /autoware/vehicle/node_alive_monitoring: default
diff --git a/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -1,3 +1,4 @@
+# Description:
 #   name: diag name
 #   sf_at: diag level where it becomes Safe Fault
 #   lf_at: diag level where it becomes Latent Fault
@@ -21,8 +22,8 @@
         /autoware/control/control_command_gate/node_alive_monitoring: default
 
         /autoware/localization/node_alive_monitoring: default
-        /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/localization/performance_monitoring/localization_accuracy: default
+        # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        # /autoware/localization/performance_monitoring/localization_accuracy: default
 
         /autoware/map/node_alive_monitoring: default
 
@@ -35,7 +36,8 @@
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default
-        /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
 
         /autoware/vehicle/node_alive_monitoring: default
 
@@ -45,5 +47,6 @@
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default
+        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
 
         /autoware/vehicle/node_alive_monitoring: default
diff --git a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
@@ -1,9 +1,9 @@
 /**:
   ros__parameters:
-    devices: ["*"]
-    traffic_reader_port: 7636
-    monitor_program: "greengrass"
-    crc_error_check_duration: 1
-    crc_error_count_threshold: 1
-    reassembles_failed_check_duration: 1
-    reassembles_failed_check_count: 1
+      devices: ["*"]
+      traffic_reader_port: 7636
+      monitor_program: "greengrass"
+      crc_error_check_duration: 1
+      crc_error_count_threshold: 1
+      reassembles_failed_check_duration: 1
+      reassembles_failed_check_count: 1
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -104,8 +104,8 @@
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_autoware_api_component.launch.xml"/>
   </group>
 
-  <!-- Rviz -->
-  <group if="$(var rviz)">
-    <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"/>
+  <!-- Tools -->
+  <group>
+    <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)"/>
   </group>
 </launch>
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
-    <arg name="pointcloud_container_name" value="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
 
     <arg name="crop_box_filter_measurement_range_param_path" value="$(find-pkg-share autoware_launch)/config/localization/crop_box_filter_measurement_range.param.yaml"/>
     <arg name="voxel_grid_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/voxel_grid_filter.param.yaml"/>

diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,21 +1,19 @@
-<?xml version="1.0" encoding="UTF-8"?>
+<?xml version="1.0"?>
 <launch>
   <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
     <arg name="run_mode" value="$(var system_run_mode)"/>
     <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
     <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
     <arg name="sensor_model" value="$(var sensor_model)"/>
-    <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
-    <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
 
     <arg name="component_state_monitor_topic_path" value="$(find-pkg-share autoware_launch)/config/system/component_state_monitor/topics.yaml"/>
     <arg name="emergency_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/emergency_handler/emergency_handler.param.yaml"/>
     <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
     <arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
     <arg name="system_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"/>
     <arg name="system_error_monitor_planning_simulator_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml"/>
-    <arg name="diagnostic_aggregator_system_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_aggregator/system.param.yaml"/>
-    <arg name="diagnostic_aggregator_vehicle_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_aggregator/vehicle.param.yaml"/>
+    <arg name="diagnostic_aggregator_vehicle_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml"/>
+    <arg name="diagnostic_aggregator_system_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml"/>
     <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml"/>
     <arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
     <arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>

diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
@@ -5,8 +5,6 @@
   <description>The autoware_launch package</description>
 
   <maintainer email="[email protected]">Yukihiro Saito</maintainer>
-  <maintainer email="[email protected]">Takagi, Isamu</maintainer>
-  <maintainer email="[email protected]">Akihiro Sakurai</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>