Merge remote/main

Signed-off-by: Mamoru Sobue <[email protected]>
autowarefoundation · Jul 5, 2024 · 82e157d · 82e157d
2 parents 91b74c3 + 5d843c0
commit 82e157d
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Showing 27 changed files with 116 additions and 69 deletions.
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
@@ -18,7 +18,7 @@ jobs:
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
@@ -48,20 +48,21 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v3
+        uses: codecov/codecov-action@v4
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
           verbose: true
           flags: differential
+          token: ${{ secrets.CODECOV_TOKEN }}
 
   clang-tidy-differential:
     runs-on: ubuntu-latest
     container: ros:humble
     needs: build-and-test-differential
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
 

diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
@@ -22,7 +22,7 @@ jobs:
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
@@ -50,9 +50,10 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v3
+        uses: codecov/codecov-action@v4
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
           verbose: true
           flags: total
+          token: ${{ secrets.CODECOV_TOKEN }}
diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml
@@ -24,7 +24,7 @@ jobs:
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1

diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml
@@ -30,7 +30,7 @@ jobs:
           echo "tag-name=${REF_NAME#beta/}" >> $GITHUB_OUTPUT
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
           ref: ${{ steps.set-tag-name.outputs.ref-name }}

diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml
@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Run pre-commit
         uses: autowarefoundation/autoware-github-actions/pre-commit@v1

diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
@@ -16,7 +16,7 @@ jobs:
           private_key: ${{ secrets.PRIVATE_KEY }}
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{ github.event.pull_request.head.ref }}
 

diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml
@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Run spell-check
         uses: autowarefoundation/autoware-github-actions/spell-check@v1

diff --git a/.github/workflows/update-sync-param-files.yaml b/.github/workflows/update-sync-param-files.yaml
@@ -17,7 +17,7 @@ jobs:
           private_key: ${{ secrets.PRIVATE_KEY }}
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Install GitPython
         run: |

diff --git a/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -3,6 +3,9 @@
     # Ego path calculation
     use_predicted_trajectory: true
     use_imu_path: false
+    use_pointcloud_data: true
+    use_predicted_object_data: false
+    use_object_velocity_calculation: true
     min_generated_path_length: 0.5
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1
@@ -24,7 +27,8 @@
     path_footprint_extra_margin: 4.0
 
     # Point cloud clustering
-    cluster_tolerance: 0.1 #[m]
+    cluster_tolerance: 0.15 #[m]
+    cluster_minimum_height: 0.0
     minimum_cluster_size: 10
     maximum_cluster_size: 10000
 

diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml
@@ -10,7 +10,7 @@
       twist_topic: /sensing/vehicle_velocity_converter/twist_with_covariance
     imu_topic: /sensing/imu/imu_data
     gnss:
-      velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3
+      velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3, septentrio_gnss_driver/PVTGeodetic: 4
       velocity_source_topic: /sensing/gnss/ublox/navpvt
       llh_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2
       llh_source_topic: /sensing/gnss/ublox/nav_sat_fix

diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -39,6 +39,11 @@
       pose_no_update_count_threshold_error: 100
       twist_no_update_count_threshold_warn: 50
       twist_no_update_count_threshold_error: 100
+      ellipse_scale: 3.0
+      error_ellipse_size: 1.5
+      warn_ellipse_size: 1.2
+      error_ellipse_size_lateral_direction: 0.3
+      warn_ellipse_size_lateral_direction: 0.25
 
     misc:
       # for velocity measurement limitation (Set 0.0 if you want to ignore)

diff --git a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml
@@ -12,6 +12,9 @@
 
 
     sensor_points:
+      # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
+      timeout_sec: 1.0
+
       # Required distance of input sensor points. [m]
       # If the max distance of input sensor points is lower than this value, the scan matching will not be performed.
       required_distance: 10.0
@@ -52,18 +55,21 @@
 
 
     validation:
-      # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
-      lidar_topic_timeout_sec: 1.0
-
       # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec]
       initial_pose_timeout_sec: 1.0
 
       # Tolerance of distance difference between two initial poses used for linear interpolation. [m]
       initial_pose_distance_tolerance_m: 10.0
 
+      # Tolerance of distance difference from initial pose to result pose. [m]
+      initial_to_result_distance_tolerance_m: 3.0
+
       # The execution time which means probably NDT cannot matches scans properly. [ms]
       critical_upper_bound_exe_time_ms: 100.0
 
+      # Tolerance for the number of times rejected estimation results consecutively
+      skipping_publish_num: 5
+
 
     score_estimation:
       # Converged param type

diff --git a/autoware_launch/config/map/lanelet2_map_loader.param.yaml b/autoware_launch/config/map/lanelet2_map_loader.param.yaml
@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
-    allow_unsupported_version: true # flag to load unsupported format_version anyway. If true, just prints warning.
-    center_line_resolution: 5.0         # [m]
+    allow_unsupported_version: true             # flag to load unsupported format_version anyway. If true, just prints warning.
+    center_line_resolution: 5.0                 # [m]
+    use_waypoints: true                         # "centerline" in the Lanelet2 map will be used as a "waypoints" tag.
     lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path
diff --git a/...ig/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/...ig/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
@@ -13,7 +13,7 @@
     filter_settings:
       # polygon overlap based filter
       polygon_overlap_filter:
-       enabled: true
+        enabled: true
       # velocity direction based filter
       lanelet_direction_filter:
         enabled: false

diff --git a/...fig/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/...fig/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
@@ -9,3 +9,13 @@
       MOTORCYCLE : true
       BICYCLE : true
       PEDESTRIAN : true
+
+    filter_settings:
+      # polygon overlap based filter
+      polygon_overlap_filter:
+        enabled: true
+      # velocity direction based filter
+      lanelet_direction_filter:
+        enabled: false
+        velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
+        object_speed_threshold: 3.0 # [m/s]
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -77,9 +77,6 @@ launch:
   - arg:
       name: launch_no_drivable_lane_module
       default: "false"
-  - arg:
-      name: launch_dynamic_obstacle_stop_module
-      default: "true"
 
   # motion planning modules
   - arg:
@@ -96,6 +93,9 @@ launch:
       #         none
 
   # motion velocity planner modules
+  - arg:
+      name: launch_dynamic_obstacle_stop_module
+      default: "true"
   - arg:
       name: launch_out_of_lane_module
       default: "true"

diff --git a/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -5,13 +5,13 @@
       resample_interval_for_planning: 0.3               # [m] FOR DEVELOPER
       resample_interval_for_output: 4.0                 # [m] FOR DEVELOPER
 
-      # avoidance module common setting
-      enable_bound_clipping: false
-      disable_path_update: false
-
+      # drivable lane setting. this module is able to use not only current lane but also right/left lane
+      # if the current lane(=lanelet::Lanelet) and the right/left lane share the boundary(=lanelet::Linestring) in HDMap.
+      # "current_lane"           : use only current lane. this module doesn't use adjacent lane to avoid object.
+      # "same_direction_lane"    : this module uses same direction lane to avoid object if need.
+      # "opposite_direction_lane": this module uses both same direction and opposite direction lane.
+      use_lane_type: "opposite_direction_lane"
       # drivable area setting
-      use_adjacent_lane: true
-      use_opposite_lane: true
       use_intersection_areas: true
       use_hatched_road_markings: true
       use_freespace_areas: true
@@ -178,6 +178,7 @@
         safety_check_backward_distance: 100.0           # [m]
         hysteresis_factor_expand_rate: 1.5              # [-]
         hysteresis_factor_safe_count: 3                 # [-]
+        collision_check_yaw_diff_threshold: 3.1416      # [rad]
         # predicted path parameters
         min_velocity: 1.38                              # [m/s]
         max_velocity: 50.0                              # [m/s]
@@ -284,6 +285,19 @@
           max_acceleration: 0.5                         # [m/ss]
           min_velocity_to_limit_max_acceleration: 2.78  # [m/ss]
 
+      # path generation method. select "shift_line_base" or "optimization_base" or "both".
+      # "shift_line_base"  : Create avoidance path based on shift line.
+      #                      User can control avoidance maneuver execution via RTC.
+      #                      However, this method doesn't support complex avoidance scenario (e.g. S-shape maneuver).
+      # "optimization_base": This module selects avoidance target object
+      #                      and bpp module clips drivable area based on avoidance target object polygon shape.
+      #                      But this module doesn't modify the path shape.
+      #                      On the other hand, autoware_path_optimizer module optimizes path shape instead of this module
+      #                      so that the path can be within drivable area. This method is able to deal with complex avoidance scenario.
+      #                      However, user can't control avoidance manuever execution.
+      # "both"             : Use both method.
+      path_generation_method: "shift_line_base"
+
       shift_line_pipeline:
         trim:
           quantize_size: 0.1
@@ -293,8 +307,8 @@
 
       # for debug
       debug:
-        enable_other_objects_marker: false
-        enable_other_objects_info: false
+        enable_other_objects_marker: true
+        enable_other_objects_info: true
         enable_detection_area_marker: false
         enable_drivable_bound_marker: false
         enable_safety_check_marker: false

diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -22,6 +22,7 @@
         lateral_offset_interval: 0.5
         ignore_distance_from_lane_start: 0.0
         margin_from_boundary: 0.75
+        high_curvature_threshold: 0.1
 
       # occupancy grid map
       occupancy_grid:
@@ -182,6 +183,7 @@
             time_horizon: 10.0
           # hysteresis factor to expand/shrink polygon with the value
           hysteresis_factor_expand_rate: 1.0
+          collision_check_yaw_diff_threshold: 3.1416
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0

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
@@ -30,6 +30,7 @@
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true
+        collision_check_yaw_diff_threshold: 3.1416
         execution:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -1.0