tier4 · tier4-autoware-public-bot · Feb 20, 2023 · Feb 16, 2023 · Feb 17, 2023 · Feb 17, 2023
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -65,7 +65,7 @@
     # Regularization switch
     regularization_enabled: false
 
-    # regularization scale factor
+    # Regularization scale factor
     regularization_scale_factor: 0.01
 
     # Dynamic map loading distance

diff --git a/...or_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml b/...or_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+<root main_tree_to_execute="BehaviorTree">
+    <!-- ////////// -->
+    <BehaviorTree ID="BehaviorTree">
+        <Fallback>
+            <ReactiveSequence>
+                <Condition ID="PullOver_Request"/>
+                <Action ID="PullOver_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="PullOut_Request"/>
+                <Action ID="PullOut_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="SideShift_Request"/>
+                <Action ID="SideShift_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="ExternalRequestLaneChangeRight_Request"/>
+                <Action ID="ExternalRequestLaneChangeRight_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="ExternalRequestLaneChangeLeft_Request"/>
+                <Action ID="ExternalRequestLaneChangeLeft_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="LaneChange_Request"/>
+                <Action ID="LaneChange_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="Avoidance_Request"/>
+                <Action ID="Avoidance_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <Action ID="LaneFollowing_Plan" output="{output}"/>
+        </Fallback>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <TreeNodesModel>
+        <Action ID="Avoidance_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="Avoidance_Request"/>
+        <Condition ID="ExternalApproval"/>
+        <Action ID="ExternalRequestLaneChangeRight_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="ExternalRequestLaneChangeRight_Request"/>
+        <Action ID="ExternalRequestLaneChangeLeft_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="ExternalRequestLaneChangeLeft_Request"/>
+        <Action ID="LaneChange_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="LaneChange_Request"/>
+        <Action ID="LaneFollowing_Plan">
+            <output_port name="output" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
+        </Action>
+        <Condition ID="LaneFollowing_Request"/>
+        <Action ID="PullOut_Plan">
+            <output_port name="output"/>
+        </Action>
+        <Condition ID="PullOut_Request"/>
+        <Action ID="PullOver_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="PullOver_Request"/>
+        <Action ID="SideShift_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="SideShift_Request"/>
+    </TreeNodesModel>
+    <!-- ////////// -->
+</root>
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
@@ -15,7 +15,7 @@
       minimum_lane_change_velocity: 2.78        # [m/s]
       prediction_time_resolution: 0.5           # [s]
       maximum_deceleration: 1.0                 # [m/s2]
-      lane_change_sampling_num: 10
+      lane_change_sampling_num: 3
 
       # collision check
       enable_collision_check_at_prepare_phase: false

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/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -7,6 +7,8 @@
       - "intersection"
       - "no_stopping_area"
       - "traffic_light"
+      - "ext_request_lane_change_left"
+      - "ext_request_lane_change_right"
       - "lane_change_left"
       - "lane_change_right"
       - "avoidance_left"

diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml
@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    system:
+      type: diagnostic_aggregator/AnalyzerGroup
+      path: system
+      analyzers:
+        debug_data_logger:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: debug_data_logger
+          analyzers:
+            storage_error:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: storage_error
+              contains: ["bagpacker"]
+              timeout: 3.0
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -34,6 +34,7 @@
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <!-- Perception -->
+  <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"/>
 
   <!-- Global parameters -->
@@ -59,6 +60,7 @@
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="vehicle_id" value="$(var vehicle_id)"/>
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
+      <arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
     </include>
   </group>
 
@@ -104,7 +106,6 @@
 
   <!-- Tools -->
   <group>
-    <!-- Rviz -->
     <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)"/>
   </group>
 </launch>
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
-    <arg name="mode" value="lidar"/>
+    <arg name="mode" value="$(var perception_mode)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>

diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -12,8 +12,8 @@
     <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/system_error_monitor/diagnostic_aggregator/system.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
@@ -9,10 +9,12 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>ad_api_adaptors</exec_depend>
   <exec_depend>global_parameter_loader</exec_depend>
   <exec_depend>python3-bson</exec_depend>
   <exec_depend>python3-tornado</exec_depend>
   <exec_depend>rviz2</exec_depend>
+  <exec_depend>tier4_autoware_api_launch</exec_depend>
   <exec_depend>tier4_control_launch</exec_depend>
   <exec_depend>tier4_localization_launch</exec_depend>
   <exec_depend>tier4_map_launch</exec_depend>

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1034,6 +1034,52 @@ Visualization Manager:
                         Constant Color: false
                         Scale: 0.30000001192092896
                         Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: true
+                      Name: PathChangeCandidate_ExternalRequestLaneChangeRight
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_candidate/ext_request_lane_change_right
+                      Value: true
+                      View Path:
+                        Alpha: 0.30000001192092896
+                        Color: 115; 210; 22
+                        Constant Color: false
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: true
+                      Name: PathChangeCandidate_ExternalRequestLaneChangeLeft
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_candidate/ext_request_lane_change_left
+                      Value: true
+                      View Path:
+                        Alpha: 0.30000001192092896
+                        Color: 115; 210; 22
+                        Constant Color: false
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true
@@ -1549,7 +1595,19 @@ Visualization Manager:
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/virtual_wall
+                            Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall
+                          Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (ObstacleCruise)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall
                           Value: true
                       Enabled: true
                       Name: VirtualWall
@@ -1608,10 +1666,10 @@ Visualization Manager:
                                 Reliability Policy: Reliable
                                 Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_recover_offset
                               Value: false
-                          Enabled: true
+                          Enabled: false
                           Name: SurroundObstacleChecker
                         - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
+                          Enabled: false
                           Name: ObstacleStop
                           Namespaces:
                             {}
@@ -1621,9 +1679,37 @@ Visualization Manager:
                             History Policy: Keep Last
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker
-                          Value: true
+                          Value: false
+                        - Class: rviz_common/Group
+                          Displays:
+                            - Class: rviz_default_plugins/MarkerArray
+                              Enabled: true
+                              Name: CruiseVirtualWall
+                              Namespaces:
+                                {}
+                              Topic:
+                                Depth: 5
+                                Durability Policy: Volatile
+                                History Policy: Keep Last
+                                Reliability Policy: Reliable
+                                Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall
+                              Value: true
+                            - Class: rviz_default_plugins/MarkerArray
+                              Enabled: true
+                              Name: DebugMarker
+                              Namespaces:
+                                {}
+                              Topic:
+                                Depth: 5
+                                Durability Policy: Volatile
+                                History Policy: Keep Last
+                                Reliability Policy: Reliable
+                                Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker
+                              Value: true
+                          Enabled: false
+                          Name: ObstacleCruise
                         - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
+                          Enabled: false
                           Name: ObstacleAvoidance
                           Namespaces:
                             {}
@@ -1633,7 +1719,7 @@ Visualization Manager:
                             History Policy: Keep Last
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker
-                          Value: true
+                          Value: false
                       Enabled: false
                       Name: DebugMarker
                   Enabled: true