Merge pull request #277 from tier4/sync-upstream

chore: sync upstream
tier4 · Jul 11, 2022 · f939aae · f939aae
2 parents 1aeec12 + 7672f47
commit f939aae
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diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
@@ -22,7 +22,7 @@ jobs:
             build-depends-repos: build_depends.repos
     steps:
       - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.9.1
+        uses: styfle/cancel-workflow-action@0.10.0
 
       - name: Check out repository
         uses: actions/checkout@v3

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -4,7 +4,7 @@ ci:
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.2.0
+    rev: v4.3.0
     hooks:
       - id: check-json
       - id: check-merge-conflict
@@ -24,7 +24,7 @@ repos:
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v2.6.2
+    rev: v2.7.1
     hooks:
       - id: prettier
 
@@ -46,7 +46,7 @@ repos:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.5.0-1
+    rev: v3.5.1-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
@@ -57,7 +57,7 @@ repos:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 22.3.0
+    rev: 22.6.0
     hooks:
       - id: black
         args: [--line-length=100]

diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # autoware_launcher
 
-## Getting Started
+## Getting started
 
 ### Using real vehicle
 
@@ -14,7 +14,7 @@ ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder ve
 ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map_folder vehicle_model:=[vehicle_name] sensor_model:=[sensor_name]
 ```
 
-## Directory Structure
+## Directory structure
 
 - [autoware_launch](./autoware_launch)
 - [control_launch](./control_launch)

diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py
@@ -29,6 +29,7 @@ def _create_api_node(node_name, class_name, **kwargs):
 
 def generate_launch_description():
     components = [
+        _create_api_node("calibration_status", "CalibrationStatus"),
         _create_api_node("cpu_usage", "CpuUsage"),
         _create_api_node("diagnostics", "Diagnostics"),
         _create_api_node("door", "Door"),

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -7,6 +7,7 @@
   <!-- Optional parameters -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
+  <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="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
@@ -59,6 +60,7 @@
       <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="perception_mode" value="$(var perception_mode)"/>
     </include>
   </group>
 
@@ -70,8 +72,7 @@
   <!-- Perception -->
   <group>
     <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
-      <!-- options for mode: camera_lidar_fusion, lidar, camera -->
-      <arg name="mode" value="camera_lidar_fusion" />
+      <arg name="mode" value="$(var perception_mode)" />
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -19,12 +19,12 @@
   <arg name="rviz" default="true" description="launch rviz" />
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <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="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="launch_vehicle_interface" default="false"/>
   <!-- Optional parameters for scenario simulation -->
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
-  <arg name="use_foa" default="false" />
 
   <!-- Global parameters -->
   <!-- Do not add "group" in order to propagate global parameters -->
@@ -75,6 +75,7 @@
       <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="perception_mode" value="$(var perception_mode)"/>
     </include>
   </group>
 
@@ -86,8 +87,7 @@
   <!-- Perception -->
   <group>
     <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml" if="$(var perception)">
-      <!-- options for mode: camera_lidar_fusion, lidar, camera -->
-      <arg name="mode" value="lidar" />
+      <arg name="mode" value="$(var perception_mode)" />
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
@@ -98,7 +98,6 @@
     <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml" if="$(var planning)">
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="use_foa" value="$(var use_foa)" />
     </include>
   </group>
 
@@ -107,7 +106,6 @@
     <include file="$(find-pkg-share control_launch)/launch/control.launch.xml" if="$(var control)">
       <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
       <arg name="lateral_controller_mode" value="mpc_follower" />
-      <arg name="use_multithread" value="true" />
     </include>
   </group>
 

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -724,6 +724,7 @@ Visualization Manager:
               Display Twist: true
               Display UUID: true
               Display Velocity: true
+              Line Width: 0.03
               Enabled: true
               MOTORCYCLE:
                 Alpha: 0.999
@@ -771,6 +772,7 @@ Visualization Manager:
               Display Twist: true
               Display UUID: true
               Display Velocity: true
+              Line Width: 0.03
               Enabled: true
               MOTORCYCLE:
                 Alpha: 0.999
@@ -818,6 +820,7 @@ Visualization Manager:
               Display Twist: false
               Display UUID: true
               Display Velocity: true
+              Line Width: 0.03
               Enabled: true
               MOTORCYCLE:
                 Alpha: 0.999
@@ -843,6 +846,18 @@ Visualization Manager:
                 Alpha: 0.999
                 Color: 255; 255; 255
               Value: true
+            - Class: rviz_default_plugins/MarkerArray
+              Enabled: false
+              Name: Maneuver
+              Namespaces:
+                maneuver: true
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /perception/object_recognition/prediction/maneuver
+              Value: true
           Enabled: true
           Name: Prediction
         - Class: rviz_common/Group
@@ -1018,6 +1033,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk
                           Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (Walkway)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/walkway
+                          Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
                           Name: VirtualWall (DetectionArea)
@@ -1155,6 +1182,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk
                           Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: Walkway
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/walkway
+                          Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
                           Name: Intersection

diff --git a/...nch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/...nch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+    frequency_hz: 10.0
+    engage_acceptable_limits:
+      allow_autonomous_in_stopped: true  # no check if the velocity is zero, always allowed.
+      dist_threshold: 1.5
+      yaw_threshold: 0.524
+      speed_upper_threshold: 10.0
+      speed_lower_threshold: -10.0
+      acc_threshold: 1.5
+      lateral_acc_threshold: 1.0
+      lateral_acc_diff_threshold: 0.5
+    stable_check:
+      duration: 0.1
+      dist_threshold: 1.5
+      speed_upper_threshold: 2.0
+      speed_lower_threshold: -2.0
+      yaw_threshold: 0.262
diff --git a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml
@@ -1,8 +1,6 @@
 /**:
   ros__parameters:
-
     # -- system --
-    ctrl_period: 0.03               # control period [s]
     traj_resample_dist: 0.1         # path resampling interval [m]
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
     admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
@@ -40,6 +38,7 @@
     mpc_zero_ff_steer_deg: 0.5                   # threshold that feed-forward angle becomes zero
     mpc_acceleration_limit: 2.0                  # limit on the vehicle's acceleration
     mpc_velocity_time_constant: 0.3              # time constant used for velocity smoothing
+    mpc_min_prediction_length: 5.0               # minimum prediction length
 
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
@@ -54,9 +53,13 @@
     steering_lpf_cutoff_hz: 10.0     # cutoff frequency of lowpass filter for steering command [Hz]
     error_deriv_lpf_cutoff_hz: 5.0
 
-    # stop state
+    # stop state: steering command is kept in the previous value in the stop state.
     stop_state_entry_ego_speed: 0.2
     stop_state_entry_target_speed: 0.2
+    converged_steer_rad: 0.1
+    keep_steer_control_until_converged: false
+    new_traj_duration_time: 1.0
+    new_traj_end_dist: 0.3
 
     # vehicle parameters
     vehicle:

diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml
@@ -1,12 +1,12 @@
 /**:
   ros__parameters:
-    longitudinal_ctrl_period: 0.03
     delay_compensation_time: 0.40
 
     enable_smooth_stop: true
     enable_overshoot_emergency: false
     enable_large_tracking_error_emergency: false
     enable_slope_compensation: true
+    enable_keep_stopped_until_steer_convergence: false
 
     # state transition
     drive_state_stop_dist: 0.5

diff --git a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml
@@ -1,8 +1,6 @@
 /**:
   ros__parameters:
-
     # -- system --
-    ctrl_period: 0.03               # control period [s]
     traj_resample_dist: 0.1         # path resampling interval [m]
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
     admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
@@ -40,6 +38,7 @@
     mpc_zero_ff_steer_deg: 0.5                   # threshold that feed-forward angle becomes zero
     mpc_acceleration_limit: 2.0                  # limit on the vehicle's acceleration
     mpc_velocity_time_constant: 0.3              # time constant used for velocity smoothing
+    mpc_min_prediction_length: 5.0               # minimum prediction length
 
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
@@ -54,9 +53,13 @@
     steering_lpf_cutoff_hz: 10.0     # cutoff frequency of lowpass filter for steering command [Hz]
     error_deriv_lpf_cutoff_hz: 5.0
 
-    # stop state
+    # stop state: steering command is kept in the previous value in the stop state.
     stop_state_entry_ego_speed: 0.2
     stop_state_entry_target_speed: 0.2
+    converged_steer_rad: 0.1
+    keep_steer_control_until_converged: false
+    new_traj_duration_time: 1.0
+    new_traj_end_dist: 0.3
 
     # vehicle parameters
     vehicle:

diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml
@@ -1,12 +1,12 @@
 /**:
   ros__parameters:
-    longitudinal_ctrl_period: 0.03
     delay_compensation_time: 0.40
 
     enable_smooth_stop: true
     enable_overshoot_emergency: false
     enable_large_tracking_error_emergency: false
     enable_slope_compensation: true
+    enable_keep_stopped_until_steer_convergence: false
 
     # state transition
     drive_state_stop_dist: 0.5

diff --git a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml
@@ -1,8 +1,6 @@
 /**:
   ros__parameters:
-
     # -- system --
-    ctrl_period: 0.03               # control period [s]
     traj_resample_dist: 0.1         # path resampling interval [m]
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
     admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
@@ -40,6 +38,7 @@
     mpc_zero_ff_steer_deg: 0.5                   # threshold that feed-forward angle becomes zero
     mpc_acceleration_limit: 2.0                  # limit on the vehicle's acceleration
     mpc_velocity_time_constant: 0.3              # time constant used for velocity smoothing
+    mpc_min_prediction_length: 5.0               # minimum prediction length
 
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
@@ -54,9 +53,13 @@
     steering_lpf_cutoff_hz: 10.0     # cutoff frequency of lowpass filter for steering command [Hz]
     error_deriv_lpf_cutoff_hz: 5.0
 
-    # stop state
+    # stop state: steering command is kept in the previous value in the stop state.
     stop_state_entry_ego_speed: 0.2
     stop_state_entry_target_speed: 0.2
+    converged_steer_rad: 0.1
+    keep_steer_control_until_converged: false
+    new_traj_duration_time: 1.0
+    new_traj_end_dist: 0.3
 
     # vehicle parameters
     vehicle:

diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml
@@ -1,12 +1,12 @@
 /**:
   ros__parameters:
-    longitudinal_ctrl_period: 0.03
     delay_compensation_time: 0.40
 
     enable_smooth_stop: true
     enable_overshoot_emergency: false
     enable_large_tracking_error_emergency: false
     enable_slope_compensation: true
+    enable_keep_stopped_until_steer_convergence: false
 
     # state transition
     drive_state_stop_dist: 0.5