Merge pull request autowarefoundation#91 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
maxime-clem · Apr 29, 2023 · 2c3f049 · 2c3f049
2 parents 0249c27 + db6ed31
commit 2c3f049
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diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+    dynamic_avoidance:
+      # avoidance is performed for the object type with true
+      target_object:
+        car: true
+        truck: true
+        bus: true
+        trailer: true
+        unknown: false
+        bicycle: false
+        motorcycle: true
+        pedestrian: false
+
+        min_obstacle_vel: 1.0 # [m/s]
+
+      drivable_area_generation:
+        lat_offset_from_obstacle: 0.8 # [m]
+        time_to_avoid: 5.0 # [s]
+        max_lat_offset_to_avoid: 0.5 # [m]
diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -66,3 +66,10 @@
       enable_simultaneous_execution_as_candidate_module: false
       priority: 3
       max_module_size: 1
+
+    dynamic_avoidance:
+      enable_module: false
+      enable_simultaneous_execution_as_approved_module: true
+      enable_simultaneous_execution_as_candidate_module: true
+      priority: 7
+      max_module_size: 1
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -37,6 +37,10 @@
       name="avoidance_by_lc_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml"
     />
+    <arg
+      name="dynamic_avoidance_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml"
+    />
     <arg
       name="lane_change_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml"

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1677,6 +1677,32 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection
                           Value: false
+                        - Alpha: 0.5
+                          Autocompute Intensity Bounds: true
+                          Class: grid_map_rviz_plugin/GridMap
+                          Color: 200; 200; 200
+                          Color Layer: color
+                          Color Transformer: IntensityLayer
+                          Enabled: false
+                          Height Layer: elevation
+                          Height Transformer: Layer
+                          History Length: 1
+                          Invert Rainbow: false
+                          Max Color: 255; 255; 255
+                          Max Intensity: 10
+                          Min Color: 0; 0; 0
+                          Min Intensity: 0
+                          Name: IntersectionOcclusion
+                          Show Grid Lines: false
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            Filter size: 10
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/occlusion_grid
+                          Use Rainbow: true
+                          Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
                           Name: Blind Spot