From 72a2832fbbdae3c0e48e741b15b3792dc7ccd67a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 3 May 2023 08:34:49 +0900 Subject: [PATCH 1/3] feat(behavior): add interface in order to publish marker that is always shown in rviz (#333) feat(behavior): output module info markers Signed-off-by: satoshi-ota --- autoware_launch/rviz/autoware.rviz | 100 +++++++++++++++++++++++++++++ 1 file changed, 100 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index cdc4da5379..1a8a8c93ad 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1897,6 +1897,106 @@ Visualization Manager: Value: false Enabled: false Name: DebugMarker + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (Avoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (AvoidanceByLC) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance_by_lane_change + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (LaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (LaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (ExtLaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (ExtLaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (PullOver) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_over + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (PullOut) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_out + Value: false + Enabled: true + Name: InfoMarker Enabled: true Name: BehaviorPlanning - Class: rviz_common/Group From 2276837ec37b3b5ce2776ade0640f506d37a2399 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 4 May 2023 10:55:25 +0900 Subject: [PATCH 2/3] refactor(behavior_path_planner): refactoring goal_planner and pull_out params (#338) Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 182 ++++++++++-------- 1 file changed, 97 insertions(+), 85 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 5a840098e5..3c5846edf3 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -1,96 +1,108 @@ /**: ros__parameters: goal_planner: + # general params minimum_request_length: 100.0 th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 2.0 # It must be greater than the state_machine's. - pull_over_velocity: 3.0 - pull_over_minimum_velocity: 1.38 - margin_from_boundary: 0.5 - decide_path_distance: 10.0 - maximum_deceleration: 1.0 - maximum_jerk: 1.0 + # goal search - search_priority: "efficient_path" # "efficient_path" or "close_goal" - parking_policy: "left_side" # "left_side" or "right_side" - forward_goal_search_length: 20.0 - backward_goal_search_length: 20.0 - goal_search_interval: 2.0 - longitudinal_margin: 3.0 - max_lateral_offset: 0.5 - lateral_offset_interval: 0.25 - ignore_distance_from_lane_start: 15.0 + goal_search: + search_priority: "efficient_path" # "efficient_path" or "close_goal" + parking_policy: "left_side" # "left_side" or "right_side" + forward_goal_search_length: 20.0 + backward_goal_search_length: 20.0 + goal_search_interval: 2.0 + longitudinal_margin: 3.0 + max_lateral_offset: 0.5 + lateral_offset_interval: 0.25 + ignore_distance_from_lane_start: 15.0 + margin_from_boundary: 0.5 + # occupancy grid map - use_occupancy_grid: true - use_occupancy_grid_for_longitudinal_margin: false - occupancy_grid_collision_check_margin: 0.0 - theta_size: 360 - obstacle_threshold: 60 + occupancy_grid: + use_occupancy_grid: true + use_occupancy_grid_for_longitudinal_margin: false + occupancy_grid_collision_check_margin: 0.0 + theta_size: 360 + obstacle_threshold: 60 + # object recognition - use_object_recognition: true - object_recognition_collision_check_margin: 1.0 - # shift path - enable_shift_parking: true - pull_over_sampling_num: 4 - maximum_lateral_jerk: 2.0 - minimum_lateral_jerk: 0.5 - deceleration_interval: 15.0 - after_pull_over_straight_distance: 1.0 - # freespace parking - enable_freespace_parking: true - freespace_parking: - planning_algorithm: "astar" # options: astar, rrtstar - velocity: 1.0 - vehicle_shape_margin: 1.0 - time_limit: 3000.0 - minimum_turning_radius: 5.0 - maximum_turning_radius: 5.0 - turning_radius_size: 1 - # search configs - theta_size: 144 - angle_goal_range: 6.0 - curve_weight: 1.2 - reverse_weight: 1.0 - lateral_goal_range: 0.5 - longitudinal_goal_range: 2.0 - # costmap configs - obstacle_threshold: 30 - # -- A* search Configurations -- - astar: - only_behind_solutions: false - use_back: false - distance_heuristic_weight: 1.0 - # -- RRT* search Configurations -- - rrtstar: - enable_update: true - use_informed_sampling: true - max_planning_time: 150.0 - neighbor_radius: 8.0 - margin: 1.0 - # parallel parking path - enable_arc_forward_parking: true - enable_arc_backward_parking: true - after_forward_parking_straight_distance: 2.0 - after_backward_parking_straight_distance: 2.0 - forward_parking_velocity: 1.38 - backward_parking_velocity: -1.38 - forward_parking_lane_departure_margin: 0.0 - backward_parking_lane_departure_margin: 0.0 - arc_path_interval: 1.0 - pull_over_max_steer_angle: 0.35 # 20deg - # hazard on when parked - hazard_on_threshold_distance: 1.0 - hazard_on_threshold_velocity: 0.5 - # check safety with dynamic objects. Not used now. - pull_over_duration: 2.0 - pull_over_prepare_duration: 4.0 - min_stop_distance: 5.0 - stop_time: 2.0 - hysteresis_buffer_distance: 2.0 - prediction_time_resolution: 0.5 - enable_collision_check_at_prepare_phase: false - use_predicted_path_outside_lanelet: false - use_all_predicted_path: false + object_recognition: + use_object_recognition: true + object_recognition_collision_check_margin: 1.0 + + # pull over + pull_over: + pull_over_velocity: 3.0 + pull_over_minimum_velocity: 1.38 + decide_path_distance: 10.0 + maximum_deceleration: 1.0 + maximum_jerk: 1.0 + + # shift parking + shift_parking: + enable_shift_parking: true + shift_sampling_num: 4 + maximum_lateral_jerk: 2.0 + minimum_lateral_jerk: 0.5 + deceleration_interval: 15.0 + after_shift_straight_distance: 1.0 + + # parallel parking path + parallel_parking: + path_interval: 1.0 + max_steer_angle: 0.35 # 20deg + forward: + enable_arc_forward_parking: true + after_forward_parking_straight_distance: 2.0 + forward_parking_velocity: 1.38 + forward_parking_lane_departure_margin: 0.0 + forward_parking_path_interval: 1.0 + forward_parking_max_steer_angle: 0.35 # 20deg + backward: + enable_arc_backward_parking: true + after_backward_parking_straight_distance: 2.0 + backward_parking_velocity: -1.38 + backward_parking_lane_departure_margin: 0.0 + backward_parking_path_interval: 1.0 + backward_parking_max_steer_angle: 0.35 # 20deg + + # freespace parking + freespace_parking: + enable_freespace_parking: true + freespace_parking_algorithm: "astar" # options: astar, rrtstar + velocity: 1.0 + vehicle_shape_margin: 1.0 + time_limit: 3000.0 + minimum_turning_radius: 5.0 + maximum_turning_radius: 5.0 + turning_radius_size: 1 + # search configs + search_configs: + theta_size: 144 + angle_goal_range: 6.0 + curve_weight: 1.2 + reverse_weight: 1.0 + lateral_goal_range: 0.5 + longitudinal_goal_range: 2.0 + # costmap configs + costmap_configs: + obstacle_threshold: 30 + # -- A* search Configurations -- + astar: + only_behind_solutions: false + use_back: false + distance_heuristic_weight: 1.0 + # -- RRT* search Configurations -- + rrtstar: + enable_update: true + use_informed_sampling: true + max_planning_time: 150.0 + neighbor_radius: 8.0 + margin: 1.0 + # debug - print_debug_info: false + debug: + print_debug_info: false From 4c33dfea4e852250c7a77e03addb4725bafaeacb Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 8 May 2023 09:31:18 +0900 Subject: [PATCH 3/3] feat(avoidance): hide detail information (#339) Signed-off-by: satoshi-ota --- autoware_launch/rviz/autoware.rviz | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 1a8a8c93ad..119255bb99 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1903,7 +1903,12 @@ Visualization Manager: Enabled: true Name: Info (Avoidance) Namespaces: - {} + avoidable_target_objects_info: false + avoidable_target_objects_info_reason: false + avoidable_target_objects_envelope_polygon: false + unavoidable_target_objects_info: false + unavoidable_target_objects_info_reason: false + unavoidable_target_objects_envelope_polygon: false Topic: Depth: 5 Durability Policy: Volatile