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feat(autoware_launch): additional margin parameters in surround obstacle checker #557

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Sep 9, 2023
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feat(autoware_launch): additional margin parameters in surround obstacle checker #557

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56 changes: 51 additions & 5 deletions ...ne_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,15 +1,61 @@
/**:
ros__parameters:

# obstacle check
use_pointcloud: true # use pointcloud as obstacle check
use_dynamic_object: true # use dynamic object as obstacle check
surround_check_distance: 0.5 # if objects exist in this distance, transit to "exist-surrounding-obstacle" status [m]
surround_check_recover_distance: 0.8 # if no object exists in this distance, transit to "non-surrounding-obstacle" status [m]
# surround_check_*_distance: if objects exist in this distance, transit to "exist-surrounding-obstacle" status [m]
# surround_check_hysteresis_distance: if no object exists in this hysteresis distance added to the above distance, transit to "non-surrounding-obstacle" status [m]
pointcloud:
enable_check: false
surround_check_front_distance: 0.5
surround_check_side_distance: 0.5
surround_check_back_distance: 0.5
unknown:
enable_check: true
surround_check_front_distance: 0.5
surround_check_side_distance: 0.5
surround_check_back_distance: 0.5
car:
enable_check: true
surround_check_front_distance: 0.5
surround_check_side_distance: 0.0
surround_check_back_distance: 0.5
truck:
enable_check: true
surround_check_front_distance: 0.5
surround_check_side_distance: 0.0
surround_check_back_distance: 0.5
bus:
enable_check: true
surround_check_front_distance: 0.5
surround_check_side_distance: 0.0
surround_check_back_distance: 0.5
trailer:
enable_check: true
surround_check_front_distance: 0.5
surround_check_side_distance: 0.0
surround_check_back_distance: 0.5
motorcycle:
enable_check: true
surround_check_front_distance: 0.5
surround_check_side_distance: 0.0
surround_check_back_distance: 0.5
bicycle:
enable_check: true
surround_check_front_distance: 0.5
surround_check_side_distance: 0.5
surround_check_back_distance: 0.5
pedestrian:
enable_check: true
surround_check_front_distance: 0.5
surround_check_side_distance: 0.5
surround_check_back_distance: 0.5

surround_check_hysteresis_distance: 0.3

state_clear_time: 2.0

# ego stop state
stop_state_ego_speed: 0.1 #[m/s]

# debug
publish_debug_footprints: true # publish vehicle footprint & footprints with surround_check_distance and surround_check_recover_distance offsets
debug_footprint_label: "car"
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