feat: add planning_launch package (#164)

* release v0.4.0 * add obstacle avoid param (#62) * Feature/add stop reason lane change (#69) * add blocked by obstacle * add stop reason topic to lane change planner * Revert "add blocked by obstacle" This reverts commit 1f5ecdb30c04f7ee70a4b3271bb2099c44752801. * removed ROS1 package Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "removed ROS1 package" This reverts commit c914e2e16fed7726f8748e1f936b061f051eaf8f. * add COLCON_IGNORE file to all ROS1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * rename *.launch files to *.launch.xml Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * port planning launch Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add missing porting Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace rostopic pub with executable in behavior_planning.launch.xml Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix remapping of topics in launch files Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * modify integer parameters to double parameters Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix arguments in parking.launch.xml Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix remapping of topics in scenario_planning.launch.xml Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * ROS2 Linting: planning_launch (#38) * Ros2 port autoware launch (#35) * [autoware_launch] port CMakelists.txt and remove COLCON_IGNORE Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [autoware_launch] fix planning_simulator.launch.xml Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [autoware_launch] add rviz config Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [autoware_launch] first port of autoware_launch Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * lanuch rviz with config file Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * modify launch file for making psim work Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * add vehicle model in launch Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * change from vehicle_model to vehicle_param_file Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * [autoware_launch] add autoware_web_controller and system launch Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add rosbrdige_suite to build_depends.repos Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Update rviz Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * update autoware.rviz Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * remove autoware_ros2.rviz Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: kosuke murakami <kosuke.murakami@tier4.jp> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * Ros2 v0.8.0 planning launch (#59) * [planning_launch] restore file name for ros2 porting Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Add obstacle_stop_planner.yaml (#82) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add surround obstacle checker options (#86) * fix slow down param related to tier4/autoware.iv@a9cdcb2 (#91) * fix parame max_steer_deg (#92) * add refine_goal_search_radius_range (#93) * Change default evaluation in motion velocity optimizer (#97) * Use Linf * Add new line * Add maximum_deceleration parameter (#98) * Add maximum_deceleration parameter * Change default value * Unable abort lane change (#102) * add param stoping velocity and fix typo (#106) * Add a parameter for minimum velocity for lane change (#109) * Add parameters for collision check for lane change (#110) * Add a parameter for disable collision check at prepare phase * Add parameters for collision check with predicted_path * Add a parameter for backward buffer for end of lane (#114) * Add parameters for backward buffer for end of lane * Remove comment out * add extend_distance param (#107) * add parameter of acc (#129) Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * fix typo & change static object velocity thres in lane_change_planner (#104) * change static object velocity thres Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * fix typo Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * Change minimum_lane_change_velocity (#131) * Feature/update avoidance param (#140) * update avoidance param Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * disable unnecesarry marker Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * modify min_behavior_stop_margin (#127) * modify min_behavior_stop_margin Signed-off-by: Yamato Ando <yamato.ando@gmail.com> * Update obstacle_stop_planner.yaml Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Add expand_stop_range to obstacle_stop_planner.yaml (#152) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Update obstacle_stop_planner.yaml (#153) * Visualize echo back goal_pose instead of 2D Nav Goal (#150) * Visualize echo back goal_pose instead of 2D Nav Goal Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix mission_planning.launch Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add surround_obstacle_checker.yaml (#157) * Add parameter (#158) * Revert "[planning_launch] restore file name for ros2 porting" This reverts commit 275f0df232323bf24627adea9cb08888c250625e. * fix namespace Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix relay Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [planning_launch]: Add vehicle_param_file for turn signal decider Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [planning_launch]: Change topic type of lane change approval Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp> Co-authored-by: Satoshi Tanaka <st14.828soccer@gmail.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Yuma Nihei <yuma.nihei@tier4.jp> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: YamatoAndo <yamato.ando@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: hiroaki-ishikawa-t4 <57431939+hiroaki-ishikawa-t4@users.noreply.github.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * Ros2 v0.8.0 fix packages (#64) * add vehicle_param_file to simple planning simulator * add vehicle_param_file to lane change planner * Rename ROS-related .yaml to .param.yaml (#65) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add missing '--' Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix livox param name Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ros2 update v0.9.0 (#67) * Add pose history into rviz config Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add blocked by obstacle option (#164) * fix tab name (#166) * disenable ndt visualization (#169) * disenable ndt visualization * change alpha * dont visualize position covariance Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * change global frame to map (#171) * add param (#156) Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Ros2 fix topic name part1 (#83) * Fix topic name for behavior_velocity_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_change_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of freespace_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name for freespace_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix typo in planning launch (#92) * Fix typo in planning launch * Fix remaining errors * Fix various typos in launch files (#97) * add use_sim-time option (#99) * Format launch files (#178) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Sync public repo (#185) * add tier4 usbcam (#104) * add tier4 usbcam * change version * tier4/ros2 * Ros2 vehicle info param server (#96) * add vehicle info param server * delete vehicle param file Co-authored-by: taikitanaka <ttatcoder@outlook.jp> * Ros2 fix topic name part2 (#89) * Fix topic name for traffic_light_classifier Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name for traffic_light_visualization Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name for traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: taikitanaka <ttatcoder@outlook.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * Ros2 lsim test (#186) * Add group to launch file for var scope Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Remove pointcloud relay for localization Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add use_sim_time Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Remove pointcloud relay for localization Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Use set_parameter for use_sim_time (#198) * Use set_parameter for use_sim_time Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add default parameter for scenario simulator Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add container launch for planning (#205) * Add container launch for planning Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix porting miss * fix lane_driving.launch.xml * Add missing parameters Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: taichiH <azumade.30@gmail.com> * Rename AstarNavi to FreespacePlannerNode (#213) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix typos in launch files (#231) * Fix typos in launch files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * Format launch files (#228) * Format launch files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Format launch.py Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix lint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix topic name of external traffic light input (#236) * Add namespace to behavior_velocity_planner (#252) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix typo applygin->applying (#304) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add description for planning_launch #335 * add README.md and svg files (#328) * add md and svg * fix typo * fix typo * fix word * fix typo * add lack of things * Update README * fix depending packages * fix word * Add autoware api (#376) * Add external api adaptor (#267) * Add external api adaptor * Add api adaptor to logging simulator Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add engage status output Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add internal api adaptor (#273) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add map hash generator (#319) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add autoware api launch (#326) * Add autoware api launch Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Apply autoware api launch Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add deprecated comment Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Remove unused parameter (#325) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add api parameter (#341) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add start request API (#321) * Add use start request option Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Feature external cmd selector heartbeat (#356) * Rename external command topic Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Modify command topic name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Rename remote_cmd_converter Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Remove gate mode from external command Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix latest external command name (#361) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix merge conflict Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * change external traffic light topic name in behavior velocity planner (#310) * fix topic * change internal topic name Co-authored-by: yabuta <makoto.yabuta@tier4.jp> * Merge pull request #359 from tier4/feature/add_plannig_error_monitor (#365) * Feature/add virtual traffic light planner (#317) * Fix pre-commit (#407) * Fix pre-commit errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix package.xml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix parameter name (#470) * Feature/porting behavior path planner (#300) * modify behavior_planning launch for behavior_path_planner with lane_c… (#239) * modify behavior_planning launch for behavior_path_planner with lane_change_only config Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove avoidance & side_shift related code Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix launcher and add config files and change obstacle avoid param * Add new line * Fix visualization and remove multiple args * Enable auto approve path change Co-authored-by: rej55 <rej55.g@gmail.com> Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add param in behavior_path_planner (#255) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix param (#251) * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: rej55 <rej55.g@gmail.com> * Feature/porting motion velocity smoother (#302) * Launch motion_velocity_smoother (#215) * Launch motion_velocity_smoother * Change params * Fix parameter files * Fix Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix/smoother trajectory ds (#249) * Add parameter * Fix * Fix * change launcher parameter (#265) * Feature/smoother resampling (#269) * change launcher parameter * add new parameter Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: purewater0901 <43805014+purewater0901@users.noreply.github.com> * Master sync parking module (#303) * Add namespace Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add freespace planner config file Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add missing import Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * update rviz config & planner params (#305) Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * Feature/porting occlusion spot (#309) * add occulusion_spot marker (#266) * add blindspot marker * to occlusion spot slow down * remove debug info from marker (#287) * remove debug info from marker * remove debug arrow * fix format * update behavior launch * apply pep8 * fix format Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * Use multithread for lane driving planning (#327) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix import order of parking.launch.py (#347) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add analytical smoother config (#360) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * update acc param (#358) * add rosparam for vehicle center optimization (#362) * update ros param for .iv (#353) * update ros param for .iv * forward fixing mpt time: 3.0->1.0 * Fix/obstacle avoid revert some improvements (#381) * Revert "update ros param for .iv (#353)" This reverts commit f7f341a. * Revert "add rosparam for vehicle center optimization (#362)" This reverts commit 78bbf70. * update side shift param (#370) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add yaml & load lane following params (#377) * add pull over/out module (#430) add yaml file and modify BT tree file path modify parameter file add parameter add use_dynamic_object flag in pull out param delete unncesarry parameters delete unnecessary param merge change for jpntaxi delete blank line modify BT file name modify launch file * Update behavior path planner launch files (#433) * update launch parameters for behavior_path_planner Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update param at experiment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix indent Co-authored-by: TakaHoribe <horibe.takamasa@gmail.com> * Fix for pre-commit (437) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * change threshold_distance_object_is_on_center to 1.0 (#441) Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * delete optimizer (#456) * add params for acceleration prevention (#454) (#457) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Feature/use external velocity limit selector (#460) * use external velocity limit selector * add common planning params * update yaml params * Feature/add slow down params (#448) * add/update slow down params * topic remap * update topic name * Fix/use common param (#465) * Change formatter to black (#488) * Update pre-commit settings * Apply Black * Replace ament_lint_common with autoware_lint_common * Update build_depends.repos * Fix build_depends * twist -> odometry (#109) Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * Auto/fix launch (#110) * fix namespace * remove dynamic_object_visualization * fix rviz * remove unused depend/launcher (#112) * Fix remapping in control.launch.py (#115) * Fix remappings * Add comment * Sync .auto branch with the latest branch in internal repository (#120) * Disbale intersection polygon marker (#483) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Merge pull request #384 from tier4/feature/no_stopping_area Feature/no stopping area Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * Update traffic light topic name (#131) * Update traffic light topic name Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Update traffic light topic name in perception Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix no ground pointcloud topic name (#134) Signed-off-by: j4tfwm6z <proj-jpntaxi@tier4.jp> Co-authored-by: j4tfwm6z <proj-jpntaxi@tier4.jp> * auto/fix occupancy grid map topic name (#137) * fix/rename segmentation namespace (#139) * fix namespace: rviz config * fix namespace: planning stack * rename segmentatino directory * fix namespace: perception stack * add vehicle info parameter Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * ci(pre-commit): autofix * remove unused import * remove unused import Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Jilada Eccleston <jilada.eccleston@tier4.jp> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp> Co-authored-by: Satoshi Tanaka <st14.828soccer@gmail.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Yuma Nihei <yuma.nihei@tier4.jp> Co-authored-by: YamatoAndo <yamato.ando@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: hiroaki-ishikawa-t4 <57431939+hiroaki-ishikawa-t4@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: taikitanaka <ttatcoder@outlook.jp> Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: taichiH <azumade.30@gmail.com> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: yabuta <makoto.yabuta@tier4.jp> Co-authored-by: purewater0901 <43805014+purewater0901@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: kyoichi sugahara <81.s.kyo.19@gmail.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Co-authored-by: j4tfwm6z <proj-jpntaxi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Dec 14, 2021 · 9c5d9ff · 9c5d9ff
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diff --git a/launch/planning_launch/CMakeLists.txt b/launch/planning_launch/CMakeLists.txt
@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.5)
+project(planning_launch)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wno-unused-parameter -Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+  config
+)
diff --git a/launch/planning_launch/README.md b/launch/planning_launch/README.md
@@ -0,0 +1,16 @@
+# planning_launch
+
+## Structure
+
+![planning_launch](./planning_launch.drawio.svg)
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+```xml
+<include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml">
+</include>
+```
diff --git a/launch/planning_launch/config/scenario_planning/common/common.param.yaml b/launch/planning_launch/config/scenario_planning/common/common.param.yaml
@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    # constraints param for normal driving
+    normal:
+      min_acc: -0.5         # min deceleration [m/ss]
+      max_acc: 1.0          # max acceleration [m/ss]
+      min_jerk: -0.5        # min jerk [m/sss]
+      max_jerk: 1.0         # max jerk [m/sss]
+
+    # constraints to be observed
+    limit:
+      min_acc: -2.5         # min deceleration limit [m/ss]
+      max_acc: 1.0          # max acceleration limit [m/ss]
+      min_jerk: -1.5        # min jerk limit [m/sss]
+      max_jerk: 1.5         # max jerk limit [m/sss]
diff --git a/...ing_launch/config/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml b/...ing_launch/config/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml
@@ -0,0 +1,25 @@
+/**:
+  ros__parameters:
+    resample:
+      ds_resample: 0.1
+      num_resample: 1
+      delta_yaw_threshold: 0.785
+
+    latacc:
+      enable_constant_velocity_while_turning: false
+      constant_velocity_dist_threshold: 2.0
+
+    forward:
+      max_acc: 1.0
+      min_acc: -1.0
+      max_jerk: 0.3
+      min_jerk: -0.3
+      kp: 0.3
+
+    backward:
+      start_jerk: -0.1
+      min_jerk_mild_stop: -0.3
+      min_jerk: -1.5
+      min_acc_mild_stop: -1.0
+      min_acc: -2.5
+      span_jerk: -0.01
diff --git a/...g_launch/config/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml b/...g_launch/config/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    jerk_weight: 0.1         # weight for "smoothness" cost for jerk
+    over_v_weight: 10000.0   # weight for "over speed limit" cost
+    over_a_weight: 500.0     # weight for "over accel limit" cost
+    over_j_weight: 200.0     # weight for "over jerk limit" cost
+    jerk_filter_ds: 0.1      # resampling ds for jerk filter
diff --git a/...ch/planning_launch/config/scenario_planning/common/motion_velocity_smoother/L2.param.yaml b/...ch/planning_launch/config/scenario_planning/common/motion_velocity_smoother/L2.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    pseudo_jerk_weight: 100.0 # weight for "smoothness" cost
+    over_v_weight: 100000.0   # weight for "over speed limit" cost
+    over_a_weight: 1000.0     # weight for "over accel limit" cost
diff --git a/.../planning_launch/config/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml b/.../planning_launch/config/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    pseudo_jerk_weight: 200.0 # weight for "smoothness" cost
+    over_v_weight: 100000.0   # weight for "over speed limit" cost
+    over_a_weight: 5000.0     # weight for "over accel limit" cost
diff --git a/...fig/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/...fig/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -0,0 +1,50 @@
+/**:
+  ros__parameters:
+    # motion state constraints
+    max_velocity: 20.0      # max velocity limit [m/s]
+
+    # external velocity limit parameter
+    margin_to_insert_external_velocity_limit: 0.3   #  margin distance to insert external velocity limit [m]
+
+    # curve parameters
+    max_lateral_accel: 0.8             # max lateral acceleration limit [m/ss]
+    min_curve_velocity: 2.74           # min velocity at lateral acceleration limit [m/ss]
+    decel_distance_before_curve: 3.5   # slow speed distance before a curve for lateral acceleration limit
+    decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit
+
+    # engage & replan parameters
+    replan_vel_deviation: 5.53         # velocity deviation to replan initial velocity [m/s]
+    engage_velocity: 0.25              # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed)
+    engage_acceleration: 0.1           # engage acceleration [m/ss] (use this acceleration when engagement)
+    engage_exit_ratio: 0.5             # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity.
+    stop_dist_to_prohibit_engage: 0.5  # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]
+
+    # stop velocity
+    stopping_velocity: 2.778  # change target velocity to this value before v=0 point [m/s]
+    stopping_distance: 0.0    # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied.
+
+    # path extraction parameters
+    extract_ahead_dist: 200.0         # forward trajectory distance used for planning [m]
+    extract_behind_dist: 5.0          # backward trajectory distance used for planning [m]
+    delta_yaw_threshold: 1.0472       # Allowed delta yaw between ego pose and trajectory pose [radian]
+
+    # resampling parameters for optimization
+    max_trajectory_length: 200.0        # max trajectory length for resampling [m]
+    min_trajectory_length: 150.0        # min trajectory length for resampling [m]
+    resample_time: 5.0                 # resample total time for dense sampling [s]
+    dense_dt: 0.1                       # resample time interval for dense sampling [s]
+    dense_min_interval_distance: 0.1    # minimum points-interval length for dense sampling [m]
+    sparse_dt: 0.5                      # resample time interval for sparse sampling [s]
+    sparse_min_interval_distance: 4.0   # minimum points-interval length for sparse sampling [m]
+
+    # resampling parameters for post process
+    post_max_trajectory_length: 300.0        # max trajectory length for resampling [m]
+    post_min_trajectory_length: 30.0         # min trajectory length for resampling [m]
+    post_resample_time: 10.0                  # resample total time for dense sampling [s]
+    post_dense_dt: 0.1                       # resample time interval for dense sampling [s]
+    post_dense_min_interval_distance: 0.1    # minimum points-interval length for dense sampling [m]
+    post_sparse_dt: 0.1                      # resample time interval for sparse sampling [s]
+    post_sparse_min_interval_distance: 1.0   # minimum points-interval length for sparse sampling [m]
+
+    # system
+    over_stop_velocity_warn_thr: 1.389  # used to check if the optimization exceeds the input velocity on the stop point
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -0,0 +1,41 @@
+# see AvoidanceParameters description in avoidance_module_data.hpp for description.
+/**:
+  ros__parameters:
+    avoidance:
+      resample_interval_for_planning: 0.3
+      resample_interval_for_output: 4.0
+      detection_area_right_expand_dist: 0.0
+      detection_area_left_expand_dist: 1.0
+
+      threshold_distance_object_is_on_center: 1.0 # [m]
+      threshold_speed_object_is_stopped: 1.0      # [m/s]
+      object_check_forward_distance: 150.0        # [m]
+      object_check_backward_distance: 2.0         # [m]
+      lateral_collision_margin: 2.0               # [m]
+
+      prepare_time: 2.0                           # [s]
+      min_prepare_distance: 1.0                   # [m]
+      min_avoidance_distance: 10.0                # [m]
+
+      min_nominal_avoidance_speed: 7.0  # [m/s]
+      min_sharp_avoidance_speed: 1.0    # [m/s]
+
+      max_right_shift_length: 5.0
+      max_left_shift_length: 5.0
+
+      nominal_lateral_jerk: 0.2   # [m/s3]
+      max_lateral_jerk: 1.0       # [m/s3]
+
+      object_hold_max_count: 20
+
+      # For prevention of large acceleration while avoidance
+      min_avoidance_speed_for_acc_prevention: 3.0  # [m/s]
+      max_avoidance_acceleration: 0.5  # [m/ss]
+
+      # for debug
+      publish_debug_marker: false
+      print_debug_info: false
+
+      # not enabled yet
+      longitudinal_collision_margin_min_distance: 0.0          # [m]
+      longitudinal_collision_margin_time: 0.0
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    backward_path_length: 5.0
+    forward_path_length: 300.0
+    backward_length_buffer_for_end_of_lane: 5.0
+    backward_length_buffer_for_end_of_pull_over: 5.0
+    backward_length_buffer_for_end_of_pull_out: 5.0
+    minimum_lane_change_length: 12.0
+    minimum_pull_over_length: 16.0
+    drivable_area_resolution: 0.1
+    drivable_area_width: 100.0
+    drivable_area_height: 50.0
+    refine_goal_search_radius_range: 7.5
+    intersection_search_distance: 30.0
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
@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+    lane_change:
+      min_stop_distance: 5.0
+      stop_time: 2.0
+      hysteresis_buffer_distance: 2.0
+      lane_change_prepare_duration: 4.0
+      lane_changing_duration: 8.0
+      lane_change_finish_judge_buffer: 3.0
+      minimum_lane_change_velocity: 5.6
+      prediction_duration: 8.0
+      prediction_time_resolution: 0.5
+      static_obstacle_velocity_thresh: 1.5
+      maximum_deceleration: 1.0
+      enable_abort_lane_change: false
+      enable_collision_check_at_prepare_phase: false
+      use_predicted_path_outside_lanelet: false
+      use_all_predicted_path: false
+      enable_blocked_by_obstacle: false
+      lane_change_search_distance: 30.0
diff --git a/..._driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml b/..._driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    lane_following:
+      expand_drivable_area: false
+      right_bound_offset: 0.5
+      left_bound_offset: 0.5
+      lane_change_prepare_duration: 2.0
diff --git a/...lanning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/...lanning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
@@ -0,0 +1,25 @@
+/**:
+  ros__parameters:
+    pull_out:
+      min_stop_distance: 2.0
+      stop_time: 0.0
+      hysteresis_buffer_distance: 1.0
+      pull_out_prepare_duration: 4.0
+      pull_out_duration: 2.0
+      pull_out_finish_judge_buffer: 1.0
+      minimum_pull_out_velocity: 2.0
+      prediction_duration: 30.0
+      prediction_time_resolution: 0.5
+      static_obstacle_velocity_thresh: 1.5
+      maximum_deceleration: 1.0
+      enable_collision_check_at_prepare_phase: false
+      use_predicted_path_outside_lanelet: false
+      use_all_predicted_path: false
+      use_dynamic_object: true
+      enable_blocked_by_obstacle: false
+      pull_out_search_distance: 30.0
+      before_pull_out_straight_distance: 5.0
+      after_pull_out_straight_distance: 5.0
+      maximum_lateral_jerk: 2.0
+      minimum_lateral_jerk: 0.5
+      deceleration_interval: 15.0
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -0,0 +1,25 @@
+/**:
+  ros__parameters:
+    pull_over:
+      min_stop_distance: 5.0
+      stop_time: 2.0
+      hysteresis_buffer_distance: 2.0
+      pull_over_prepare_duration: 4.0
+      pull_over_duration: 2.0
+      pull_over_finish_judge_buffer: 3.0
+      minimum_pull_over_velocity: 3.0
+      prediction_duration: 30.0
+      prediction_time_resolution: 0.5
+      static_obstacle_velocity_thresh: 1.5
+      maximum_deceleration: 1.0
+      enable_collision_check_at_prepare_phase: false
+      use_predicted_path_outside_lanelet: false
+      use_all_predicted_path: false
+      enable_blocked_by_obstacle: false
+      pull_over_search_distance: 30.0
+      after_pull_over_straight_distance: 5.0
+      before_pull_over_straight_distance: 5.0
+      margin_from_boundary: 0.5
+      maximum_lateral_jerk: 2.0
+      minimum_lateral_jerk: 0.5
+      deceleration_interval: 15.0
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    side_shift:
+      min_distance_to_start_shifting: 5.0
+      time_to_start_shifting: 1.0
+      shifting_lateral_jerk: 0.2
+      min_shifting_distance: 5.0
+      min_shifting_speed: 5.56
diff --git a/...lanning/lane_driving/behavior_planning/lane_change_planner/lane_change_planner.param.yaml b/...lanning/lane_driving/behavior_planning/lane_change_planner/lane_change_planner.param.yaml
@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    min_stop_distance: 5.0
+    stop_time: 2.0
+    hysteresis_buffer_distance: 2.0
+    backward_path_length: 5.0
+    forward_path_length: 300.0
+    max_accel: -5.0
+    lane_change_prepare_duration: 4.0
+    lane_changing_duration: 8.0
+    backward_length_buffer_for_end_of_lane: 5.0
+    lane_change_finish_judge_buffer: 3.0
+    minimum_lane_change_length: 12.0
+    minimum_lane_change_velocity: 5.6
+    prediction_duration: 8.0
+    prediction_time_resolution: 0.5
+    drivable_area_resolution: 0.1
+    drivable_area_width: 100.0
+    drivable_area_height: 50.0
+    static_obstacle_velocity_thresh: 1.5
+    maximum_deceleration: 1.0
+    refine_goal_search_radius_range: 7.5