Rebase all x2 changes to tier4/main

fix parameter namespace

remove old parameter file

remove old style parameter file

remove unused parameter

remove duplicated parameter

remove old style parameter

remove old style parameter

pick new style parameter

remove duplicated parameter

remove unnecessary parameter

remove old parameter

Revert "feat: sp tuning for low obstacle (#578)"

This reverts commit f00363f.

Revert "chore(ground_segmentation): reduce ground_segmentation range (#649)"

This reverts commit 3aacc89.

fix ekf parameter

remove temporary parameter

disable pull over of mrm

change initial_selector_mode to local

reset analytical smoother parameter

remove hazard lights selector

remove l4toolkit

enable stuck vehicle detection in left turn

chore diagnostic_graph_aggregator params

fix module name

chore x2_preset.yaml

fix(static_obstacle_avoidance): parameter tuning

Signed-off-by: satoshi-ota <[email protected]>

fix(slow_down): parameter tuning

Signed-off-by: satoshi-ota <[email protected]>

fix typo

remove duplicated parameter

remove old node

revert common planning param for safety reason.

use mrm_handler as default

relax emergency stop acceleration for safety reason

modify rviz setting

remove l4toolkit from simulation

fix lane change priority

fix behavior velocity planner parameter

make same mpt param as main

update mlmodel parameter style

fix old parameter name

Author: saka1-s

autoware_launch/config/control/control_validator/control_validator.param.yaml

@@ -10,4 +10,3 @@
 
     thresholds:
       max_distance_deviation: 1.0
-      min_velocity_for_checking: 1.0  # m/s

autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml

@@ -1,4 +1,4 @@
 /**:
   ros__parameters:
     update_rate: 10.0
-    initial_selector_mode: "remote" # ["local", "remote"]
+    initial_selector_mode: "local" # ["local", "remote"]

autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

@@ -71,9 +71,8 @@
 
     # slope compensation
     # pitch
-    use_trajectory_for_pitch_calculation: true
     lpf_pitch_gain: 0.95
-    slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
+    slope_source: "trajectory_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
     adaptive_trajectory_velocity_th: 1.0
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -1,10 +1,12 @@
 /**:
   ros__parameters:
-    show_debug_info: false
-    enable_yaw_bias_estimation: false
-    predict_frequency: 50.0
-    tf_rate: 50.0
-    extend_state_step: 50
+    node:
+      show_debug_info: false
+      enable_yaw_bias_estimation: false
+      predict_frequency: 50.0
+      tf_rate: 50.0
+      publish_tf: true
+      extend_state_step: 50
 
     pose_measurement:
       # for Pose measurement
@@ -40,7 +42,5 @@
 
     misc:
       # for velocity measurement limitation (Set 0.0 if you want to ignore)
-      threshold_observable_velocity_mps: 0.0 # [m/s]
+      threshold_observable_velocity_mps: 0.5 # [m/s]
       pose_frame_id: "map"
-    # for velocity measurement limitation (Set 0.0 if you want to ignore)
-    threshold_observable_velocity_mps: 0.5 # [m/s]

autoware_launch/config/localization/ndt_scan_matcher.param.yaml

@@ -3,7 +3,7 @@
     tolerance: 0.7
     voxel_leaf_size: 0.3
     min_points_number_per_voxel: 1
-    min_cluster_size: 3
+    min_cluster_size: 10
     max_cluster_size: 3000
     use_height: false
     input_frame: "base_link"

autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml

@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+
+    # weight files
+    encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+    encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+    head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+    head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
+    trt_precision: fp16
+    post_process_params:
+      # post-process params
+      circle_nms_dist_threshold: 0.5
+      iou_nms_target_class_names: ["CAR"]
+      iou_nms_search_distance_2d: 10.0
+      iou_nms_threshold: 0.1
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+      score_threshold: 0.35
+    densification_params:
+      world_frame_id: map
+      num_past_frames: 1

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_x2.param.yaml

@@ -2,13 +2,13 @@
   ros__parameters:
 
     # voxel size for downsample filter
-    down_sample_voxel_size: 0.05
+    down_sample_voxel_size: 0.1
 
     # distance threshold for compare compare
     distance_threshold: 0.5
 
     # ratio to reduce voxel_leaf_size and neighbor points distance threshold in z axis
-    downsize_ratio_z_axis: 0.3
+    downsize_ratio_z_axis: 0.6
 
     # publish voxelized map pointcloud for debug
     publish_debug_pcd: False

autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml

@@ -56,7 +56,7 @@
 
     min_iou_matrix: # If value is negative, it will be ignored.
       #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,   MOTORBIKE, BICYCLE, PEDESTRIAN
-      [0.0,  0.1,   0.1,   0.1,    0.1,       0.1,       0.1,     0.1,       #UNKNOWN
+      [0.0001,  0.1,   0.1,   0.1,    0.1,       0.1,       0.1,     0.1,       #UNKNOWN
           0.1,  0.1,   0.2,   0.2,    0.2,       0.1,       0.1,     0.1,       #CAR
           0.1,  0.2,   0.3,   0.3,    0.3,       0.1,       0.1,     0.1,       #TRUCK
           0.1,  0.2,   0.3,   0.3,    0.3,       0.1,       0.1,     0.1,       #BUS

autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml

@@ -1,29 +1,29 @@
 /**:
   ros__parameters:
-    additional_lidars: ["front_lower"]
+    additional_lidars: []
     ransac_input_topics: []
     use_single_frame_filter: False
     use_time_series_filter: True
 
     common_crop_box_filter:
       parameters:
         min_x: -70.0
-        max_x: 100.0
+        max_x: 120.0
         min_y: -75.0
         max_y: 75.0
-        max_z: 3.2
-        min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        margin_max_z: 3.2
+        margin_min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
         negative: False
 
     common_ground_filter:
       plugin: "ground_segmentation::ScanGroundFilterComponent"
       parameters:
         global_slope_max_angle_deg: 10.0
         local_slope_max_angle_deg: 25.0 # recommended 30.0 for non elevation_grid_mode
-        split_points_distance_tolerance: 0.15
+        split_points_distance_tolerance: 0.2
         use_virtual_ground_point: True
         split_height_distance: 0.2
-        non_ground_height_threshold: 0.12
+        non_ground_height_threshold: 0.20
         grid_size_m: 0.2
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 5
@@ -44,12 +44,12 @@
 
     front_upper_crop_box_filter:
       parameters:
-        min_x: 5.8
+        min_x: -50.0
         max_x: 100.0
         min_y: -50.0
         max_y: 50.0
-        max_z: 3.2  # recommended 2.5 for non elevation_grid_mode
-        min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        margin_max_z: 3.2  # recommended 2.5 for non elevation_grid_mode
+        margin_min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
         negative: False
 
     front_upper_ground_filter:
@@ -58,7 +58,7 @@
         global_slope_max_angle_deg: 10.0
         local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode
         split_points_distance_tolerance: 0.20  # recommended 0.045 for non elevation_grid_mode
-        split_height_distance: 0.15 # recommended 0.15 for non elevation_grid_mode
+        split_height_distance: 0.2 # recommended 0.15 for non elevation_grid_mode
         use_virtual_ground_point: False
         non_ground_height_threshold: 0.1
         grid_size_m: 0.1
@@ -74,59 +74,29 @@
 
     front_lower_crop_box_filter:
       parameters:
-        min_x: 5.8
+        min_x: -50.0
         max_x: 100.0
         min_y: -50.0
         max_y: 50.0
-        max_z: 3.2  # recommended 2.5 for non elevation_grid_mode
-        min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        margin_max_z: 3.2  # recommended 2.5 for non elevation_grid_mode
+        margin_min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
         negative: False
 
     front_lower_ground_filter:
       plugin: "ground_segmentation::ScanGroundFilterComponent"
       parameters:
         global_slope_max_angle_deg: 10.0
         local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode
-        split_points_distance_tolerance: 0.10 # recommended 0.1 for non elevation_grid_mode
-        split_height_distance: 0.05      # recommended 0.05 for non elevation_grid_mode
-        use_virtual_ground_point: true
+        split_points_distance_tolerance: 0.20 # recommended 0.1 for non elevation_grid_mode
+        split_height_distance: 0.2      # recommended 0.05 for non elevation_grid_mode
+        use_virtual_ground_point: False
         non_ground_height_threshold: 0.1
         grid_size_m: 0.1
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 4
         detection_range_z_max: 3.2
-        elevation_grid_mode: true
-        use_recheck_ground_cluster: true
-        use_lowest_point: true
-        low_priority_region_x: -20.0
-        center_pcl_shift: 0.0
-        radial_divider_angle_deg: 1.0
-
-    left_upper_crop_box_filter:
-      parameters:
-        min_x: 5.8
-        max_x: 40.0
-        min_y: -10.0
-        max_y: 10.0
-        max_z: 1.  # recommended 2.5 for non elevation_grid_mode
-        min_z: -1.0 # recommended 0.0 for non elevation_grid_mode
-        negative: False
-
-    left_upper_ground_filter:
-      plugin: "ground_segmentation::ScanGroundFilterComponent"
-      parameters:
-        global_slope_max_angle_deg: 6.0
-        local_slope_max_angle_deg: 6.0 # recommended 30.0 for non elevation_grid_mode
-        split_points_distance_tolerance: 0.20  # recommended 0.045 for non elevation_grid_mode
-        split_height_distance: 0.2 # recommended 0.15 for non elevation_grid_mode
-        use_virtual_ground_point: False
-        non_ground_height_threshold: 0.05
-        grid_size_m: 0.2
-        grid_mode_switch_radius: 10.0
-        gnd_grid_buffer_size: 3
-        detection_range_z_max: 3.2
-        elevation_grid_mode: true
-        use_recheck_ground_cluster: true
+        elevation_grid_mode: false
+        use_recheck_ground_cluster: false
         use_lowest_point: true
         low_priority_region_x: -20.0
         center_pcl_shift: 0.0

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -1,14 +1,17 @@
 launch:
   # behavior path modules
   - arg:
-      name: launch_avoidance_module
+      name: launch_static_obstacle_avoidance
       default: "true"
   - arg:
       name: launch_avoidance_by_lane_change_module
       default: "false"
   - arg:
-      name: launch_dynamic_avoidance_module
+      name: launch_dynamic_obstacle_avoidance
       default: "false"
+  - arg:
+      name: launch_sampling_planner_module
+      default: "false" # Warning, experimental module, use only in simulations
   - arg:
       name: launch_lane_change_right_module
       default: "true"
@@ -71,9 +74,6 @@ launch:
   - arg:
       name: launch_speed_bump_module
       default: "false"
-  - arg:
-      name: launch_out_of_lane_module
-      default: "true"
   - arg:
       name: launch_no_drivable_lane_module
       default: "false"
@@ -87,21 +87,31 @@ launch:
 
   - arg:
       name: motion_path_planner_type
-      default: obstacle_avoidance_planner
-      # option: obstacle_avoidance_planner
+      default: path_optimizer
+      # option: path_optimizer
       #         path_sampler
       #         none
 
+  # motion velocity planner modules
+  - arg:
+      name: launch_dynamic_obstacle_stop_module
+      default: "false"
+  - arg:
+      name: launch_out_of_lane_module
+      default: "true"
+  - arg:
+      name: launch_obstacle_velocity_limiter_module
+      default: "true"
+
   - arg:
       name: motion_stop_planner_type
-      default: obstacle_cruise_planner_with_pseudo_occlusion
+      default: obstacle_cruise_planner
       # option: obstacle_stop_planner
       #         obstacle_cruise_planner
-      #         obstacle_cruise_planner_with_pseudo_occlusion
       #         none
 
   - arg:
-      name: motion_velocity_smoother_type
+      name: velocity_smoother_type
       default: JerkFiltered
       # option: JerkFiltered
       #         L2

autoware_launch/config/planning/preset/x2_preset.yaml

@@ -17,8 +17,8 @@
       kp: 0.3
 
     backward:
-      start_jerk: -0.3
-      min_jerk_mild_stop: -0.5
+      start_jerk: -0.1
+      min_jerk_mild_stop: -0.3
       min_jerk: -1.5
       min_acc_mild_stop: -1.0
       min_acc: -2.5