feat(obstacle_stop_module): adopt PCL stop and others (autowarefoundation#1173)

* feat(obstacle_stop_module): add pcl stop params
* feat(obstacle_stop_module): add RSS stop for PCL
* feat(obstacle_stop_module): enable pcl stop
* obs_stop update PCL params
---------
Signed-off-by: yuki-takagi-66 <[email protected]>

Author: yuki-takagi-66

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_stop.param.yaml

@@ -12,6 +12,7 @@
 
         hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
         hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
+        pointcloud_suppresion_distance_margin: 0.2
 
         stop_on_curve:
           enable_approaching: true
@@ -35,11 +36,12 @@
           two_wheel_objects_deceleration: -3.0 # for BICYCLE, MOTORCYCLE
           other_vehicle_objects_deceleration: -1.2 # for car, truck, etc
           # the_other_object_deceleration: -inf, for PEDESTRIAN, UNKNOWN
+          pointclound_deceleration: -1.0 # for pointcloud
           velocity_offset: -1.0
 
       obstacle_filtering:
         object_type:
-          pointcloud: false
+          pointcloud: true
 
           inside:
             unknown: true
@@ -62,19 +64,27 @@
             pedestrian: true
 
         pointcloud:
-          pointcloud_voxel_grid_x: 0.05
-          pointcloud_voxel_grid_y: 0.05
-          pointcloud_voxel_grid_z: 100000.0
-          pointcloud_cluster_tolerance: 1.0
-          pointcloud_min_cluster_size: 1
-          pointcloud_max_cluster_size: 100000
+          pointcloud_voxel_grid_x: 0.1
+          pointcloud_voxel_grid_y: 0.1
+          pointcloud_voxel_grid_z: 0.5
+          time_series_association:
+            max_time_diff: 0.35
+            min_velocity: -5.0
+            max_velocity: 30.0
+            position_diff: 1.0
+          velocity_estimation:
+            min_clamp_velocity: 0.0
+            max_clamp_velocity: 20.0
+            required_velocity_count: 5
+            lpf_gain: 0.9
 
         # hysteresis for velocity
         obstacle_velocity_threshold_to_stop : 30.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
         obstacle_velocity_threshold_from_stop : 30.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
 
         max_lat_margin: 0.3 # lateral margin between the obstacles except for unknown and ego's footprint
         max_lat_margin_against_predicted_object_unknown: 0.3 # lateral margin between the unknown obstacles and ego's footprint
+        max_lat_margin_against_pointcloud: 0.3 # lateral margin between the unknown obstacles and ego's footprint
 
         min_velocity_to_reach_collision_point: 2.0 # minimum velocity margin to calculate time to reach collision [m/s]
         stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle