chore: sync awf-latest

.github/workflows/github-release.yaml

@@ -9,6 +9,7 @@ on:
   workflow_dispatch:
     inputs:
       beta-branch-or-tag-name:
+        description: The name of the beta branch or tag to release
         type: string
         required: true
 

.github/workflows/sync-awf-latest.yaml

@@ -0,0 +1,31 @@
+name: sync-awf-latest
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-awf-latest:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: tier4/universe
+          sync-pr-branch: sync-awf-latest
+          sync-target-repository: https://github.com/tier4/autoware_launch.git
+          sync-target-branch: awf-latest
+          pr-title: "chore: sync awf-latest"
+          pr-labels: |
+            bot
+            sync-awf-latest
+          auto-merge-method: merge

.pre-commit-config.yaml

@@ -34,7 +34,7 @@ repos:
       - id: yamllint
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.7.0
+    rev: v0.7.1
     hooks:
       - id: flake8-ros
       - id: prettier-package-xml
@@ -46,7 +46,7 @@ repos:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.4.3-1
+    rev: v3.5.0-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]

autoware_api_launch/launch/include/external_api_adaptor.launch.py

@@ -40,6 +40,7 @@ def generate_launch_description():
         _create_api_node("operator", "Operator"),
         _create_api_node("metadata_packages", "MetadataPackages"),
         _create_api_node("route", "Route"),
+        _create_api_node("rtc_controller", "RTCController"),
         _create_api_node("service", "Service"),
         _create_api_node("start", "Start"),
         _create_api_node("vehicle_status", "VehicleStatus"),

autoware_launch/rviz/autoware.rviz

@@ -373,7 +373,9 @@ Visualization Manager:
           Name: Lanelet2VectorMap
           Namespaces:
             center_lane_line: false
+            center_line_arrows: false
             crosswalk_lanelets: true
+            lane_start_bound: false
             lanelet direction: true
             lanelet_id: false
             left_lane_bound: true

control_launch/launch/control.launch.py

@@ -159,7 +159,7 @@ def launch_setup(context, *args, **kwargs):
     # vehicle cmd gate
     vehicle_cmd_gate_component = ComposableNode(
         package="vehicle_cmd_gate",
-        plugin="VehicleCmdGate",
+        plugin="vehicle_cmd_gate::VehicleCmdGate",
         name="vehicle_cmd_gate",
         remappings=[
             ("input/emergency_state", "/system/emergency/emergency_state"),

perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

@@ -265,7 +265,7 @@ def create_single_frame_obstacle_segmentation_components(self, input_topic, outp
             components.append(
                 self.get_additional_lidars_concatenated_component(
                     input_topics=[common_pipeline_output]
-                    + list(map(lambda x: f"{x}/pointcloud", additional_lidars)),
+                    + [f"{x}/pointcloud" for x in additional_lidars],
                     output_topic=relay_topic if use_ransac else output_topic,
                 )
             )

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml

@@ -4,6 +4,7 @@
       detection_method: "occupancy_grid"    # [-] candidate is "occupancy_grid" or "predicted_object"
       pass_judge: "smooth_velocity"         # [-] candidate is "smooth_velocity" or "current_velocity"
       filter_occupancy_grid: true           # [-] whether to filter occupancy grid by morphologyEx or not
+      use_moving_object_ray_cast: true      # [-] whether to reflect moving object ray shadow grid map
       use_object_info: true                 # [-] whether to reflect object info to occupancy grid map or not
       use_partition_lanelet: true           # [-] whether to use partition lanelet map data
       pedestrian_vel: 1.5                   # [m/s] assume pedestrian is dashing from occlusion at this velocity
@@ -18,8 +19,8 @@
         lateral_distance: 1.5               # [m] maximum lateral distance to consider hidden collision
       motion:
         safety_ratio: 0.8                   # [-] jerk/acceleration ratio for safety
-        max_slow_down_jerk: -0.5            # [m/s^3] minimum jerk deceleration for safe brake.
-        max_slow_down_accel: -1.8           # [m/s^2] minimum accel deceleration for safe brake.
+        max_slow_down_jerk: -0.3            # [m/s^3] minimum jerk deceleration for safe brake.
+        max_slow_down_accel: -1.5           # [m/s^2] minimum accel deceleration for safe brake.
         non_effective_jerk: -0.3            # [m/s^3] weak jerk for velocity planning.
         non_effective_acceleration: -1.0    # [m/s^2] weak deceleration for velocity planning.
         min_allowed_velocity: 1.0           # [m/s] minimum velocity allowed
@@ -28,7 +29,7 @@
         min_occlusion_spot_size: 1.0     # [m] occupancy grid must contain an UNKNOWN area of at least size NxN to be considered a hidden obstacle.
         slice_length: 10.0               # [m] size of slices in both length and distance relative to the ego path.
         min_longitudinal_offset: 1.0     # [m] detection area safety buffer from front bumper.
-        max_lateral_distance: 6.0        # [m] buffer around the ego path used to build the detection area.
+        max_lateral_distance: 5.0        # [m] buffer around the ego path used to build the detection area.
       grid:
-        free_space_max: 40  # [-] maximum value of a free space cell in the occupancy grid
-        occupied_min: 60    # [-] minimum value of an occupied cell in the occupancy grid
+        free_space_max: 43  # [-] maximum value of a free space cell in the occupancy grid
+        occupied_min: 57    # [-] minimum value of an occupied cell in the occupancy grid

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml

@@ -4,3 +4,5 @@
       stop_margin: 0.0
       stop_check_dist: 2.0
       stop_duration_sec: 1.0
+      debug:
+        show_stopline_collision_check: false            # [-] whether to show stopline collision