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chore: sync awf-latest #721

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merged 3 commits into from
Dec 19, 2024
Merged

chore: sync awf-latest #721

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51dbfe2
feat: remove emergency_state_traj_{trans/rot}_dev from trajectory_fol…
takayuki5168 Dec 19, 2024
3abce1f
feat: add velocity control virtual wall (#1285)
takayuki5168 Dec 19, 2024
67933de
feat: remove admissible_{position/yaw}_error from trajectory_follower…
takayuki5168 Dec 19, 2024
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2 changes: 1 addition & 1 deletion .github/CODEOWNERS-manual
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
# /**
# .github/**
autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodrive.ai
autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp kosuke.takeuchi@tier4.jp yuki.takagi@tier4.jp alqudah.mohammad@tier4.jp
autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp
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2 changes: 0 additions & 2 deletions autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
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Expand Up @@ -3,8 +3,6 @@
# -- system --
traj_resample_dist: 0.1 # path resampling interval [m]
use_steer_prediction: false # flag for using steer prediction (do not use steer measurement)
admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value
admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value
use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory

# -- path smoothing --
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2 changes: 0 additions & 2 deletions autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
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Expand Up @@ -16,8 +16,6 @@
stopped_state_entry_vel: 0.01
stopped_state_entry_acc: 0.1
emergency_state_overshoot_stop_dist: 1.5
emergency_state_traj_trans_dev: 3.0
emergency_state_traj_rot_dev: 0.7854

# drive state
kp: 1.0
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12 changes: 12 additions & 0 deletions autoware_launch/rviz/autoware.rviz
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Expand Up @@ -2464,6 +2464,18 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /control/autonomous_emergency_braking/virtual_wall
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: VirtualWall (velocity control)
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /control/trajectory_follower/controller_node_exe/virtual_wall
Value: true
Enabled: true
Name: VirtualWall
- Class: rviz_default_plugins/Marker
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