perf(mpc_lateral_controller): mpc works more stably #336
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
This was referenced Apr 30, 2023
soblin
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May 7, 2023
* feat: move rtc_auto_approver_foa param Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: fix module list in auto_mode_manager param Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat: use different rtc_auto_mode_maneger params depending on disuse_foa Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: fix parameter file name Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: fix let description Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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Jun 12, 2023
…efoundation#336) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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Jun 12, 2023
* chore: sync files (autowarefoundation#327) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * refactor: virtual wall rviz config (autowarefoundation#326) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * feat(rviz_plugin): adaptive scaling for display size (autowarefoundation#329) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix: support context dict key for humble (autowarefoundation#328) * fix: support context dict key for humble Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add todo comment Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix: modify type of global parameter (autowarefoundation#333) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore: sync files (autowarefoundation#335) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat: use multithread for traffic light container as default (autowarefoundation#336) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix(localization_launch): fix input topic name (autowarefoundation#338) * feat(behavior_velocity): add run out module (autowarefoundation#339) * feat(behavior_velocity): add parameter yaml for behavior_velocity_planner Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat(behavior_velocity): add run out module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Yamato Ando <yamato.ando@gmail.com> Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
rej55
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Jun 12, 2023
…oundation#332) * chore: sync awf-latest (autowarefoundation#322) style: fix flake8 C417 (autowarefoundation#321) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: sync awf-latest (autowarefoundation#325) * chore: sync files (autowarefoundation#311) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat: disable namespace `lane_start_bound` (autowarefoundation#314) * feat: disable lane_bound * fix: lane_start_bound * feat: add center_line_arrows to disable * ci: add sync-awf.yaml (autowarefoundation#318) * ci: add sync-awf.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * rename Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * refactor(vehicle_cmd_gate): add namespace (autowarefoundation#316) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * style: fix flake8 C417 (autowarefoundation#321) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore(behavior_velocity): update latest params (autowarefoundation#320) * chore(behavior_velocity): update latest params Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * ci(pre-commit): autoupdate (autowarefoundation#324) updates: - [github.com/tier4/pre-commit-hooks-ros: v0.7.0 → v0.7.1](tier4/pre-commit-hooks-ros@v0.7.0...v0.7.1) - [github.com/scop/pre-commit-shfmt: v3.4.3-1 → v3.5.0-1](scop/pre-commit-shfmt@v3.4.3-1...v3.5.0-1) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_api_launch): add rtc controller (autowarefoundation#305) * add rtc controller Signed-off-by: tkhmy <tkh.my.p@gmail.com> * change line Signed-off-by: tkhmy <tkh.my.p@gmail.com> * change back to alphabetical order Signed-off-by: tkhmy <tkh.my.p@gmail.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> * add calibration status launcher to external_api_adaptor Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * pull awf-latest Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * chore: sync awf-latest (autowarefoundation#334) * chore: sync files (autowarefoundation#327) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * refactor: virtual wall rviz config (autowarefoundation#326) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * feat(rviz_plugin): adaptive scaling for display size (autowarefoundation#329) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix: support context dict key for humble (autowarefoundation#328) * fix: support context dict key for humble Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add todo comment Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix: modify type of global parameter (autowarefoundation#333) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore: sync files (autowarefoundation#335) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat: use multithread for traffic light container as default (autowarefoundation#336) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix(localization_launch): fix input topic name (autowarefoundation#338) * feat(behavior_velocity): add run out module (autowarefoundation#339) * feat(behavior_velocity): add parameter yaml for behavior_velocity_planner Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat(behavior_velocity): add run out module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Yamato Ando <yamato.ando@gmail.com> Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(mission_planner): disable lane_start_bound in Rviz (autowarefoundation#341) Signed-off-by: h-ohta <hiroki.ota@tier4.jp> * pull the latest tier4/universe Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * pull awf-latest Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * fixed unnecessary change. Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Yamato Ando <yamato.ando@gmail.com> Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp>
rej55
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Jun 12, 2023
…arefoundation#402) * chore: sync awf-latest (autowarefoundation#322) style: fix flake8 C417 (autowarefoundation#321) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: sync awf-latest (autowarefoundation#325) * chore: sync files (autowarefoundation#311) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat: disable namespace `lane_start_bound` (autowarefoundation#314) * feat: disable lane_bound * fix: lane_start_bound * feat: add center_line_arrows to disable * ci: add sync-awf.yaml (autowarefoundation#318) * ci: add sync-awf.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * rename Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * refactor(vehicle_cmd_gate): add namespace (autowarefoundation#316) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * style: fix flake8 C417 (autowarefoundation#321) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore(behavior_velocity): update latest params (autowarefoundation#320) * chore(behavior_velocity): update latest params Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * ci(pre-commit): autoupdate (autowarefoundation#324) updates: - [github.com/tier4/pre-commit-hooks-ros: v0.7.0 → v0.7.1](tier4/pre-commit-hooks-ros@v0.7.0...v0.7.1) - [github.com/scop/pre-commit-shfmt: v3.4.3-1 → v3.5.0-1](scop/pre-commit-shfmt@v3.4.3-1...v3.5.0-1) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_api_launch): add rtc controller (autowarefoundation#305) * add rtc controller Signed-off-by: tkhmy <tkh.my.p@gmail.com> * change line Signed-off-by: tkhmy <tkh.my.p@gmail.com> * change back to alphabetical order Signed-off-by: tkhmy <tkh.my.p@gmail.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> * chore: sync awf-latest (autowarefoundation#334) * chore: sync files (autowarefoundation#327) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * refactor: virtual wall rviz config (autowarefoundation#326) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * feat(rviz_plugin): adaptive scaling for display size (autowarefoundation#329) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix: support context dict key for humble (autowarefoundation#328) * fix: support context dict key for humble Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add todo comment Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix: modify type of global parameter (autowarefoundation#333) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore: sync files (autowarefoundation#335) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat: use multithread for traffic light container as default (autowarefoundation#336) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix(localization_launch): fix input topic name (autowarefoundation#338) * feat(behavior_velocity): add run out module (autowarefoundation#339) * feat(behavior_velocity): add parameter yaml for behavior_velocity_planner Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat(behavior_velocity): add run out module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Yamato Ando <yamato.ando@gmail.com> Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(mission_planner): disable lane_start_bound in Rviz (autowarefoundation#341) Signed-off-by: h-ohta <hiroki.ota@tier4.jp> * fix(stop_line): add ros_parameter (autowarefoundation#347) * fix(stop_line): add ros_parameter Signed-off-by: k-obitsu <koichi.obitsu@tier4.jp> * fix(perception_launch): fix vehicle param in perception launch Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Yamato Ando <yamato.ando@gmail.com> Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp> Co-authored-by: k-obitsu <56008637+k-obitsu@users.noreply.github.com>
rej55
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Jun 12, 2023
* chore: sync awf-latest (autowarefoundation#322) style: fix flake8 C417 (autowarefoundation#321) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: sync awf-latest (autowarefoundation#325) * chore: sync files (autowarefoundation#311) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat: disable namespace `lane_start_bound` (autowarefoundation#314) * feat: disable lane_bound * fix: lane_start_bound * feat: add center_line_arrows to disable * ci: add sync-awf.yaml (autowarefoundation#318) * ci: add sync-awf.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * rename Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * refactor(vehicle_cmd_gate): add namespace (autowarefoundation#316) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * style: fix flake8 C417 (autowarefoundation#321) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore(behavior_velocity): update latest params (autowarefoundation#320) * chore(behavior_velocity): update latest params Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * ci(pre-commit): autoupdate (autowarefoundation#324) updates: - [github.com/tier4/pre-commit-hooks-ros: v0.7.0 → v0.7.1](tier4/pre-commit-hooks-ros@v0.7.0...v0.7.1) - [github.com/scop/pre-commit-shfmt: v3.4.3-1 → v3.5.0-1](scop/pre-commit-shfmt@v3.4.3-1...v3.5.0-1) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_api_launch): add rtc controller (autowarefoundation#305) * add rtc controller Signed-off-by: tkhmy <tkh.my.p@gmail.com> * change line Signed-off-by: tkhmy <tkh.my.p@gmail.com> * change back to alphabetical order Signed-off-by: tkhmy <tkh.my.p@gmail.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> * chore: sync awf-latest (autowarefoundation#334) * chore: sync files (autowarefoundation#327) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * refactor: virtual wall rviz config (autowarefoundation#326) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * feat(rviz_plugin): adaptive scaling for display size (autowarefoundation#329) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix: support context dict key for humble (autowarefoundation#328) * fix: support context dict key for humble Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add todo comment Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix: modify type of global parameter (autowarefoundation#333) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore: sync files (autowarefoundation#335) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat: use multithread for traffic light container as default (autowarefoundation#336) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix(localization_launch): fix input topic name (autowarefoundation#338) * feat(behavior_velocity): add run out module (autowarefoundation#339) * feat(behavior_velocity): add parameter yaml for behavior_velocity_planner Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat(behavior_velocity): add run out module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Yamato Ando <yamato.ando@gmail.com> Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(mission_planner): disable lane_start_bound in Rviz (autowarefoundation#341) Signed-off-by: h-ohta <hiroki.ota@tier4.jp> * fix(stop_line): add ros_parameter (autowarefoundation#347) * fix(stop_line): add ros_parameter Signed-off-by: k-obitsu <koichi.obitsu@tier4.jp> * add localization score relay node Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * pull awf-latest Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Yamato Ando <yamato.ando@gmail.com> Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp> Co-authored-by: k-obitsu <56008637+k-obitsu@users.noreply.github.com>
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…-change-max-lve feat: disable AEB and set the maximum velocity to 40km/h
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Description
Current MPC's parameters seem to stick to decrease a lateral error too much lacking steering angle stability.
Since the path changes dynamically in complicated environments and the path may have a bit high curvature, MPC's stability against a more unstable path is important as follows.
https://www.youtube.com/watch?v=opqtckENIs8&ab_channel=ApolloAuto&ab_channel=ApolloAuto
With this PR, MPC
(Hard to see the difference from the video though)
The following is a case of avoidance by obstacle_avoidance_planner which has a bit high curvature.
The critical difference is when returning to the reference path after avoidance. Without this PR, the steering wheel changed from right to left suddenly.
Without this PR
Screencast from 2023年04月29日 01時58分15秒.webm
With this PR
Screencast from 2023年04月29日 01時53分21秒.webm
The code I changed is
$ git diff diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt index 78383f6146..710f287175 100644 --- a/planning/behavior_path_planner/CMakeLists.txt +++ b/planning/behavior_path_planner/CMakeLists.txt @@ -7,7 +7,7 @@ autoware_package() find_package(OpenCV REQUIRED) find_package(magic_enum CONFIG REQUIRED) -set(COMPILE_WITH_OLD_ARCHITECTURE TRUE) +set(COMPILE_WITH_OLD_ARCHITECTURE FALSE) set(common_src src/steering_factor_interface.cppTests performed
planning simulator
Effects on system behavior
The behavior of MPC's tracking characteristics may change a bit.
These parameters have to be tuned for each specific vehicle.
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