diff --git a/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml b/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml index a625ec50..da639962 100644 --- a/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml @@ -5,16 +5,16 @@ - + - + - + diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/CMakeLists.txt b/aichallenge/workspace/src/aichallenge_submit/booars_launch/CMakeLists.txt index 6440f8e3..1c6a984b 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/CMakeLists.txt +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/CMakeLists.txt @@ -3,4 +3,4 @@ project(booars_launch) find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() -ament_auto_package(INSTALL_TO_SHARE launch map config) +ament_auto_package(INSTALL_TO_SHARE launch map config data) diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/behavior_path_planner.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/behavior_path_planner.param.yaml new file mode 100644 index 00000000..0337933c --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/behavior_path_planner.param.yaml @@ -0,0 +1,69 @@ +/**: + ros__parameters: + verbose: false + + planning_hz: 10.0 + backward_path_length: 5.0 + forward_path_length: 300.0 + backward_length_buffer_for_end_of_pull_over: 5.0 + backward_length_buffer_for_end_of_pull_out: 5.0 + minimum_pull_over_length: 16.0 + + refine_goal_search_radius_range: 7.5 + + # parameters for turn signal decider + turn_signal_intersection_search_distance: 30.0 + turn_signal_intersection_angle_threshold_deg: 15.0 + turn_signal_minimum_search_distance: 10.0 + turn_signal_search_time: 3.0 + turn_signal_shift_length_threshold: 0.3 + turn_signal_on_swerving: true + + path_interval: 1.0 + + visualize_maximum_drivable_area: true + + lateral_distance_max_threshold: 2.0 + longitudinal_distance_min_threshold: 3.0 + + expected_front_deceleration: -1.0 + expected_rear_deceleration: -1.0 + + expected_front_deceleration_for_abort: -1.0 + expected_rear_deceleration_for_abort: -2.0 + + rear_vehicle_reaction_time: 2.0 + rear_vehicle_safety_time_margin: 1.0 + + # USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE. + # https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt + # NOTE: The smaller the priority number is, the higher the module priority is. + lane_change: + enable_module: true + enable_simultaneous_execution: false + priority: 4 + max_module_size: 1 + + pull_out: + enable_module: true + enable_simultaneous_execution: false + priority: 0 + max_module_size: 1 + + side_shift: + enable_module: true + enable_simultaneous_execution: false + priority: 2 + max_module_size: 1 + + pull_over: + enable_module: true + enable_simultaneous_execution: false + priority: 1 + max_module_size: 1 + + avoidance: + enable_module: true + enable_simultaneous_execution: false + priority: 3 + max_module_size: 1 diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/behavior_path_planner_tree.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/behavior_path_planner_tree.xml new file mode 100644 index 00000000..23a61402 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/behavior_path_planner_tree.xml @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + desc + + + desc + + + + + + desc + + + desc + + + + desc + + + desc + + + + + + + + desc + + + + + desc + + + desc + + + + + + + + diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/map/lanelet2_map_loader.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/map/lanelet2_map_loader.param.yaml new file mode 100755 index 00000000..61c41ee8 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/map/lanelet2_map_loader.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + lanelet2_map_projector_type: MGRS # Options: MGRS, UTM + center_line_resolution: 5.0 # [m] diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml index ea3e4422..f670c1e7 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml @@ -8,7 +8,7 @@ multi_layered_costmap: layers: - "cached_lanelet_layer" - - "predicted_object_layer" + # - "predicted_object_layer" cached_lanelet_layer: type: "cached_lanelet" map_topic: "/map/vector_map" diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml new file mode 100644 index 00000000..a801eca3 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + map_frame: map + arrival_check_angle_deg: 45.0 + arrival_check_distance: 1.0 + arrival_check_duration: 1.0 + goal_angle_threshold_deg: 45.0 + enable_correct_goal_pose: false diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/common/nearest_search.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/common/nearest_search.param.yaml new file mode 100644 index 00000000..eb670976 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/common/nearest_search.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + # ego + ego_nearest_dist_threshold: 3.0 # [m] + ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg] diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml new file mode 100644 index 00000000..c14f59f6 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -0,0 +1,116 @@ +# see AvoidanceParameters description in avoidance_module_data.hpp for description. +/**: + ros__parameters: + avoidance: + resample_interval_for_planning: 0.3 # [m] + resample_interval_for_output: 4.0 # [m] + detection_area_right_expand_dist: 0.0 # [m] + detection_area_left_expand_dist: 1.0 # [m] + drivable_area_right_bound_offset: 0.0 # [m] + drivable_area_left_bound_offset: 0.0 # [m] + object_envelope_buffer: 0.3 # [m] + + # avoidance module common setting + enable_bound_clipping: false + enable_avoidance_over_same_direction: true + enable_avoidance_over_opposite_direction: true + enable_update_path_when_object_is_gone: false + enable_force_avoidance_for_stopped_vehicle: false + enable_safety_check: false + enable_yield_maneuver: false + disable_path_update: false + + # for debug + publish_debug_marker: false + print_debug_info: false + + # avoidance is performed for the object type with true + target_object: + car: true + truck: true + bus: true + trailer: true + unknown: false + bicycle: false + motorcycle: false + pedestrian: false + + # For target object filtering + target_filtering: + # filtering moving objects + threshold_speed_object_is_stopped: 1.0 # [m/s] + threshold_time_object_is_moving: 1.0 # [s] + threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s] + # detection range + object_check_force_avoidance_clearance: 30.0 # [m] + object_check_forward_distance: 150.0 # [m] + object_check_backward_distance: 2.0 # [m] + object_check_goal_distance: 20.0 # [m] + # filtering parking objects + threshold_distance_object_is_on_center: 1.0 # [m] + object_check_shiftable_ratio: 0.6 # [-] + object_check_min_road_shoulder_width: 0.5 # [m] + # lost object compensation + object_last_seen_threshold: 2.0 + + # For safety check + safety_check: + safety_check_backward_distance: 100.0 # [m] + safety_check_time_horizon: 10.0 # [s] + safety_check_idling_time: 1.5 # [s] + safety_check_accel_for_rss: 2.5 # [m/ss] + safety_check_hysteresis_factor: 2.0 # [-] + + # For avoidance maneuver + avoidance: + # avoidance lateral parameters + lateral: + lateral_collision_margin: 1.0 # [m] + lateral_collision_safety_buffer: 0.7 # [m] + lateral_passable_safety_buffer: 0.0 # [m] + road_shoulder_safety_margin: 0.3 # [m] + avoidance_execution_lateral_threshold: 0.499 + max_right_shift_length: 5.0 + max_left_shift_length: 5.0 + # avoidance distance parameters + longitudinal: + prepare_time: 2.0 # [s] + longitudinal_collision_safety_buffer: 0.0 # [m] + min_prepare_distance: 1.0 # [m] + min_avoidance_distance: 10.0 # [m] + min_nominal_avoidance_speed: 7.0 # [m/s] + min_sharp_avoidance_speed: 1.0 # [m/s] + + # For yield maneuver + yield: + yield_velocity: 2.78 # [m/s] + + # For stop maneuver + stop: + min_distance: 10.0 # [m] + max_distance: 20.0 # [m] + + constraints: + # vehicle slows down under longitudinal constraints + use_constraints_for_decel: false # [-] + + # lateral constraints + lateral: + nominal_lateral_jerk: 0.2 # [m/s3] + max_lateral_jerk: 1.0 # [m/s3] + + # longitudinal constraints + longitudinal: + nominal_deceleration: -1.0 # [m/ss] + nominal_jerk: 0.5 # [m/sss] + max_deceleration: -2.0 # [m/ss] + max_jerk: 1.0 + # For prevention of large acceleration while avoidance + min_avoidance_speed_for_acc_prevention: 3.0 # [m/s] + max_avoidance_acceleration: 0.5 # [m/ss] + + target_velocity_matrix: + col_size: 2 + matrix: + [2.78, 13.9, # velocity [m/s] + 0.50, 1.00] # margin [m] diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml new file mode 100644 index 00000000..902a93ce --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -0,0 +1,58 @@ +/**: + ros__parameters: + # Static expansion + avoidance: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] + lane_change: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] + lane_following: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] + pull_out: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] + pull_over: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] + side_shift: + drivable_area_right_bound_offset: 0.0 + drivable_area_left_bound_offset: 0.0 + drivable_area_types_to_skip: [road_border] + + # Dynamic expansion by projecting the ego footprint along the path + dynamic_expansion: + enabled: false + ego: + extra_footprint_offset: + front: 0.5 # [m] extra length to add to the front of the ego footprint + rear: 0.5 # [m] extra length to add to the rear of the ego footprint + left: 0.5 # [m] extra length to add to the left of the ego footprint + right: 0.5 # [m] extra length to add to the rear of the ego footprint + dynamic_objects: + avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects + extra_footprint_offset: + front: 0.5 # [m] extra length to add to the front of the dynamic object footprint + rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint + left: 0.5 # [m] extra length to add to the left of the dynamic object footprint + right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint + expansion: + method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'. + # 'lanelet': add lanelets overlapped by the ego footprints + # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area + max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) + max_path_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit) + extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint + avoid_linestring: + types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area + - road_border + distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid + compensate: + enable: true # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction + extra_distance: 3.0 # [m] extra distance to add to the compensation diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml new file mode 100644 index 00000000..295769ac --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -0,0 +1,34 @@ +/**: + ros__parameters: + lane_change: + lane_change_prepare_duration: 4.0 # [s] + lane_changing_safety_check_duration: 8.0 # [s] + + minimum_lane_change_prepare_distance: 2.0 # [m] + minimum_lane_change_length: 16.5 # [m] + backward_length_buffer_for_end_of_lane: 3.0 # [m] + lane_change_finish_judge_buffer: 2.0 # [m] + + lane_changing_lateral_jerk: 0.5 # [m/s3] + lane_changing_lateral_acc: 0.5 # [m/s2] + + minimum_lane_change_velocity: 2.78 # [m/s] + prediction_time_resolution: 0.5 # [s] + maximum_deceleration: 1.0 # [m/s2] + lane_change_sampling_num: 3 + + # collision check + enable_collision_check_at_prepare_phase: false + prepare_phase_ignore_target_speed_thresh: 0.1 # [m/s] + use_predicted_path_outside_lanelet: false + use_all_predicted_path: false + + # abort + enable_cancel_lane_change: true + enable_abort_lane_change: false + + abort_delta_time: 3.0 # [s] + abort_max_lateral_jerk: 1000.0 # [m/s3] + + # debug + publish_debug_marker: false diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml new file mode 100644 index 00000000..b6a9574b --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + lane_following: + lane_change_prepare_duration: 2.0 diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml new file mode 100644 index 00000000..68000747 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml @@ -0,0 +1,31 @@ +/**: + ros__parameters: + pull_out: + th_arrived_distance: 1.0 + th_stopped_velocity: 0.01 + th_stopped_time: 1.0 + collision_check_margin: 1.0 + collision_check_distance_from_end: 1.0 + # shift pull out + enable_shift_pull_out: true + shift_pull_out_velocity: 2.0 + pull_out_sampling_num: 4 + minimum_shift_pull_out_distance: 20.0 + maximum_lateral_jerk: 2.0 + minimum_lateral_jerk: 0.5 + deceleration_interval: 15.0 + # geometric pull out + enable_geometric_pull_out: true + divide_pull_out_path: false + geometric_pull_out_velocity: 1.0 + arc_path_interval: 1.0 + lane_departure_margin: 0.2 + backward_velocity: -1.0 + pull_out_max_steer_angle: 0.26 # 15deg + # search start pose backward + enable_back: true + search_priority: "efficient_path" # "efficient_path" or "short_back_distance" + max_back_distance: 30.0 + backward_search_resolution: 2.0 + backward_path_update_duration: 3.0 + ignore_distance_from_lane_end: 15.0 diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml new file mode 100644 index 00000000..ca1eb740 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml @@ -0,0 +1,95 @@ +/**: + ros__parameters: + pull_over: + request_length: 100.0 + th_arrived_distance: 1.0 + th_stopped_velocity: 0.01 + th_stopped_time: 2.0 # It must be greater than the state_machine's. + pull_over_velocity: 3.0 + pull_over_minimum_velocity: 1.38 + margin_from_boundary: 0.5 + decide_path_distance: 10.0 + maximum_deceleration: 0.5 + # goal research + enable_goal_research: true + search_priority: "efficient_path" # "efficient_path" or "close_goal" + forward_goal_search_length: 20.0 + backward_goal_search_length: 20.0 + goal_search_interval: 2.0 + longitudinal_margin: 3.0 + max_lateral_offset: 0.5 + lateral_offset_interval: 0.25 + ignore_distance_from_lane_start: 15.0 + # occupancy grid map + use_occupancy_grid: true + use_occupancy_grid_for_longitudinal_margin: false + occupancy_grid_collision_check_margin: 0.0 + theta_size: 360 + obstacle_threshold: 60 + # object recognition + use_object_recognition: true + object_recognition_collision_check_margin: 1.0 + # shift path + enable_shift_parking: true + pull_over_sampling_num: 4 + maximum_lateral_jerk: 2.0 + minimum_lateral_jerk: 0.5 + deceleration_interval: 15.0 + after_pull_over_straight_distance: 1.0 + # freespace parking + enable_freespace_parking: true + freespace_parking: + planning_algorithm: "astar" # options: astar, rrtstar + velocity: 1.0 + vehicle_shape_margin: 1.0 + time_limit: 3000.0 + minimum_turning_radius: 5.0 + maximum_turning_radius: 5.0 + turning_radius_size: 1 + # search configs + theta_size: 144 + angle_goal_range: 6.0 + curve_weight: 1.2 + reverse_weight: 1.0 + lateral_goal_range: 0.5 + longitudinal_goal_range: 2.0 + # costmap configs + obstacle_threshold: 30 + # -- A* search Configurations -- + astar: + only_behind_solutions: false + use_back: false + distance_heuristic_weight: 1.0 + # -- RRT* search Configurations -- + rrtstar: + enable_update: true + use_informed_sampling: true + max_planning_time: 150.0 + neighbor_radius: 8.0 + margin: 1.0 + # parallel parking path + enable_arc_forward_parking: true + enable_arc_backward_parking: true + after_forward_parking_straight_distance: 2.0 + after_backward_parking_straight_distance: 2.0 + forward_parking_velocity: 1.38 + backward_parking_velocity: -1.38 + forward_parking_lane_departure_margin: 0.0 + backward_parking_lane_departure_margin: 0.0 + arc_path_interval: 1.0 + pull_over_max_steer_angle: 0.35 # 20deg + # hazard on when parked + hazard_on_threshold_distance: 1.0 + hazard_on_threshold_velocity: 0.5 + # check safety with dynamic objects. Not used now. + pull_over_duration: 2.0 + pull_over_prepare_duration: 4.0 + min_stop_distance: 5.0 + stop_time: 2.0 + hysteresis_buffer_distance: 2.0 + prediction_time_resolution: 0.5 + enable_collision_check_at_prepare_phase: false + use_predicted_path_outside_lanelet: false + use_all_predicted_path: false + # debug + print_debug_info: false diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml new file mode 100644 index 00000000..79044041 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + side_shift: + min_distance_to_start_shifting: 5.0 + time_to_start_shifting: 1.0 + shifting_lateral_jerk: 0.2 + min_shifting_distance: 5.0 + min_shifting_speed: 5.56 diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/sensing/vehicle_velocity_converter.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/sensing/vehicle_velocity_converter.param.yaml new file mode 100644 index 00000000..649296ff --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/sensing/vehicle_velocity_converter.param.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + speed_scale_factor: 1.0 # [.] + velocity_stddev_xx: 0.2 # [m/s] + angular_velocity_stddev_zz: 0.1 # [rad/s] + frame_id: base_link diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/vehicle/raw_vehicle_cmd_converter.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/vehicle/raw_vehicle_cmd_converter.param.yaml new file mode 100644 index 00000000..3e98b794 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/vehicle/raw_vehicle_cmd_converter.param.yaml @@ -0,0 +1,18 @@ +/**: + ros__parameters: + use_steer_ff: true + use_steer_fb: true + is_debugging: false + steer_pid: + kp: 150.0 + ki: 15.0 + kd: 0.0 + max: 8.0 + min: -8.0 + max_p: 8.0 + min_p: -8.0 + max_i: 8.0 + min_i: -8.0 + max_d: 0.0 + min_d: 0.0 + invalid_integration_decay: 0.97 diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/data/accel_map.csv b/aichallenge/workspace/src/aichallenge_submit/booars_launch/data/accel_map.csv new file mode 100644 index 00000000..95879ae7 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/data/accel_map.csv @@ -0,0 +1,10 @@ +default, 0.0 ,2.0 ,4.0 ,6.0 ,8.0 ,10.0 + 0.0, -0.3 ,-0.3 ,-0.3 ,-0.3 ,-0.3 ,-0.3 + 0.1, 0.0 ,0.0 ,0.0 ,0.0 ,0.0 ,0.0 + 0.2, 0.01 ,0.01 ,0.01 ,0.01 ,0.01 ,0.01 + 0.3, 0.05 ,0.05 ,0.05 ,0.05 ,0.05 ,0.05 + 0.4, 0.1 ,0.1 ,0.1 ,0.1 ,0.1 ,0.1 + 0.5, 0.175 ,0.175 ,0.175 ,0.175 ,0.175 ,0.175 + 0.6, 0.25 ,0.25 ,0.25 ,0.25 ,0.25 ,0.25 + 0.8, 0.7 ,0.7 ,0.7 ,0.7 ,0.7 ,0.7 + 1.0, 1.0 ,1.0 ,1.0 ,1.0 ,1.0 ,1.0 diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/data/brake_map.csv b/aichallenge/workspace/src/aichallenge_submit/booars_launch/data/brake_map.csv new file mode 100644 index 00000000..3a059f61 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/data/brake_map.csv @@ -0,0 +1,9 @@ + default, 0.0, 2.0, 4.0, 6.0, 8.0, 10.0 + 0.0, -0.3, -0.3, -0.3, -0.3, -0.3, -0.3 + 0.1, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5 + 0.2, -0.7, -0.7, -0.7, -0.7, -0.7, -0.7 + 0.3, -0.9, -0.9, -0.9, -0.9, -0.9, -0.9 + 0.4, -1.1, -1.1, -1.1, -1.1, -1.1, -1.1 + 0.5, -1.3, -1.3, -1.3, -1.3, -1.3, -1.3 + 0.6, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5 + 1.0, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5 diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/data/steer_map.csv b/aichallenge/workspace/src/aichallenge_submit/booars_launch/data/steer_map.csv new file mode 100644 index 00000000..3da0e0cd --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/data/steer_map.csv @@ -0,0 +1,14 @@ +default,-0.6,-0.5,-0.4,-0.3,-0.2,-0.1,0,0.1,0.2,0.3,0.4,0.5,0.6 +-12,-0.29,-0.3234236132,-0.3468991362,-0.37274847,-0.4288688461,-0.4696573,-0.4781014157,-0.49,-0.51,-0.52,-0.53,-0.54,-0.55 +-10,-0.2,-0.2451308686,-0.2667782734,-0.3090752469,-0.3575200568,-0.3874868999,-0.4041493831,-0.42,-0.43,-0.44,-0.45,-0.46,-0.47 +-8,-0.1,-0.1586739777,-0.2020698818,-0.2317654357,-0.2778998646,-0.3029839842,-0.3188172953,-0.32,-0.33,-0.34,-0.35,-0.36,-0.37 +-6,-0.0404761584,-0.0806574159,-0.1208386734,-0.1559621241,-0.1888907059,-0.210790018,-0.2322336736,-0.24,-0.25,-0.26,-0.27,-0.28,-0.29 +-4,0.01,-0.01428569928,-0.04,-0.06805018099,-0.09718925222,-0.1189509092,-0.1361293637,-0.14,-0.153044463,-0.1688321844,-0.18,-0.2,-0.22 +-2,0.06,0.05,0.03,0.01,-0.006091655083,-0.03546033903,-0.05319488695,-0.06097627388,-0.07576251508,-0.09165178816,-0.1,-0.12,-0.14 +0,0.11,0.09,0.07,0.05,0.03,0.01,-0.0004106386541,-0.01,-0.03,-0.05,-0.07,-0.09,-0.11 +2,0.15,0.13,0.11,0.09,0.07812978496,0.06023545297,0.04386326928,0.02314813566,0.003779338416,-0.01390526686,-0.0324840879,-0.05106290894,-0.06964172998 +4,0.24,0.22,0.2,0.1839795042,0.1649754952,0.1455879759,0.1274837062,0.1020632549,0.0861964856,0.06971503353,0.04541294018,0.01308869356,-0.01923555307 +6,0.33,0.31,0.29,0.274963497,0.2447295892,0.2337353319,0.2126138313,0.1767700907,0.1578757866,0.1440584148,0.1136331403,0.0827443595,0.05185557872 +8,0.43,0.41,0.39,0.3714915121,0.3299578073,0.3156403746,0.2997845963,0.2500495071,0.2339668568,0.2153133621,0.1815127859,0.156071251,0.1306297162 +10,0.5,0.49,0.48,0.4629455165,0.4210353203,0.3977027236,0.3865034288,0.3250957262,0.312237913,0.2885123051,0.2474220915,0.2123900615,0.1773580315 +12,0.56,0.54,0.53,0.5151036525,0.5046070554,0.4897214196,0.4687756354,0.4036994672,0.3812674227,0.3496883008,0.32482655,0.2783538423,0.2318811345 diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/booars.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/booars.launch.xml index a5acfb29..91d5d236 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/booars.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/booars.launch.xml @@ -1,46 +1,54 @@ - - - - - - - + + + + + + - + + + + + + - - - + + + - - + + - + - + - + - + - + - + + + @@ -51,4 +59,4 @@ - + \ No newline at end of file diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml index 529b944a..350d33c5 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml @@ -1,11 +1,15 @@ + + + + @@ -13,6 +17,7 @@ + diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/localization.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/localization.launch.xml index ab77ad89..c8514f57 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/localization.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/localization.launch.xml @@ -1,42 +1,52 @@ + + + - + - - - - + + + + - + - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + - - - - - + + + + + diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/map.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/map.launch.xml index e5d3e09d..5b9704ca 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/map.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/map.launch.xml @@ -15,7 +15,7 @@ - + @@ -24,7 +24,7 @@ - + @@ -36,6 +36,5 @@ - \ No newline at end of file diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/perception.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/perception.launch.xml index a16e4d85..7e3f2371 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/perception.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/perception.launch.xml @@ -2,9 +2,16 @@ - + + + + + + + \ No newline at end of file diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml index d1c3d1c8..c1deb358 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml @@ -1,5 +1,6 @@ + @@ -13,7 +14,7 @@ - + @@ -73,19 +74,19 @@ - + - - - - - - - - + + + + + + + + @@ -121,7 +122,6 @@ - diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/sensing.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/sensing.launch.xml index 403f1b21..74da9d28 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/sensing.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/sensing.launch.xml @@ -2,22 +2,27 @@ - - + + - - - + + + + - - + + - - - + + + diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/vehicle.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/vehicle.launch.xml index 97d01413..31508ca9 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/vehicle.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/vehicle.launch.xml @@ -1,6 +1,25 @@ - - + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map.osm b/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map.osm index 0c9222a4..49147919 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map.osm +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map.osm @@ -1,5126 +1,3288 @@ - - - + + - - - - - - - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - - + + - - - - - - - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - - - - - - - - - - - - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - - - - - - - - - - - - - + - - + - - + - - + - - + - - + - - + - - + - - + - - - - - - - - + - - + - - + - - + - - + - - + - - + - - - - + + + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - - - - - - - - - - - - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - - - - - - - - - - - - - - - - - - - + - - 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