Merge pull request autowarefoundation#111 from tier4/sync-upstream

chore: sync upstream

control_launch/config/trajectory_follower/mpc_follower.param.yaml

@@ -11,7 +11,7 @@
     # -- path smoothing --
     enable_path_smoothing: false   # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
-    curvature_smoothing_num_traj: 1         # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
+    curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
 
     # -- mpc optimization --

perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml

@@ -50,3 +50,13 @@
        3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150,  #MOTORBIKE
        3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150,  #PEDESTRIAN
        3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150]  #ANIMAL
+    min_iou_matrix:
+      #UNKNOWN, CAR,   TRUCK, BUS,    BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
+      [0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1,  #UNKNOWN
+       0.1,     0.3,   0.2,   0.2,    0.1,     0.1,       0.1,        0.1,  #CAR
+       0.1,     0.2,   0.3,   0.3,    0.1,     0.1,       0.1,        0.1,  #TRUCK
+       0.1,     0.2,   0.3,   0.3,    0.1,     0.1,       0.1,        0.1,  #BUS
+       0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1,  #BICYCLE
+       0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1,  #MOTORBIKE
+       0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1,  #PEDESTRIAN
+       0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1]  #ANIMAL

perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml

@@ -34,9 +34,10 @@
   </include> -->
 
   <group>
-    <push-ros-namespace namespace="euclidean"/>
+    <push-ros-namespace namespace="clustering"/>
     <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-      <arg name="output_clusters" value="lidar/clusters"/>
+      <arg name="output_clusters" value="clusters"/>
+      <arg name="use_pointcloud_map" value="false"/>
     </include>
     <include file="$(find-pkg-share roi_cluster_fusion)/launch/roi_cluster_fusion.launch.xml">
       <arg name="input/camera_info0" value="$(var camera_info0)"/>
@@ -56,7 +57,7 @@
       <arg name="input/camera_info7" value="$(var camera_info7)"/>
       <arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
       <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/clusters" value="clustering/lidar/clusters"/>
+      <arg name="input/clusters" value="clusters"/>
       <arg name="input/image0" value="$(var image_raw0)"/>
       <arg name="input/image1" value="$(var image_raw1)"/>
       <arg name="input/image2" value="$(var image_raw2)"/>
@@ -68,10 +69,8 @@
       <arg name="output" value="camera_lidar_fusion/clusters"/>
     </include>
     <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-      <arg name="use_map_current" value="$(var use_vector_map)"/>
       <arg name="input/objects" value="camera_lidar_fusion/clusters" />
       <arg name="output/objects" value="camera_lidar_fusion/objects_with_feature" />
-      <arg name="orientation_reliable" value="false"/>
     </include>
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
@@ -103,7 +102,7 @@
       <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="output/objects" value="objects_with_feature"/>
-        <arg name="use_map_current" value="$(var use_vector_map)"/>
+        <arg name="use_vehicle_reference_yaw" value="true"/>
       </include>
       <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
       <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
@@ -113,9 +112,23 @@
     </group>
   </group>
 
+  <!-- DetectionByTracker -->
+  <group>
+    <push-ros-namespace namespace="detection_by_tracker"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+    </include>
+  </group>
+
+  <!-- Merger -->
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
     <arg name="input/object0" value="$(var lidar_detection_model)/objects"/>
-    <arg name="input/object1" value="euclidean/camera_lidar_fusion/short_range_objects"/>
+    <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
+    <arg name="output/object" value="camera_lidar_fusion/objects"/>
+  </include>
+  <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <arg name="input/object0" value="detection_by_tracker/objects"/>
+    <arg name="input/object1" value="camera_lidar_fusion/objects"/>
     <arg name="output/object" value="objects"/>
   </include>
+
 </launch>

perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml

@@ -5,6 +5,7 @@
 
   <!-- Clustering -->
   <group>
+    <push-ros-namespace namespace="clustering"/>
     <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
       <arg name="output_clusters" value="clusters"/>
       <arg name="use_pointcloud_map" value="false"/>
@@ -36,7 +37,7 @@
       <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="output/objects" value="objects_with_feature"/>
-        <arg name="use_map_current" value="$(var use_vector_map)"/>
+        <arg name="use_vehicle_reference_yaw" value="true"/>
       </include>
       <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
       <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">

sensing_launch/package.xml

@@ -9,10 +9,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
-  <exec_depend>aip_x1_launch</exec_depend>
-  <exec_depend>aip_x2_launch</exec_depend>
-  <exec_depend>aip_xx1_launch</exec_depend>
-  <exec_depend>common_sensor_launch</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

system_launch/config/ad_service_state_monitor.param.yaml

@@ -1,4 +1,4 @@
-# Autoware State Monitor Parameters
+# AD Service State Monitor Parameters
 /**:
   ros__parameters:
     # modules_names: string array

system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml

@@ -1,4 +1,4 @@
-# Autoware State Monitor: Planning Simulator Parameters
+# AD Service State Monitor: Planning Simulator Parameters
 /**:
   ros__parameters:
     # modules_names: string array