feat: allow conditionally launch diffusion planner #1752
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| /**: | ||
| ros__parameters: | ||
| plugins_path: $(find-pkg-share autoware_tensorrt_plugins)/plugins/libautoware_tensorrt_plugins.so | ||
| onnx_model_path: $(env HOME)/autoware_data/diffusion_planner/v3.0/diffusion_planner.onnx | ||
| args_path: $(env HOME)/autoware_data/diffusion_planner/v3.0/diffusion_planner.param.json | ||
| planning_frequency_hz: 10.0 | ||
| ignore_neighbors: false | ||
| ignore_unknown_neighbors: true | ||
| predict_neighbor_trajectory: true | ||
| traffic_light_group_msg_timeout_seconds: 0.2 | ||
| batch_size: 1 | ||
| temperature: [0.0] | ||
| velocity_smoothing_window: 8 | ||
| stopping_threshold: 0.3 | ||
| turn_indicator_keep_offset: -1.25 | ||
| turn_indicator_hold_duration: 1.0 | ||
| shift_x: false | ||
| debug_params: | ||
| publish_debug_route: true | ||
| publish_debug_map: false | ||
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| @@ -0,0 +1,15 @@ | ||
| files: | ||
| - { path: $(dirname)/autoware-main.yaml } | ||
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| edits: | ||
| - { type: remove, path: /autoware/planning/trajectory_validation/finite } | ||
| - { type: remove, path: /autoware/planning/trajectory_validation/interval } | ||
| - { type: remove, path: /autoware/planning/trajectory_validation/curvature } | ||
| - { type: remove, path: /autoware/planning/trajectory_validation/angle } | ||
| - { type: remove, path: /autoware/planning/trajectory_validation/lateral_acceleration } | ||
| - { type: remove, path: /autoware/planning/trajectory_validation/acceleration } | ||
| - { type: remove, path: /autoware/planning/trajectory_validation/deceleration } | ||
| - { type: remove, path: /autoware/planning/trajectory_validation/steering } | ||
| - { type: remove, path: /autoware/planning/trajectory_validation/steering_rate } | ||
| - { type: remove, path: /autoware/planning/trajectory_validation/velocity_deviation } | ||
| - { type: remove, path: /autoware/planning/trajectory_validation/trajectory_shift } |
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| Original file line number | Diff line number | Diff line change | ||||||||||
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| @@ -1,8 +1,18 @@ | ||||||||||||
| <?xml version="1.0"?> | ||||||||||||
| <launch> | ||||||||||||
| <arg name="use_sim_time" default="false"/> | ||||||||||||
| <arg name="planning_setting" default="rule_based" description="planning setting diffusion_planner / rule_based"/> | ||||||||||||
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| <arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml"/> | ||||||||||||
| <arg | ||||||||||||
| name="diagnostic_graph_aggregator_graph_path" | ||||||||||||
| default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main-e2e.yaml" | ||||||||||||
| if="$(eval "'$(var planning_setting)'=='diffusion_planner'")" | ||||||||||||
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| /> | ||||||||||||
| <arg | ||||||||||||
| name="diagnostic_graph_aggregator_graph_path" | ||||||||||||
| default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml" | ||||||||||||
| if="$(eval "'$(var planning_setting)'=='rule_based'")" | ||||||||||||
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| /> | ||||||||||||
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| <set_parameter name="use_sim_time" value="$(var use_sim_time)"/> | ||||||||||||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,58 @@ | ||
| <launch> | ||
| <!-- planning module --> | ||
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| <!-- mission planner --> | ||
| <arg name="mission_planner_param_path"/> | ||
| <arg name="launch_remaining_distance_time_calculator" default="false"/> | ||
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| <node pkg="demo_nodes_cpp" exec="parameter_blackboard" name="velocity_smoother" namespace="/planning/scenario_planning" output="screen"> | ||
| <param name="max_velocity" value="16.6"/> | ||
| </node> | ||
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| <group> | ||
| <push-ros-namespace namespace="planning"/> | ||
| <!-- mission planning module --> | ||
| <group> | ||
| <push-ros-namespace namespace="mission_planning"/> | ||
| <include file="$(find-pkg-share tier4_planning_launch)/launch/mission_planning/mission_planning.launch.xml"> | ||
| <arg name="mission_planner_param_path" value="$(var mission_planner_param_path)"/> | ||
| </include> | ||
| </group> | ||
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| <group> | ||
| <!-- trajectory generator --> | ||
| <group> | ||
| <push-ros-namespace namespace="trajectory_generator"/> | ||
| <!-- neural network based planning module --> | ||
| <group> | ||
| <push-ros-namespace namespace="neural_network_based_planner"/> | ||
| <include file="$(find-pkg-share autoware_diffusion_planner)/launch/diffusion_planner.launch.xml"> | ||
| <arg name="input_odometry" value="/localization/kinematic_state"/> | ||
| <arg name="input_acceleration" value="/localization/acceleration"/> | ||
| <arg name="input_route" value="/planning/mission_planning/route"/> | ||
| <arg name="input_traffic_signals" value="/perception/traffic_light_recognition/traffic_signals"/> | ||
| <arg name="input_tracked_objects" value="/perception/object_recognition/tracking/objects"/> | ||
| <arg name="input_vector_map" value="/map/vector_map"/> | ||
| <arg name="input_turn_indicators" value="/vehicle/status/turn_indicators_status"/> | ||
| <arg name="output_trajectories" value="/planning/generator/diffusion_planner/candidate_trajectories"/> | ||
| <arg name="output_turn_indicators" value="/planning/turn_indicators_cmd"/> | ||
| </include> | ||
| <include file="$(find-pkg-share autoware_trajectory_optimizer)/launch/trajectory_optimizer.launch.xml"> | ||
| <arg name="input_trajectories" value="/planning/generator/diffusion_planner/candidate_trajectories"/> | ||
| <arg name="output_traj" value="/planning/trajectory"/> | ||
| <arg name="output_trajectories" value="/planning/generator/trajectory_optimizer/candidate_trajectories"/> | ||
| <arg | ||
| name="elastic_band_param_path" | ||
| value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml" | ||
| /> | ||
| </include> | ||
| </group> | ||
| </group> | ||
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| </group> | ||
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| <!-- mission remaining distance and time calculator --> | ||
| <group if="$(var launch_remaining_distance_time_calculator)"> | ||
| <include file="$(find-pkg-share autoware_remaining_distance_time_calculator)/launch/remaining_distance_time_calculator.launch.xml"/> | ||
| </group> | ||
| </group> | ||
| </launch> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -2108,6 +2108,98 @@ Visualization Manager: | |
| Value: true | ||
| Enabled: true | ||
| Name: ScenarioPlanning | ||
| - Class: rviz_common/Group | ||
| Displays: | ||
| - Class: rviz_default_plugins/MarkerArray | ||
| Enabled: true | ||
| Name: DiffusionPlannerRouteMarker | ||
| Namespaces: | ||
| {} | ||
| Topic: | ||
| Depth: 5 | ||
| Durability Policy: Volatile | ||
| History Policy: Keep Last | ||
| Reliability Policy: ReliableExpand commentComment on line R2120 | ||
| Value: /planning/trajectory_generator/neural_network_based_planner/diffusion_planner_node/debug/route_marker | ||
| Value: true | ||
| - Class: tier4_planning_factor_rviz_plugin/PlanningFactorRvizPlugin | ||
| Enabled: true | ||
| Name: PlanningFactor(NeuralNetworkPlanner) | ||
| Namespaces: | ||
| {} | ||
| Show Safety Factors: false | ||
| Topic: | ||
| Depth: 5 | ||
| Durability Policy: Volatile | ||
| History Policy: Keep Last | ||
| Reliability Policy: ReliableExpand commentComment on line R2133 | ||
| Value: /planning/planning_factors/neural_network_planner | ||
| Value: true | ||
| show_safety_factors: false | ||
| - BUS: | ||
| Alpha: 0.9990000128746033 | ||
| Color: 30; 144; 255 | ||
| CAR: | ||
| Alpha: 0.9990000128746033 | ||
| Color: 30; 144; 255 | ||
| CYCLIST: | ||
| Alpha: 0.9990000128746033 | ||
| Color: 119; 11; 32 | ||
| Class: autoware_perception_rviz_plugin/PredictedObjects | ||
| Confidence Interval: 95% | ||
| Display Acceleration: true | ||
| Display Existence Probability: false | ||
| Display Label: true | ||
| Display Pose Covariance: true | ||
| Display Predicted Path Confidence: true | ||
| Display Predicted Paths: true | ||
| Display Twist: true | ||
| Display Twist Covariance: false | ||
| Display UUID: true | ||
| Display Velocity: true | ||
| Display Yaw Covariance: false | ||
| Display Yaw Rate: false | ||
| Display Yaw Rate Covariance: false | ||
| Enabled: true | ||
| Line Width: 0.10000000149011612 | ||
| MOTORCYCLE: | ||
| Alpha: 0.9990000128746033 | ||
| Color: 119; 11; 32 | ||
| Name: PredictedObjects | ||
| Namespaces: | ||
| acceleration: true | ||
| label: true | ||
| path: true | ||
| path confidence: true | ||
| position covariance: true | ||
| shape: true | ||
| twist: true | ||
| uuid: true | ||
| velocity: true | ||
| Object Fill Type: Fill | ||
| PEDESTRIAN: | ||
| Alpha: 0.9990000128746033 | ||
| Color: 255; 192; 203 | ||
| Polygon Type: 3d | ||
| TRAILER: | ||
| Alpha: 0.9990000128746033 | ||
| Color: 30; 144; 255 | ||
| TRUCK: | ||
| Alpha: 0.9990000128746033 | ||
| Color: 30; 144; 255 | ||
| Topic: | ||
| Depth: 5 | ||
| Durability Policy: Volatile | ||
| History Policy: Keep Last | ||
| Reliability Policy: Best Effort | ||
| Value: /planning/trajectory_generator/neural_network_based_planner/diffusion_planner_node/output/predicted_objects | ||
| UNKNOWN: | ||
| Alpha: 0.9990000128746033 | ||
| Color: 255; 255; 255 | ||
| Value: true | ||
| Visualization Type: Normal | ||
| Enabled: true | ||
| Name: NeuralNetworkBasedPlanner | ||
| - Class: rviz_common/Group | ||
| Displays: | ||
| - Class: rviz_default_plugins/MarkerArray | ||
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memo: This comes from autowarefoundation/autoware#6710
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v3.1 has already been released.