Where to put Planning/Control parameters in order to integrate Autoware to the specific vehicle

[takayuki5168]

Currently, autoware has planning/control parameters in tier4_planning_launch and tier4_control_launch.
Integrating autoware to the specific vehicle requires at least two kinds of parameters regarding planning/control as follows.

• 1 . common parameters for the product
  • e.g. planning parameters or parameters like min/max jerk, accel, vel
  • IMO, ideally planning parameters should not be tuned to the specific vehicle.
• 2 . common parameters for the vehicle
  • e.g. control parameters are tuned to the specific vehicle because of individual differences.

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Here I explained one suggestion to solve this issue.

For 1, we can set this kind of parameters from autoware_launch.
For example, planning parameters can be set from autoware_launch with this PR, by defining arguments in planning.launch.xml which will be called from autoware_launch.
Then, each product will have its own autoware_launch repository like autoware_launch.<product_name> forked from autoware_launch and set the product's parameters.

For 2, we can have this kind of parameters in another repository like autoware_individual_parameters.
We also prepare product's repository like autoware_individual_params.<product_name> reopsitory forked from autoware_individual_params.

(updated)
For1, I found it a bit difficult to put all planning parameters which differs among products in arguments of planning.launch.xml since they are so many. Better to have these parameters as a yaml file in individual_params (the same as control parameters) rather than arguments of xml.

[kenji-miyake]

@takayuki5168 I completely agree with you.

Some additional information:
For 2, we can consider managing the parameters on a Web service.
It's because the parameters, such as calibration results or hardware IDs, are usually managed by field operation engineers who aren't familiar with Git.
It would be useful if we can provide some intuitive UIs to them, instead of Git's CLI.

[takayuki5168]

cc @yukkysaito @mitsudome-r

[kenji-miyake]

For1, I found it a bit difficult to put all planning parameters which differs among products in arguments of planning.launch.xml since they are so many. Better to have these parameters as a yaml file in individual_params (the same as control parameters) rather than arguments of xml.

For example, do what parameters differ among products?