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feat: allow conditionally launch diffusion planner #1752
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e8e5950
feat: allow conditionally launch e2e/dp
Owen-Liuyuxuan 21a409e
rule base default
Owen-Liuyuxuan 9f93071
feat: adding dp rviz markers to other rviz configs
Owen-Liuyuxuan a26c70e
feat: adding dp rviz markers
Owen-Liuyuxuan 168ffb9
Merge branch 'main' into feat/conditional_e2e_launch
Owen-Liuyuxuan 47cfb8f
Merge branch 'main' into feat/conditional_e2e_launch
Owen-Liuyuxuan fc7b851
Merge branch 'main' into feat/conditional_e2e_launch
Owen-Liuyuxuan a322102
feat: update for later developments
Owen-Liuyuxuan f3fd1a6
Add planning factor parameters to diffusion planner
Owen-Liuyuxuan 3696ace
Rename NeuralNetworkPlanner to DiffusionPlanner
Owen-Liuyuxuan e18ab26
Rename PlanningFactor from NeuralNetworkPlanner to DiffusionPlanner
Owen-Liuyuxuan bedf6d4
Rename PlanningFactor from NeuralNetworkPlanner to DiffusionPlanner
Owen-Liuyuxuan 16a707d
Merge branch 'main' into feat/conditional_e2e_launch
Owen-Liuyuxuan c9a5855
Update autoware.rviz
Owen-Liuyuxuan 7063e31
Update planning_bev.rviz
Owen-Liuyuxuan 07f2efc
Update autoware.rviz
Owen-Liuyuxuan 94865c1
Update planning_tpv.rviz
Owen-Liuyuxuan 27907f5
Update scenario_simulator.rviz
Owen-Liuyuxuan 95879a4
feat: move dp as parallel to scenario planner (#1373)
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20 changes: 20 additions & 0 deletions
20
autoware_launch/config/planning/neural_net_planner/diffusion_planner.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| /**: | ||
| 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 | ||
15 changes: 15 additions & 0 deletions
15
autoware_launch/config/system/diagnostics/autoware-main-e2e.yaml
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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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232 changes: 129 additions & 103 deletions
232
autoware_launch/launch/components/tier4_planning_component.launch.xml
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12 changes: 11 additions & 1 deletion
12
autoware_launch/launch/components/tier4_system_component.launch.xml
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58 changes: 58 additions & 0 deletions
58
autoware_launch/launch/e2e_components/diffusion_planner.launch.xml
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| <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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memo: This comes from autowarefoundation/autoware#6710
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v3.1 has already been released.