Merge branch 'main' into feat/conditional_e2e_launch

Author: Owen-Liuyuxuan

.github/workflows/lint-autoware-system-design-format.yaml

@@ -0,0 +1,30 @@
+name: Lint Autoware System Design Format
+
+on:
+  pull_request:
+    paths:
+      - "**/*.node.yaml"
+      - "**/*.module.yaml"
+      - "**/*.system.yaml"
+      - "**/*.parameter_set.yaml"
+  push:
+    branches:
+      - main
+    paths:
+      - "**/*.node.yaml"
+      - "**/*.module.yaml"
+      - "**/*.system.yaml"
+      - "**/*.parameter_set.yaml"
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Lint system design format files
+        uses: autowarefoundation/autoware_system_designer@v0.3.0
+        with:
+          design_files_path: .

.gitignore

@@ -1,2 +1,18 @@
+# Vim
+*.swp
+*.swo
+
+# Visual Studio Code
+.vscode/
+*.code-workspace
+
+# colcon
+build/
+install/
+log/
+
+# Python
+*.pyc
+
 #prettier
 node_modules/

.pre-commit-config.yaml

@@ -102,6 +102,12 @@ repos:
         files: .svg$
         additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"]
 
+  - repo: https://github.com/autowarefoundation/autoware_system_designer
+    rev: v0.3.0
+    hooks:
+      - id: lint-system-design-format
+        args: [--format=github-actions]
+
   - repo: https://github.com/AleksaC/hadolint-py
     rev: v2.12.1b3
     hooks:

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -69,9 +69,6 @@
     # steer offset
     steering_offset:
       enable_auto_steering_offset_removal: true
-      update_vel_threshold: 5.56
-      update_steer_threshold: 0.035
-      average_num: 1000
-      steering_offset_limit: 0.02
+      steer_offset_filter_cutoff_hz: 0.3 # cutoff frequency of lowpass filter for steering offset [Hz]
 
     publish_debug_trajectories: true # flag to publish predicted trajectory and resampled reference trajectory for debug purpose

autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml

@@ -15,5 +15,11 @@
       TRAILER : 0.65
       MOTORCYCLE : 0.65
       BICYCLE : 0.65
-      PEDESTRIAN : 0.65
+      PEDESTRIAN : 0.2
     remove_unknown: false
+
+    # Pedestrian size validation parameters
+    pedestrian_size_validation:
+      enable: true                    # Enable pedestrian size validation (3D size check)
+      min_width: 0.1                  # Minimum width [m] (shoulder width)
+      max_width: 1.0                  # Maximum width [m] (with bags/umbrella)

autoware_launch/config/perception/object_recognition/detection/irregular_object_detection/irregular_object_detector.param.yaml

@@ -36,10 +36,18 @@
 
     roi_pointcloud_fusion:
       parameters:
-        fuse_unknown_only: true
         override_class_with_unknown: false
         min_cluster_size: 2
         max_cluster_size: 100
         cluster_2d_tolerance: 0.5
         roi_scale_factor: 2.0
         max_object_size: 2.0
+        fusion_enabled_classes:
+          UNKNOWN: true
+          CAR: false
+          BUS: false
+          TRUCK: false
+          TRAILER: false
+          MOTORCYCLE: false
+          BICYCLE: true
+          PEDESTRIAN: true

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml

@@ -14,8 +14,6 @@
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
       yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-      # CAR, TRUCK, BUS, BICYCLE, PEDESTRIAN
-      score_thresholds: [0.35, 0.35, 0.35, 0.35, 0.35]
     densification_params:
       world_frame_id: map
       num_past_frames: 1

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml

@@ -14,8 +14,6 @@
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
       yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-      # CAR, TRUCK, BUS, BICYCLE, PEDESTRIAN
-      score_thresholds: [0.35, 0.35, 0.35, 0.35, 0.35]
     densification_params:
       world_frame_id: map
       num_past_frames: 1

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml

@@ -14,8 +14,6 @@
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
       yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-      # CAR, TRUCK, BUS, BICYCLE, PEDESTRIAN
-      score_thresholds: [0.35, 0.35, 0.35, 0.35, 0.35]
     densification_params:
       world_frame_id: map
       num_past_frames: 1

autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml

@@ -11,8 +11,6 @@
       circle_nms_dist_threshold: 0.3
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
-      # CAR, TRUCK, BUS, BICYCLE, PEDESTRIAN
-      score_thresholds: [0.45, 0.45, 0.45, 0.45, 0.45]
       yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
     densification_params:
       world_frame_id: "map"