fix(perception_launch): fix vehicle param in perception launch (autow…

…arefoundation#402)

* chore: sync awf-latest (autowarefoundation#322)

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* chore: sync awf-latest (autowarefoundation#325)

* chore: sync files (autowarefoundation#311)

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* feat: disable namespace `lane_start_bound` (autowarefoundation#314)

* feat: disable lane_bound

* fix: lane_start_bound

* feat: add center_line_arrows to disable

* ci: add sync-awf.yaml (autowarefoundation#318)

* ci: add sync-awf.yaml

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* rename

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* refactor(vehicle_cmd_gate): add namespace (autowarefoundation#316)

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* style: fix flake8 C417 (autowarefoundation#321)

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* chore(behavior_velocity): update latest params (autowarefoundation#320)

* chore(behavior_velocity): update latest params

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* ci(pre-commit): autoupdate (autowarefoundation#324)

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* feat(autoware_api_launch): add rtc controller (autowarefoundation#305)

* add rtc controller

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* change line

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* chore: sync awf-latest (autowarefoundation#334)

* chore: sync files (autowarefoundation#327)

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* refactor: virtual wall rviz config (autowarefoundation#326)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* feat(rviz_plugin): adaptive scaling for display size (autowarefoundation#329)

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* fix: support context dict key for humble (autowarefoundation#328)

* fix: support context dict key for humble

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* add todo comment

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* fix: modify type of global parameter (autowarefoundation#333)

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* chore: sync files (autowarefoundation#335)

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* feat: use multithread for traffic light container as default (autowarefoundation#336)

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* fix(localization_launch): fix input topic name (autowarefoundation#338)

* feat(behavior_velocity): add run out module (autowarefoundation#339)

* feat(behavior_velocity): add parameter yaml for behavior_velocity_planner

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* feat(behavior_velocity): add run out module

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* fix(mission_planner): disable lane_start_bound in Rviz (autowarefoundation#341)

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* fix(stop_line): add ros_parameter (autowarefoundation#347)

* fix(stop_line): add ros_parameter

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* fix(perception_launch): fix vehicle param in perception launch

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autoware_launch/rviz/autoware.rviz

@@ -903,6 +903,7 @@ Visualization Manager:
               Name: RouteArea
               Namespaces:
                 goal_lanelets: true
+                lane_start_bound: false
                 left_lane_bound: false
                 right_lane_bound: false
                 route_lanelets: true

perception_launch/launch/perception.launch.xml

@@ -4,6 +4,7 @@
   <!-- common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="vehicle_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" description="path to the file of vehicle info yaml"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
   <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
@@ -42,6 +43,7 @@
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
       </include>
     </group>
 

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml

@@ -4,5 +4,6 @@
       stop_margin: 0.0
       stop_check_dist: 2.0
       stop_duration_sec: 1.0
+      use_initialization_stop_line_state: true
       debug:
         show_stopline_collision_check: false            # [-] whether to show stopline collision