fix(tier4_planning_launch): fix tier4_planning_launch package (#660)

Signed-off-by: k-obitsu <koichi.obitsu@tier4.jp>

launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    blind_spot:
+      use_pass_judge_line: true
+      stop_line_margin: 1.0 # [m]
+      backward_length: 15.0 # [m]
+      ignore_width_from_center_line: 0.7 # [m]
+      max_future_movement_time: 10.0 # [second]

launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml

@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    crosswalk:
+      crosswalk:
+        stop_line_distance: 1.5 # make stop line away from crosswalk when no explicit stop line exists
+        stop_margin: 1.0
+        slow_margin: 2.0
+        slow_velocity: 2.76 # 2.76 m/s = 10.0 kmph
+        stop_predicted_object_prediction_time_margin: 3.0
+
+      walkway:
+        stop_line_distance: 1.5 # make stop line away from walkway when no explicit stop line exists
+        stop_margin: 1.0
+        stop_duration_sec: 1.0

launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    detection_area:
+      stop_margin: 0.0
+      use_dead_line: false
+      dead_line_margin: 5.0
+      use_pass_judge_line: false
+      state_clear_time: 2.0

launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml

@@ -0,0 +1,19 @@
+/**:
+  ros__parameters:
+    intersection:
+      state_transit_margin_time: 0.5
+      decel_velocity: 8.33 # 8.33m/s = 30.0km/h
+      stop_line_margin: 3.0
+      stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
+      stuck_vehicle_ignore_dist: 7.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)
+      stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h
+      intersection_velocity: 2.778 # 2.778m/s = 10.0km/h
+      intersection_max_accel: 0.5 # m/ss
+      detection_area_margin: 0.5 # [m]
+      detection_area_length: 200.0 # [m]
+      min_predicted_path_confidence: 0.05
+      collision_start_margin_time: 5.0 # [s]
+      collision_end_margin_time: 2.0 # [s]
+
+    merge_from_private_road:
+      stop_duration_sec: 1.0

launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml

@@ -0,0 +1,10 @@
+/**:
+  ros__parameters:
+    no_stopping_area:
+      state_clear_time: 2.0           # [s] time to clear stop state
+      stuck_vehicle_vel_thr: 0.833    # 0.833m/s = 3.0km/h
+      stop_margin: 0.0                # [m] margin to stop line at no stopping area
+      dead_line_margin: 1.0           # [m] dead line offset go at no stopping area
+      stop_line_margin: 1.0           # [m] margin to auto-gen stop line at no stopping area
+      detection_area_length: 200.0    # [m] used to create detection area polygon
+      stuck_vehicle_front_margin: 6.0 # [m] obstacle stop max distance(5.0m)

launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml

@@ -0,0 +1,34 @@
+/**:
+  ros__parameters:
+    occlusion_spot:
+      detection_method: "predicted_object"  # [-] candidate is "occupancy_grid" or "predicted_object"
+      pass_judge: "smooth_velocity"         # [-] candidate is "smooth_velocity" or "current_velocity"
+      filter_occupancy_grid: true           # [-] whether to filter occupancy grid by morphologyEx or not
+      use_object_info: true                 # [-] whether to reflect object info to occupancy grid map or not
+      use_partition_lanelet: true           # [-] whether to use partition lanelet map data
+      pedestrian_vel: 1.5                   # [m/s] assume pedestrian is dashing from occlusion at this velocity
+      pedestrian_radius: 0.3                # [m] assume pedestrian width(0.2m) + margin(0.1m)
+      debug:                                # !Note: default should be false for performance
+        is_show_occlusion: false            # [-] whether to show occlusion point markers.
+        is_show_cv_window: false            # [-] whether to show open_cv debug window
+        is_show_processing_time: false      # [-] whether to show processing time
+      threshold:
+        detection_area_length: 100.0        # [m] the length of path to consider perception range
+        stuck_vehicle_vel: 1.0              # [m/s] velocity below this value is assumed to stop
+        lateral_distance: 1.5               # [m] maximum lateral distance to consider hidden collision
+      motion:
+        safety_ratio: 0.8                   # [-] jerk/acceleration ratio for safety
+        max_slow_down_jerk: -0.7            # [m/s^3] minimum jerk deceleration for safe brake.
+        max_slow_down_accel: -2.0           # [m/s^2] minimum accel deceleration for safe brake.
+        non_effective_jerk: -0.3            # [m/s^3] weak jerk for velocity planning.
+        non_effective_acceleration: -1.0    # [m/s^2] weak deceleration for velocity planning.
+        min_allowed_velocity: 1.0           # [m/s] minimum velocity allowed
+        safe_margin: 2.0                    # [m] margin for detection failure(0.5m) + pedestrian radius(0.5m) + safe margin(1.0m)
+      detection_area:
+        min_occlusion_spot_size: 1.0     # [m] occupancy grid must contain an UNKNOWN area of at least size NxN to be considered a hidden obstacle.
+        slice_length: 10.0               # [m] size of slices in both length and distance relative to the ego path.
+        min_longitudinal_offset: 1.0     # [m] detection area safety buffer from front bumper.
+        max_lateral_distance: 6.0        # [m] buffer around the ego path used to build the detection area.
+      grid:
+        free_space_max: 40  # [-] maximum value of a free space cell in the occupancy grid
+        occupied_min: 60    # [-] minimum value of an occupied cell in the occupancy grid

launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml

@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    stop_line:
+      stop_margin: 0.0
+      stop_check_dist: 2.0
+      stop_duration_sec: 1.0

launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    traffic_light:
+      stop_margin: 0.0
+      tl_state_timeout: 1.0
+      external_tl_state_timeout: 1.0
+      yellow_lamp_period: 2.75
+      enable_pass_judge: true

launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    virtual_traffic_light:
+      max_delay_sec: 3.0
+      near_line_distance: 1.0
+      dead_line_margin: 1.0
+      max_yaw_deviation_deg: 90.0
+      check_timeout_after_stop_line: true

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py

@@ -190,72 +190,108 @@ def launch_setup(context, *args, **kwargs):
 
     # behavior velocity planner
     blind_spot_param_path = os.path.join(
-        get_package_share_directory("behavior_velocity_planner"),
+        get_package_share_directory("tier4_planning_launch"),
         "config",
+        "scenario_planning",
+        "lane_driving",
+        "behavior_planning",
+        "behavior_velocity_planner",
         "blind_spot.param.yaml",
     )
     with open(blind_spot_param_path, "r") as f:
         blind_spot_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     crosswalk_param_path = os.path.join(
-        get_package_share_directory("behavior_velocity_planner"),
+        get_package_share_directory("tier4_planning_launch"),
         "config",
+        "scenario_planning",
+        "lane_driving",
+        "behavior_planning",
+        "behavior_velocity_planner",
         "crosswalk.param.yaml",
     )
     with open(crosswalk_param_path, "r") as f:
         crosswalk_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     detection_area_param_path = os.path.join(
-        get_package_share_directory("behavior_velocity_planner"),
+        get_package_share_directory("tier4_planning_launch"),
         "config",
+        "scenario_planning",
+        "lane_driving",
+        "behavior_planning",
+        "behavior_velocity_planner",
         "detection_area.param.yaml",
     )
     with open(detection_area_param_path, "r") as f:
         detection_area_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     intersection_param_path = os.path.join(
-        get_package_share_directory("behavior_velocity_planner"),
+        get_package_share_directory("tier4_planning_launch"),
         "config",
+        "scenario_planning",
+        "lane_driving",
+        "behavior_planning",
+        "behavior_velocity_planner",
         "intersection.param.yaml",
     )
     with open(intersection_param_path, "r") as f:
         intersection_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     stop_line_param_path = os.path.join(
-        get_package_share_directory("behavior_velocity_planner"),
+        get_package_share_directory("tier4_planning_launch"),
         "config",
+        "scenario_planning",
+        "lane_driving",
+        "behavior_planning",
+        "behavior_velocity_planner",
         "stop_line.param.yaml",
     )
     with open(stop_line_param_path, "r") as f:
         stop_line_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     traffic_light_param_path = os.path.join(
-        get_package_share_directory("behavior_velocity_planner"),
+        get_package_share_directory("tier4_planning_launch"),
         "config",
+        "scenario_planning",
+        "lane_driving",
+        "behavior_planning",
+        "behavior_velocity_planner",
         "traffic_light.param.yaml",
     )
     with open(traffic_light_param_path, "r") as f:
         traffic_light_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     virtual_traffic_light_param_path = os.path.join(
-        get_package_share_directory("behavior_velocity_planner"),
+        get_package_share_directory("tier4_planning_launch"),
         "config",
+        "scenario_planning",
+        "lane_driving",
+        "behavior_planning",
+        "behavior_velocity_planner",
         "virtual_traffic_light.param.yaml",
     )
     with open(virtual_traffic_light_param_path, "r") as f:
         virtual_traffic_light_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     occlusion_spot_param_path = os.path.join(
-        get_package_share_directory("behavior_velocity_planner"),
+        get_package_share_directory("tier4_planning_launch"),
         "config",
+        "scenario_planning",
+        "lane_driving",
+        "behavior_planning",
+        "behavior_velocity_planner",
         "occlusion_spot.param.yaml",
     )
     with open(occlusion_spot_param_path, "r") as f:
         occlusion_spot_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     no_stopping_area_param_path = os.path.join(
-        get_package_share_directory("behavior_velocity_planner"),
+        get_package_share_directory("tier4_planning_launch"),
         "config",
+        "scenario_planning",
+        "lane_driving",
+        "behavior_planning",
+        "behavior_velocity_planner",
         "no_stopping_area.param.yaml",
     )
     with open(no_stopping_area_param_path, "r") as f: