sync rc rc/v2.1.4 (#253)

planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.param.yaml

@@ -0,0 +1,42 @@
+/**:
+  ros__parameters:
+    max_velocity: 5.28      # max velocity limit [m/s]
+    max_accel: 0.5          # max acceleration limit [m/ss]
+    min_decel: -0.2         # min deceleration limit [m/ss]
+
+    # curve parameters
+    max_lateral_accel: 0.4             # max lateral acceleration limit [m/ss]
+    min_curve_velocity: 0.5             # min velocity at lateral acceleration limit [m/ss]
+    decel_distance_before_curve: 2.0   # slow speed distance before a curve for lateral acceleration limit
+    decel_distance_after_curve: 2.0     # slow speed distance after a curve for lateral acceleration limit
+
+    # engage & replan parameters
+    replan_vel_deviation: 1.0          # velocity deviation to replan initial velocity [m/s]
+    engage_velocity: 0.27              # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed)
+    engage_acceleration: 0.1           # engage acceleration [m/ss] (use this acceleration when engagement)
+    engage_exit_ratio: 0.95            # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity.
+    stop_dist_to_prohibit_engage: 0.3  # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]
+
+    # stop velocity
+    stopping_velocity: 0.8    # change target velocity to this value before v=0 point [m/s]
+    stopping_distance: 2.5    # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied.
+
+    extract_ahead_dist: 50.0          # forward trajectory distance used for planning [m]
+    extract_behind_dist: 1.5          # backward trajectory distance used for planning [m]
+    delta_yaw_threshold: 1.0472       # Allowed delta yaw between ego pose and trajectory pose [radian]
+
+    max_trajectory_length: 60.0           # max trajectory length for resampling [m]
+    min_trajectory_length: 30.0           # min trajectory length for resampling [m]
+    resample_time: 10.0                   # resample total time [s]
+    resample_dt: 0.1                      # resample time interval [s]
+    min_trajectory_interval_distance: 0.1 # resample points-interval length [m]
+
+    # default weights
+    # L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0
+    # Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0
+
+    pseudo_jerk_weight: 10.0 # weight for "smoothness" cost
+    over_v_weight: 100000.0   # weight for "overspeed limit" cost
+    over_a_weight: 1000.0     # weight for "overaccel limit" cost
+
+    algorithm_type: "L2" # Option : L2, Linf

system_launch/config/system_monitor/cpu_monitor.param.yaml

@@ -1,8 +1,7 @@
 /**:
   ros__parameters:
-    temp_warn: 90.0
-    temp_error: 95.0
-    usage_warn: 0.90
+    usage_warn: 0.96
     usage_error: 1.00
+    usage_count: 2
     usage_avg: true
     msr_reader_port: 7634

system_launch/config/system_monitor/hdd_monitor.param.yaml

@@ -4,8 +4,8 @@
     num_disks: 1
     disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1}
       disk0:
-        name: /dev/sd.
+        name: /
         temp_warn: 55.0
         temp_error: 70.0
-        usage_warn: 0.95
-        usage_error: 0.99
+        free_warn: 5120 # MB(8hour)
+        free_error: 100 # MB(last 1 minute)

system_launch/config/system_monitor/mem_monitor.param.yaml

@@ -1,4 +1,3 @@
 /**:
   ros__parameters:
-    usage_warn: 0.95
-    usage_error: 0.99
+    available_size: 1024 # MB

system_launch/config/system_monitor/net_monitor.param.yaml

@@ -1,4 +1,5 @@
 /**:
   ros__parameters:
     devices: ["*"]
-    usage_warn: 0.95
+    traffic_reader_port: 7636
+    monitor_program: "greengrass"