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ci: register control param files for sync-params workflow (#1832)
* register control param files into sync-params workflow Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp> * apply sync-params to control param files Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp> * update sync source and re-apply sync-params Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp> --------- Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp>
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‎.github/sync-params.yaml‎

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# If you want to change the param source, follow these steps:
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#
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# 1. Remove the sync-params header from the target (variant) param file.
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# 2. update `source:` in this file.
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# 3. Run the sync-params workflow locally with `python .github/scripts/sync_params.py <category (e.g. perception)>` to update the target param file and reattach the header.
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perception:
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- repository: autowarefoundation/autoware_universe
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ref: main
@@ -332,7 +338,58 @@ planning:
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# Planning/scenario_planning/lane_driving/behavior_planning
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# Planning/scenario_planning/lane_driving/motion_planning
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control: []
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control:
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# common/nearest_search.param.yaml omitted.
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- repository: autowarefoundation/autoware_universe
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ref: main
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files:
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- source: control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml
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variants:
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- path: autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
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- source: control/autoware_collision_detector/config/collision_detector.param.yaml
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variants:
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- path: autoware_launch/config/control/autoware_collision_detector/collision_detector.param.yaml
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- source: control/autoware_control_command_gate/config/default.param.yaml
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variants:
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- path: autoware_launch/config/control/control_command_gate/control_command_gate.param.yaml
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- source: control/autoware_control_validator/config/control_validator.param.yaml
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variants:
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- path: autoware_launch/config/control/control_validator/control_validator.param.yaml
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- source: control/autoware_external_cmd_selector/config/external_cmd_selector.param.yaml
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variants:
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- path: autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml
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- source: control/autoware_lane_departure_checker/config/lane_departure_checker.param.yaml
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variants:
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- path: autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
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- source: control/autoware_obstacle_collision_checker/config/obstacle_collision_checker.param.yaml
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variants:
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- path: autoware_launch/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml
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- source: control/autoware_operation_mode_transition_manager/config/operation_mode_transition_manager.param.yaml
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variants:
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- path: autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
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- source: control/autoware_predicted_path_checker/config/predicted_path_checker.param.yaml
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variants:
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- path: autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml
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- source: control/autoware_shift_decider/config/shift_decider.param.yaml
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variants:
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- path: autoware_launch/config/control/shift_decider/shift_decider.param.yaml
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- source: control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml
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variants:
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- path: autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
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- source: control/autoware_pure_pursuit/config/pure_pursuit.param.yaml
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variants:
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- path: autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml
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- source: control/autoware_pid_longitudinal_controller/config/autoware_pid_longitudinal_controller.param.yaml
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variants:
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- path: autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
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- source: control/autoware_trajectory_follower_node/param/trajectory_follower_node.param.yaml
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variants:
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- path: autoware_launch/config/control/trajectory_follower/trajectory_follower_node.param.yaml
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- source: control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml
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variants:
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- path: autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
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system: []
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vehicle: []
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simulator: []

‎autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml‎

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# This file is managed by sync-params workflow.
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# DO NOT EDIT THIS FILE DIRECTLY FOR ADDING OR REMOVING FIELDS. Follow these steps:
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#
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# 1. Modify the param file in the upstream repository.
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# 2. Run the sync-params workflow or run `python .github/scripts/sync_params.py control` to update this file.
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# 3. If local changes are needed, annotate them with an override marker (see below).
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#
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# Keys marked with '{OVERRIDE}' or '# {OVERRIDE: reason}' are persisted as variant overrides.
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# 'reason' can be any single-line text without braces.
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# To keep local changes, annotate fields with '# {OVERRIDE}' or '# {OVERRIDE: reason}'.
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#
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# Source: https://github.com/autowarefoundation/autoware_universe/blob/659b6b3836406bc33f257798c1ae41374a72c501/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml
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/**:
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ros__parameters:
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# Ego path calculation

‎autoware_launch/config/control/autoware_collision_detector/collision_detector.param.yaml‎

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# This file is managed by sync-params workflow.
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# DO NOT EDIT THIS FILE DIRECTLY FOR ADDING OR REMOVING FIELDS. Follow these steps:
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#
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# 1. Modify the param file in the upstream repository.
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# 2. Run the sync-params workflow or run `python .github/scripts/sync_params.py control` to update this file.
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# 3. If local changes are needed, annotate them with an override marker (see below).
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#
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# Keys marked with '{OVERRIDE}' or '# {OVERRIDE: reason}' are persisted as variant overrides.
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# 'reason' can be any single-line text without braces.
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# To keep local changes, annotate fields with '# {OVERRIDE}' or '# {OVERRIDE: reason}'.
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#
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# Source: https://github.com/autowarefoundation/autoware_universe/blob/1be9bb3bd92e38ffb1b9690952ab68400d50c051/control/autoware_collision_detector/config/collision_detector.param.yaml
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ros__parameters:
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use_pointcloud: false # use pointcloud as obstacle check

‎autoware_launch/config/control/control_command_gate/control_command_gate.param.yaml‎

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# This file is managed by sync-params workflow.
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# DO NOT EDIT THIS FILE DIRECTLY FOR ADDING OR REMOVING FIELDS. Follow these steps:
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#
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# 1. Modify the param file in the upstream repository.
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# 2. Run the sync-params workflow or run `python .github/scripts/sync_params.py control` to update this file.
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# 3. If local changes are needed, annotate them with an override marker (see below).
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#
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# Keys marked with '{OVERRIDE}' or '# {OVERRIDE: reason}' are persisted as variant overrides.
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# 'reason' can be any single-line text without braces.
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# To keep local changes, annotate fields with '# {OVERRIDE}' or '# {OVERRIDE: reason}'.
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#
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# Source: https://github.com/autowarefoundation/autoware_universe/blob/45e62f3e319fa392343ed54ff5338f116f84fe2b/control/autoware_control_command_gate/config/default.param.yaml
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inputs: [11, 12, 13, 14, 21] # See autoware_command_mode_types/sources.hpp

‎autoware_launch/config/control/control_validator/control_validator.param.yaml‎

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# This file is managed by sync-params workflow.
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# DO NOT EDIT THIS FILE DIRECTLY FOR ADDING OR REMOVING FIELDS. Follow these steps:
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#
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# 1. Modify the param file in the upstream repository.
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# 2. Run the sync-params workflow or run `python .github/scripts/sync_params.py control` to update this file.
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# 3. If local changes are needed, annotate them with an override marker (see below).
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#
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# Keys marked with '{OVERRIDE}' or '# {OVERRIDE: reason}' are persisted as variant overrides.
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# 'reason' can be any single-line text without braces.
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# To keep local changes, annotate fields with '# {OVERRIDE}' or '# {OVERRIDE: reason}'.
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#
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# Source: https://github.com/autowarefoundation/autoware_universe/blob/41ae917fa949ddeb7afcea46b408379ae447ae5b/control/autoware_control_validator/config/control_validator.param.yaml
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ros__parameters:
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# If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.

‎autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml‎

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# This file is managed by sync-params workflow.
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# DO NOT EDIT THIS FILE DIRECTLY FOR ADDING OR REMOVING FIELDS. Follow these steps:
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#
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# 1. Modify the param file in the upstream repository.
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# 2. Run the sync-params workflow or run `python .github/scripts/sync_params.py control` to update this file.
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# 3. If local changes are needed, annotate them with an override marker (see below).
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#
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# Keys marked with '{OVERRIDE}' or '# {OVERRIDE: reason}' are persisted as variant overrides.
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# 'reason' can be any single-line text without braces.
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# To keep local changes, annotate fields with '# {OVERRIDE}' or '# {OVERRIDE: reason}'.
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#
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# Source: https://github.com/autowarefoundation/autoware_universe/blob/038a8c47d12428d03fc9b2d7548a68f75636f029/control/autoware_external_cmd_selector/config/external_cmd_selector.param.yaml
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update_rate: 10.0

‎autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml‎

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# This file is managed by sync-params workflow.
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# DO NOT EDIT THIS FILE DIRECTLY FOR ADDING OR REMOVING FIELDS. Follow these steps:
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#
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# 1. Modify the param file in the upstream repository.
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# 2. Run the sync-params workflow or run `python .github/scripts/sync_params.py control` to update this file.
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# 3. If local changes are needed, annotate them with an override marker (see below).
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#
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# Keys marked with '{OVERRIDE}' or '# {OVERRIDE: reason}' are persisted as variant overrides.
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# 'reason' can be any single-line text without braces.
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# To keep local changes, annotate fields with '# {OVERRIDE}' or '# {OVERRIDE: reason}'.
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#
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# Source: https://github.com/autowarefoundation/autoware_universe/blob/d4cfa920a500ba8372bb74a9c7e308cd6d166de8/control/autoware_lane_departure_checker/config/lane_departure_checker.param.yaml
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ros__parameters:
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# Enable feature
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include_conflicting_lanes: false
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boundary_types_to_detect: [curbstone]
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# Core
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footprint_margin_scale: 1.0
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footprint_extra_margin: 0.0
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resample_interval: 0.3
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max_deceleration: 2.8
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delay_time: 1.3
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max_lateral_deviation: 2.0
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max_longitudinal_deviation: 2.0
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max_yaw_deviation_deg: 60.0
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delta_yaw_threshold_for_closest_point: 1.570 #M_PI/2.0, delta yaw thres for closest point
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min_braking_distance: 0.0

‎autoware_launch/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml‎

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# This file is managed by sync-params workflow.
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# DO NOT EDIT THIS FILE DIRECTLY FOR ADDING OR REMOVING FIELDS. Follow these steps:
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#
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# 1. Modify the param file in the upstream repository.
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# 2. Run the sync-params workflow or run `python .github/scripts/sync_params.py control` to update this file.
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# 3. If local changes are needed, annotate them with an override marker (see below).
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#
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# Keys marked with '{OVERRIDE}' or '# {OVERRIDE: reason}' are persisted as variant overrides.
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# 'reason' can be any single-line text without braces.
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# To keep local changes, annotate fields with '# {OVERRIDE}' or '# {OVERRIDE: reason}'.
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#
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# Source: https://github.com/autowarefoundation/autoware_universe/blob/23f4c8646764969eecdd1694bca9bed3b0ec9e08/control/autoware_obstacle_collision_checker/config/obstacle_collision_checker.param.yaml
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/**:
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ros__parameters:
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# Node

‎autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml‎

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# This file is managed by sync-params workflow.
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# DO NOT EDIT THIS FILE DIRECTLY FOR ADDING OR REMOVING FIELDS. Follow these steps:
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#
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# 1. Modify the param file in the upstream repository.
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# 2. Run the sync-params workflow or run `python .github/scripts/sync_params.py control` to update this file.
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# 3. If local changes are needed, annotate them with an override marker (see below).
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#
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# Keys marked with '{OVERRIDE}' or '# {OVERRIDE: reason}' are persisted as variant overrides.
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# 'reason' can be any single-line text without braces.
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# To keep local changes, annotate fields with '# {OVERRIDE}' or '# {OVERRIDE: reason}'.
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#
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# Source: https://github.com/autowarefoundation/autoware_universe/blob/4ce0ec8af5b0552b7b9c7122cebfec15c0592fd7/control/autoware_operation_mode_transition_manager/config/operation_mode_transition_manager.param.yaml
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input_timeout: 3.0
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enable_engage_on_driving: false
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check_engage_condition: false # set false if you do not want to care about the engage condition.
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nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
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nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
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engage_acceptable_limits:
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allow_autonomous_in_stopped: true # no check if the velocity is zero, always allowed.
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allow_autonomous_in_stopped: true # if true, all engage check is skipped.
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dist_threshold: 1.5
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yaw_threshold: 0.524
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speed_upper_threshold: 10.0

‎autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml‎

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# This file is managed by sync-params workflow.
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# DO NOT EDIT THIS FILE DIRECTLY FOR ADDING OR REMOVING FIELDS. Follow these steps:
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#
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# 1. Modify the param file in the upstream repository.
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# 2. Run the sync-params workflow or run `python .github/scripts/sync_params.py control` to update this file.
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# 3. If local changes are needed, annotate them with an override marker (see below).
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#
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# Keys marked with '{OVERRIDE}' or '# {OVERRIDE: reason}' are persisted as variant overrides.
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# 'reason' can be any single-line text without braces.
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# To keep local changes, annotate fields with '# {OVERRIDE}' or '# {OVERRIDE: reason}'.
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#
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# Source: https://github.com/autowarefoundation/autoware_universe/blob/47d55f437e14d1bd66b48626ff03ea903198a1c7/control/autoware_predicted_path_checker/config/predicted_path_checker.param.yaml
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/**:
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ros__parameters:
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# Node

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