ci: register control param files for sync-params workflow by paulsohn · Pull Request #1832 · autowarefoundation/autoware_launch

paulsohn · 2026-04-28T12:50:15Z

Description

Tracking issue: autowarefoundation/autoware#7048

Sync-params workflow: #1812

Register control param files with their upstream sources so that param files can be synced (via PR) periodically or by a manual trigger, excluding fields with {OVERRIDE} comment marker.

How was this PR tested?

Not available.

Notes for reviewers

While I briefly identified the corresponding nodes for each param file, I need the reviewer's help to cross-check whether the mapping from the upstream and downstream files (.github/sync-params.yaml, under control section) are set correctly.

Removed params in lane_departure_checker.param.yaml are declared unused in autowarefoundation/autoware_universe#12244 .

Effects on system behavior

None expected. Removed parameters are unused ones as in autowarefoundation/autoware_universe#12244 . I am not sure about two added parameters in mpc.param.yaml.

github-actions · 2026-04-28T12:50:42Z

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shmpwk · 2026-06-16T02:55:13Z

@Autumn60
Could you check lane_departure_checker.param.yaml part considering autowarefoundation/autoware_universe#12244 ?

shmpwk · 2026-06-16T02:58:29Z

+    acceleration_limit: 2.0          # acceleration limit for trajectory velocity modification [m/ss]
+    velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]


Suggested change

acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss]

velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s]

This was removed by #1790 cc. @Autumn60

The unused parameters should be removed from autoware_universe side as well. Schema consistency is prioritized here, and sync-param will update after universe has removed the param.

I thought I had deleted these params on the autoware_universe side with autowarefoundation/autoware_universe#12245... 🤔

(maybe a source path mismatch?)

The root cause is that the parameter file is managed in two different locations.

MPC:

https://github.com/autowarefoundation/autoware_universe/blob/main/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml

https://github.com/autowarefoundation/autoware_universe/blob/main/control/autoware_trajectory_follower_node/param/lateral/mpc.param.yaml

PurePursuit

https://github.com/autowarefoundation/autoware_universe/blob/main/control/autoware_pure_pursuit/config/pure_pursuit.param.yaml

https://github.com/autowarefoundation/autoware_universe/blob/main/control/autoware_trajectory_follower_node/param/lateral/pure_pursuit.param.yaml

PID

https://github.com/autowarefoundation/autoware_universe/blob/main/control/autoware_pid_longitudinal_controller/config/autoware_pid_longitudinal_controller.param.yaml

https://github.com/autowarefoundation/autoware_universe/blob/main/control/autoware_trajectory_follower_node/param/longitudinal/pid.param.yaml

Must choose just one master file.

paulsohn · 2026-06-16T02:59:07Z

    # slope compensation
    lpf_pitch_gain: 0.95
-    slope_source: "trajectory_goal_adaptive" # raw_pitch, trajectory_pitch, trajectory_adaptive or trajectory_goal_adaptive
+    slope_source: "trajectory_goal_adaptive" # {OVERRIDE} raw_pitch, trajectory_pitch or trajectory_adaptive


Q: is trajectory_goal_adaptive deprecated?

I think it is not deprecated as it is used by some products: e.g., TIER IV internal link

I see. This option is added in autowarefoundation/autoware_universe#9705 but not well-documented for param.yaml in universe side.

Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp>

shmpwk

All look good to me

…undation#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>

paulsohn requested review from Kotakku, PanConChicharron, kosuke55, kyoichi-sugahara, maxime-clem, mkquda, rej55, satoshi-ota, shmpwk, soblin, takayuki5168, yhisaki, yuki-takagi-66 and zulfaqar-azmi-t4 as code owners April 28, 2026 12:50

github-actions Bot added type:ci Continuous Integration (CI) processes and testing. (auto-assigned) component:control Vehicle control algorithms and mechanisms. (auto-assigned) labels Apr 28, 2026

paulsohn mentioned this pull request Apr 28, 2026

Add sync-params workflow autowarefoundation/autoware#7048

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18 tasks

paulsohn added the run:build-and-test-differential label Apr 28, 2026

paulsohn force-pushed the sohn/sync-params-control branch from c76fa20 to 2e3dd90 Compare June 12, 2026 16:42

shmpwk requested a review from Autumn60 June 16, 2026 02:54

shmpwk reviewed Jun 16, 2026

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paulsohn commented Jun 16, 2026

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Autumn60 reviewed Jun 16, 2026

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Comment thread .github/sync-params.yaml Outdated

Autumn60 reviewed Jun 16, 2026

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Comment thread .github/sync-params.yaml Outdated

Autumn60 reviewed Jun 16, 2026

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paulsohn added 3 commits June 16, 2026 13:46

register control param files into sync-params workflow

eeae72e

Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp>

apply sync-params to control param files

a78024a

Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp>

update sync source and re-apply sync-params

13ee484

Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp>

paulsohn force-pushed the sohn/sync-params-control branch from 2e3dd90 to 13ee484 Compare June 16, 2026 04:59

paulsohn requested review from Autumn60 and shmpwk June 16, 2026 05:01

shmpwk approved these changes Jun 16, 2026

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paulsohn merged commit 58ae65b into autowarefoundation:main Jun 16, 2026
26 of 28 checks passed

paulsohn deleted the sohn/sync-params-control branch June 16, 2026 05:26

tier4-autoware-public-bot Bot mentioned this pull request Jun 16, 2026

chore: sync tier4/main from awf:main tier4/autoware_launch#1422

Merged

Kazunori-Nakajima mentioned this pull request Jun 18, 2026

chore: sync tier4/main from awf:main tier4/autoware_launch#1423

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tier4-autoware-public-bot Bot mentioned this pull request Jun 19, 2026

chore: sync tier4/main from awf:main tier4/autoware_launch#1425

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ci: register control param files for sync-params workflow - #1832

ci: register control param files for sync-params workflow#1832
paulsohn merged 3 commits into
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		acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss]
		velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s]

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Description

How was this PR tested?

Notes for reviewers

Effects on system behavior

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