chore: bump version to v0.45.0 in humble (#1502)

Signed-off-by: Ryohsuke Mitsudome <[email protected]>

Author: mitsudome-r

.github/CODEOWNERS

@@ -1,5 +1,20 @@
 ### Automatically generated from package.xml ###
 autoware_launch/** [email protected] [email protected] [email protected]
+sensor_kit/awsim_labs_sensor_kit_launch/awsim_labs_sensor_kit_description/** [email protected]
+sensor_kit/awsim_labs_sensor_kit_launch/awsim_labs_sensor_kit_launch/** [email protected]
+sensor_kit/awsim_labs_sensor_kit_launch/common_awsim_labs_sensor_launch/** [email protected]
+sensor_kit/awsim_sensor_kit_launch/awsim_sensor_kit_description/** [email protected]
+sensor_kit/awsim_sensor_kit_launch/awsim_sensor_kit_launch/** [email protected]
+sensor_kit/sample_sensor_kit_launch/common_sensor_launch/** [email protected] [email protected]
+sensor_kit/sample_sensor_kit_launch/sample_sensor_kit_description/** [email protected] [email protected]
+sensor_kit/sample_sensor_kit_launch/sample_sensor_kit_launch/** [email protected] [email protected]
+sensor_kit/single_lidar_sensor_kit_launch/single_lidar_common_launch/** [email protected] [email protected]
+sensor_kit/single_lidar_sensor_kit_launch/single_lidar_sensor_kit_description/** [email protected]
+sensor_kit/single_lidar_sensor_kit_launch/single_lidar_sensor_kit_launch/** [email protected]
+vehicle/awsim_labs_vehicle_launch/awsim_labs_vehicle_description/** [email protected] [email protected]
+vehicle/awsim_labs_vehicle_launch/awsim_labs_vehicle_launch/** [email protected] [email protected]
+vehicle/sample_vehicle_launch/sample_vehicle_description/** [email protected] [email protected]
+vehicle/sample_vehicle_launch/sample_vehicle_launch/** [email protected] [email protected]
 
 ### Copied from .github/CODEOWNERS-manual ###
 # /**
@@ -8,7 +23,7 @@ autoware_launch/** [email protected] [email protected] mfc@leodr
 autoware_launch/config/control/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/localization/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/map/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp
+autoware_launch/config/perception/** yoshi.ri@tier4.jp taekjin.lee@tier4.jp masato.saeki@tier4.jp lei.gu@tier4.jp
 autoware_launch/config/planning/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/simulator/** [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/system/** [email protected] [email protected]
@@ -17,9 +32,9 @@ autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.
 autoware_launch/launch/components/tier4_control_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_localization_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_map_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp
+autoware_launch/launch/components/tier4_perception_component.launch.xml yoshi.ri@tier4.jp taekjin.lee@tier4.jp masato.saeki@tier4.jp lei.gu@tier4.jp
 autoware_launch/launch/components/tier4_planning_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
+autoware_launch/launch/components/tier4_sensing_component.launch.xml yoshi.ri@tier4.jp taekjin.lee@tier4.jp kenzo.lobos@tier4.jp
 autoware_launch/launch/components/tier4_simulator_component.launch.xml [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_system_component.launch.xml [email protected] [email protected] [email protected] [email protected]
 autoware_launch/rviz/**  # no codeowners

autoware_launch/CHANGELOG.rst

@@ -2,6 +2,60 @@
 Changelog for package autoware_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.45.0 (2025-05-22)
+-------------------
+* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
+* chore(traffic_light_recognition): add comment in config of autoware_traffic_light_map_based_detector (`#1448 <https://github.com/autowarefoundation/autoware_launch/issues/1448>`_)
+  add comment
+* feat(crosswalk): update stop position logic (`#1409 <https://github.com/autowarefoundation/autoware_launch/issues/1409>`_)
+  * change crosswalk param list
+  ---------
+* feat(perception_component_launch): add common param for pointpainting_fusion (`#1401 <https://github.com/autowarefoundation/autoware_launch/issues/1401>`_)
+  add common param
+* fix(collision_detector): rename parameters to prevent launch issues (`#1447 <https://github.com/autowarefoundation/autoware_launch/issues/1447>`_)
+  rename params
+* feat(control_validator): add lateral jerk validation (`#1440 <https://github.com/autowarefoundation/autoware_launch/issues/1440>`_)
+  fix(control_validator): add lateral jerk threshold to parameters
+* feat(rviz): replace MRM Summary overlay with Error Diag Graph in debug rviz (`#1414 <https://github.com/autowarefoundation/autoware_launch/issues/1414>`_)
+  * feat(rviz): replace MRM Summary overlay with Error Diag Graph
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* feat(collision_detector): time buffer and ignore behind rear axle (`#1443 <https://github.com/autowarefoundation/autoware_launch/issues/1443>`_)
+* feat(dynamic_drivable_area_expansion): set extra offsets to 0 (`#1445 <https://github.com/autowarefoundation/autoware_launch/issues/1445>`_)
+* feat(autoware_launch): remove trajectory_deviation from diagnostic graph (`#1442 <https://github.com/autowarefoundation/autoware_launch/issues/1442>`_)
+* feat(autoware_launch): update adapi diags (`#1444 <https://github.com/autowarefoundation/autoware_launch/issues/1444>`_)
+* fix(tier4_perception_launch): add camera ids param for segmentation_pointcloud_fusion (`#1439 <https://github.com/autowarefoundation/autoware_launch/issues/1439>`_)
+  fix: add camera ids for segmentation_pointcloud_fusion
+* fix(probabilistic_occupancy_grid_map): add missing parameter for multi-lidar  (`#1426 <https://github.com/autowarefoundation/autoware_launch/issues/1426>`_)
+  add new parameter for multi-lidar
+* feat(static_obstacle_avoidance): add flag to wait approval when the ego uses opposite lane (`#1431 <https://github.com/autowarefoundation/autoware_launch/issues/1431>`_)
+* feat(behavior_velocity_planner)!: remove unused function parameter for extendLine (`#1422 <https://github.com/autowarefoundation/autoware_launch/issues/1422>`_)
+  remove unused parameter
+* feat(duplicated_node_checker): ignore duplicate get parameter (`#1413 <https://github.com/autowarefoundation/autoware_launch/issues/1413>`_)
+* feat(autoware_bevfusion): added bevfusion config files (`#1416 <https://github.com/autowarefoundation/autoware_launch/issues/1416>`_)
+  feat: added bevfusion files
+* chore(simulator.launch): remove params of traffic_light_selector (`#1415 <https://github.com/autowarefoundation/autoware_launch/issues/1415>`_)
+  remove param
+* feat: add input_timeout in operation_mode_transition_manager (`#1407 <https://github.com/autowarefoundation/autoware_launch/issues/1407>`_)
+* feat(traffic_light): remove unnecessary config file (`#1396 <https://github.com/autowarefoundation/autoware_launch/issues/1396>`_)
+  remove unnecessary file
+* feat(autoware_motion_velocity_planner): point-cloud clustering optimization (`#1410 <https://github.com/autowarefoundation/autoware_launch/issues/1410>`_)
+  * fix
+  * fix
+  * fix
+  ---------
+* feat(mvp_run_out): update for new motion_velocity_planner run_out (`#1388 <https://github.com/autowarefoundation/autoware_launch/issues/1388>`_)
+* feat(planning_validator): detect sudden trajectory shift (`#1380 <https://github.com/autowarefoundation/autoware_launch/issues/1380>`_)
+  * update planning validator config
+  * add new planning diagnostic path
+  * visualize planning validator virtual wall by default
+  * move planning validator display under planning/diagnostic namespace
+  * add jerk limit parameter
+  ---------
+* feat(planning_validator): add lateral jerk validation parameters (`#1406 <https://github.com/autowarefoundation/autoware_launch/issues/1406>`_)
+* Contributors: Arjun Jagdish Ram, Kento Yabuuchi, Kenzo Lobos Tsunekawa, Kyoichi Sugahara, Masaki Baba, Masato Saeki, Maxime CLEMENT, Mitsuhiro Sakamoto, Ryohsuke Mitsudome, Satoshi OTA, Sho Iwasawa, Takagi, Isamu, Takayuki Murooka, Yuki TAKAGI, badai nguyen, github-actions, mkquda
+
 0.44.3 (2025-06-10)
 -------------------
 * feat: add pointcloud container arg for simulator component (`#1479 <https://github.com/autowarefoundation/autoware_launch/issues/1479>`_) (`#1487 <https://github.com/autowarefoundation/autoware_launch/issues/1487>`_)

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

@@ -14,3 +14,8 @@
       filter_motorcycle: false
       filter_pedestrian: false
       filter_unknown: true
+    ignore_behind_rear_axle: true  # If true, collisions detected behind the rear axle of the ego vehicle are ignored
+    time_buffer:  # buffer to start or stop publishing the ERROR diagnostic
+      on_duration: 0.2  # [s] minimum consecutive detection time before triggering the diagnostic
+      off_duration: 5.0  # [s] minimum consecutive time without collision detection (including the hysteresis) before releasing the diagnostic
+      off_distance_hysteresis: 1.0  # [m] extra distance used to detect collisions once the diagnostic is triggered

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

@@ -9,6 +9,7 @@
 
     thresholds:
       max_distance_deviation: 1.0
+      lateral_jerk: 10.0
       acc_error_offset: 0.8
       acc_error_scale: 0.2
       rolling_back_velocity: 0.5

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

@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    input_timeout: 3.0
     transition_timeout: 10.0
     frequency_hz: 10.0
 

autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    diagnostics:
+      # When the processing time exceeds the max_allowed_processing_time,
+      # a warning will be triggered.
+      max_allowed_processing_time_ms: 200.0 # in milliseconds
+      # If the warning is triggered and if a timestamp of last normal processing is more than
+      # max_acceptable_consecutive_delay_ms, an error diagnostic message will be sent.
+      max_acceptable_consecutive_delay_ms: 1000.0
+      # interval of diagnostic callback in milliseconds
+      pointpainting_validation_callback_interval_ms: 100.0 # in milliseconds

autoware_launch/config/perception/object_recognition/detection/lidar_model/bevfusion_camera_lidar.param.yaml

@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    # modality
+    sensor_fusion: true
+    # non-network params
+    max_camera_lidar_delay: 0.12
+    # plugins
+    plugins_path: $(find-pkg-share autoware_tensorrt_plugins)/plugins/libautoware_tensorrt_plugins.so
+    # network
+    trt_precision: fp16
+    cloud_capacity: 2000000
+    onnx_path: "$(var model_path)/bevfusion_camera_lidar.onnx"
+    engine_path: "$(var model_path)/bevfusion_camera_lidar.engine"
+    # pre-process params
+    densification_num_past_frames: 1
+    densification_world_frame_id: map
+    # post-process params
+    circle_nms_dist_threshold: 0.5
+    iou_nms_search_distance_2d: 10.0
+    iou_nms_threshold: 0.1
+    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] # refers to the class_names
+    score_threshold: 0.1

autoware_launch/config/perception/object_recognition/detection/lidar_model/bevfusion_common.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    diagnostics:
+      # When the processing time exceeds the max_allowed_processing_time,
+      # a warning will be triggered.
+      max_allowed_processing_time_ms: 200.0 # in milliseconds
+      # If the warning is triggered and if a timestamp of last normal processing is more than
+      # max_acceptable_consecutive_delay_ms, an error diagnostic message will be sent.
+      max_acceptable_consecutive_delay_ms: 1000.0
+      # interval of diagnostic callback in milliseconds
+      validation_callback_interval_ms: 100.0 # in milliseconds

autoware_launch/config/perception/object_recognition/detection/lidar_model/bevfusion_lidar.param.yaml

@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    # modality
+    sensor_fusion: false
+    # non-network params
+    max_camera_lidar_delay: 0.0
+    # plugins
+    plugins_path: $(find-pkg-share autoware_tensorrt_plugins)/plugins/libautoware_tensorrt_plugins.so
+    # network
+    trt_precision: fp16
+    cloud_capacity: 2000000
+    onnx_path: "$(var model_path)/bevfusion_lidar.onnx"
+    engine_path: "$(var model_path)/bevfusion_lidar.engine"
+    # pre-process params
+    densification_num_past_frames: 1
+    densification_world_frame_id: map
+    # post-process params
+    circle_nms_dist_threshold: 0.5
+    iou_nms_search_distance_2d: 10.0
+    iou_nms_threshold: 0.1
+    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] # refers to the class_names
+    score_threshold: 0.1

autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml

@@ -14,6 +14,8 @@
 
         # debug parameters
         publish_processing_time_detail: false
+        processing_time_tolerance_ms: 50.0 # [ms]
+        processing_time_consecutive_excess_tolerance_ms: 1000.0 # [ms]
 
       # downsample input pointcloud
       downsample_input_pointcloud: true