diff --git a/.clang-format b/.clang-format index b41fae9129e43..cd54eb45dde50 100644 --- a/.clang-format +++ b/.clang-format @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format Language: Cpp BasedOnStyle: Google diff --git a/.clang-tidy-ignore b/.clang-tidy-ignore new file mode 100644 index 0000000000000..f10528128dce6 --- /dev/null +++ b/.clang-tidy-ignore @@ -0,0 +1 @@ +*/examples/* diff --git a/.cspell.json b/.cspell.json index 2d024a5ca589d..f3bf484f68e0c 100644 --- a/.cspell.json +++ b/.cspell.json @@ -4,5 +4,5 @@ "planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/scripts/**" ], "ignoreRegExpList": [], - "words": ["dltype", "tvmgen", "fromarray", "soblin"] + "words": ["dltype", "tvmgen", "fromarray", "soblin", "brkay54", "libtensorrt"] } diff --git a/.github/ISSUE_TEMPLATE/bug.yaml b/.github/ISSUE_TEMPLATE/bug.yaml index 12a857998a0b2..5c74f7c5e4d9c 100644 --- a/.github/ISSUE_TEMPLATE/bug.yaml +++ b/.github/ISSUE_TEMPLATE/bug.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: Bug description: Report a bug body: diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml index 48765c24a7b25..deccbf336f6a3 100644 --- a/.github/ISSUE_TEMPLATE/config.yml +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + blank_issues_enabled: false contact_links: - name: Question diff --git a/.github/ISSUE_TEMPLATE/task.yaml b/.github/ISSUE_TEMPLATE/task.yaml index cd8322f507405..58307325ce402 100644 --- a/.github/ISSUE_TEMPLATE/task.yaml +++ b/.github/ISSUE_TEMPLATE/task.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: Task description: Plan a task body: diff --git a/.github/CODEOWNERS b/.github/_CODEOWNERS similarity index 79% rename from .github/CODEOWNERS rename to .github/_CODEOWNERS index 7594271eae3c5..92f9e70eb2e6d 100644 --- a/.github/CODEOWNERS +++ b/.github/_CODEOWNERS @@ -1,56 +1,44 @@ ### Automatically generated from package.xml ### -common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp +common/autoware_adapi_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -common/autoware_geography_utils/** koji.minoda@tier4.jp +common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp +common/autoware_component_interface_tools/** isamu.takagi@tier4.jp +common/autoware_component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp +common/autoware_fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +common/autoware_global_parameter_loader/** ryohsuke.mitsudome@tier4.jp +common/autoware_glog_component/** takamasa.horibe@tier4.jp +common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp common/autoware_grid_map_utils/** maxime.clement@tier4.jp common/autoware_interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp common/autoware_kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai -common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai +common/autoware_object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp +common/autoware_osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp -common/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp +common/autoware_polar_grid/** yukihiro.saito@tier4.jp +common/autoware_pyplot/** mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp +common/autoware_qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +common/autoware_time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +common/autoware_traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp +common/autoware_traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp +common/autoware_trajectory/** mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp yukinari.hisaki.2@tier4.jp common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp -common/autoware_vehicle_info_utils/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp -common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp -common/component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp -common/component_interface_tools/** isamu.takagi@tier4.jp -common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp -common/fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp -common/glog_component/** takamasa.horibe@tier4.jp -common/goal_distance_calculator/** taiki.tanaka@tier4.jp -common/object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp -common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp -common/polar_grid/** yukihiro.saito@tier4.jp -common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp -common/tensorrt_common/** amadeusz.szymko.2@tier4.jp dan.umeda@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp -common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp +common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/tier4_api_utils/** isamu.takagi@tier4.jp -common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp -common/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp -common/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp takamasa.horibe@tier4.jp yamato.ando@tier4.jp -common/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp -common/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp khalil@leodrive.ai -common/tier4_system_rviz_plugin/** koji.minoda@tier4.jp -common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp -common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp -common/time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp -common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp -common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp -control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp +control/autoware_autonomous_emergency_braking/** alqudah.mohammad@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp +control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp tomohito.ando@tier4.jp control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp zulfaqar.azmi@tier4.jp -control/autoware_mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +control/autoware_mpc_lateral_controller/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +control/autoware_obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_operation_mode_transition_manager/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp control/autoware_pure_pursuit/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_shift_decider/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_smart_mpc_trajectory_follower/** kosuke.takeuchi@tier4.jp masayuki.aino@proxima-ai-tech.com takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @@ -58,15 +46,13 @@ control/autoware_trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.m control/autoware_trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -control/obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/predicted_path_checker/** berkay@leodrive.ai evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp temkei.kem@tier4.jp -evaluator/autoware_evaluator_utils/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp -evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp -evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp +evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp temkei.kem@tier4.jp evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -evaluator/localization_evaluator/** dominik.jargot@robotec.ai koji.minoda@tier4.jp +evaluator/localization_evaluator/** anh.nguyen.2@tier4.jp dominik.jargot@robotec.ai koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp evaluator/perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp +evaluator/scenario_simulator_v2_adapter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp launch/tier4_localization_launch/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp @@ -98,14 +84,15 @@ localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuu localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_particle_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_pose_initializer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +map/autoware_lanelet2_map_visualizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp mamoru.sobue@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +map/autoware_map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp perception/autoware_bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp +perception/autoware_compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_crosswalk_traffic_light_estimator/** masato.saeki@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp perception/autoware_detected_object_feature_remover/** kotaro.uetake@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp perception/autoware_detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @@ -116,7 +103,7 @@ perception/autoware_image_projection_based_fusion/** dai.nguyen@tier4.jp koji.mi perception/autoware_lidar_apollo_instance_segmentation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp perception/autoware_lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@tier4.jp -perception/autoware_map_based_prediction/** kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp +perception/autoware_map_based_prediction/** kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp taekjin.lee@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp perception/autoware_multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_object_range_splitter/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @@ -132,15 +119,16 @@ perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier perception/autoware_shape_estimation/** kcolak@leodrive.ai yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp +perception/autoware_tensorrt_common/** amadeusz.szymko.2@tier4.jp dan.umeda@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp kotaro.uetake@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp -perception/autoware_traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp -perception/autoware_traffic_light_map_based_detector/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp -perception/autoware_traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp -perception/autoware_traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp masato.saeki@tier4.jp shunsuke.miura@tier4.jp +perception/autoware_traffic_light_classifier/** masato.saeki@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_traffic_light_fine_detector/** masato.saeki@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp +perception/autoware_traffic_light_map_based_detector/** masato.saeki@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_traffic_light_multi_camera_fusion/** masato.saeki@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp +perception/autoware_traffic_light_occlusion_predictor/** masato.saeki@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp +perception/autoware_traffic_light_visualization/** masato.saeki@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp perception/perception_utils/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp planning/autoware_costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp @@ -148,7 +136,7 @@ planning/autoware_freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@ planning/autoware_freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp -planning/autoware_obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp +planning/autoware_obstacle_cruise_planner/** berkay@leodrive.ai kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp planning/autoware_obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp planning/autoware_path_optimizer/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp @@ -168,26 +156,26 @@ planning/behavior_path_planner/autoware_behavior_path_external_request_lane_chan planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_path_planner/autoware_behavior_path_lane_change_module/** alqudah.mohammad@tier4.jp fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_planner/autoware_behavior_path_planner/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp -planning/behavior_path_planner/autoware_behavior_path_planner_common/** daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp +planning/behavior_path_planner/autoware_behavior_path_planner_common/** alqudah.mohammad@tier4.jp daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/** daniel.sanchez@tier4.jp maxime.clement@tier4.jp planning/behavior_path_planner/autoware_behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_path_planner/autoware_behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp -planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp zulfaqar.azmi@tier4.jp +planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yuki.takagi@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp +planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp zhe.shen@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** alqudah.mohammad@tier4.jp maxime.clement@tier4.jp @@ -198,6 +186,7 @@ planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4. planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_sampler_common/** maxime.clement@tier4.jp +sensing/autoware_cuda_utils/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp sensing/autoware_gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/autoware_image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp sensing/autoware_image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp @@ -208,7 +197,6 @@ sensing/autoware_radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.m sensing/autoware_radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp -sensing/cuda_utils/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp simulator/autoware_carla_interface/** maxime.clement@tier4.jp mradityagio@gmail.com @@ -244,5 +232,18 @@ vehicle/autoware_accel_brake_map_calibrator/** eiki.nagata.2@tier4.jp taiki.tana vehicle/autoware_external_cmd_converter/** eiki.nagata.2@tier4.jp takamasa.horibe@tier4.jp vehicle/autoware_raw_vehicle_cmd_converter/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp sho.iwasawa.2@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp +visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai +visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai +visualization/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp +visualization/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp +visualization/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp +visualization/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp +visualization/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp +visualization/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp takamasa.horibe@tier4.jp yamato.ando@tier4.jp +visualization/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp +visualization/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp khalil@leodrive.ai +visualization/tier4_system_rviz_plugin/** koji.minoda@tier4.jp +visualization/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp +visualization/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp ### Copied from .github/CODEOWNERS-manual ### diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml index 0264c035357bd..8fd9b7f4ae0a5 100644 --- a/.github/dependabot.yaml +++ b/.github/dependabot.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + version: 2 updates: - package-ecosystem: github-actions diff --git a/.github/labeler.yaml b/.github/labeler.yaml index 0716dfa9b75dd..115f75197f41a 100644 --- a/.github/labeler.yaml +++ b/.github/labeler.yaml @@ -42,5 +42,3 @@ "tag:require-cuda-build-and-test": - perception/**/* - sensing/**/* - - common/cuda_utils/**/* - - common/tensorrt_common/**/* diff --git a/.github/stale.yml b/.github/stale.yml index bc99e4383cafd..ffce036c8d047 100644 --- a/.github/stale.yml +++ b/.github/stale.yml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/probot/stale#usage # Number of days of inactivity before an Issue or Pull Request with the stale label is closed diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index aa6409bbcb641..8afb7671215f4 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -1,54 +1,47 @@ -- repository: autowarefoundation/autoware +- repository: autowarefoundation/sync-file-templates + source-dir: sources files: - - source: CODE_OF_CONDUCT.md - - source: CONTRIBUTING.md - - source: DISCLAIMER.md - - source: LICENSE - source: .github/ISSUE_TEMPLATE/bug.yaml - source: .github/ISSUE_TEMPLATE/config.yml - source: .github/ISSUE_TEMPLATE/task.yaml - source: .github/dependabot.yaml + - source: .github/pull_request_template_complex.md + dest: .github/pull_request_template.md - source: .github/stale.yml - source: .github/workflows/cancel-previous-workflows.yaml + - source: .github/workflows/check-build-depends.yaml + - source: .github/workflows/clang-tidy-pr-comments.yaml + - source: .github/workflows/clang-tidy-pr-comments-manually.yaml + - source: .github/workflows/comment-on-pr.yaml + - source: .github/workflows/delete-closed-pr-docs.yaml + - source: .github/workflows/deploy-docs.yaml - source: .github/workflows/pre-commit.yaml - source: .github/workflows/pre-commit-optional.yaml + - source: .github/workflows/pre-commit-optional-autoupdate.yaml + - source: .github/workflows/pre-commit-autoupdate.yaml - source: .github/workflows/semantic-pull-request.yaml - source: .github/workflows/spell-check-differential.yaml pre-commands: | sd " with:\n" " with:\n local-cspell-json: .cspell.json\n" {source} - - source: .github/workflows/spell-check-differential.yaml - dest: .github/workflows/spell-check-daily.yaml + - source: .github/workflows/spell-check-daily.yaml pre-commands: | - sd "spell-check-differential" "spell-check-daily" {source} - sd " with:\n" " with:\n local-cspell-json: .cspell.json\n incremental-files-only: false\n" {source} - sd "on:\n pull_request:\n" "on:\n schedule:\n - cron: 0 0 * * *\n workflow_dispatch:\n" {source} + sd " with:\n" " with:\n local-cspell-json: .cspell.json\n" {source} - source: .github/workflows/sync-files.yaml + - source: .github/workflows/update-codeowners-from-packages.yaml + - source: docs/assets/js/mathjax.js - source: .clang-format - source: .markdown-link-check.json - source: .markdownlint.yaml - source: .pre-commit-config-optional.yaml + - source: .pre-commit-config.yaml - source: .prettierignore - source: .prettierrc.yaml - source: .yamllint.yaml + - source: CODE_OF_CONDUCT.md + - source: CONTRIBUTING.md - source: CPPLINT.cfg - - source: setup.cfg - -- repository: autowarefoundation/autoware_common - files: - - source: .github/workflows/clang-tidy-differential.yaml - pre-commands: | - sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda' {source} - - source: .github/workflows/check-build-depends.yaml - - source: .github/workflows/clang-tidy-pr-comments.yaml - - source: .github/workflows/clang-tidy-pr-comments-manually.yaml - - source: .github/workflows/update-codeowners-from-packages.yaml - - source: .pre-commit-config.yaml - - source: codecov.yaml - -- repository: autowarefoundation/autoware-documentation - files: - - source: .github/workflows/deploy-docs.yaml - - source: .github/workflows/delete-closed-pr-docs.yaml + - source: DISCLAIMER.md + - source: LICENSE - source: mkdocs-base.yaml dest: mkdocs.yaml pre-commands: | @@ -62,4 +55,4 @@ " - macros" \ " - macros: module_name: mkdocs_macros" {source} - - source: docs/assets/js/mathjax.js + - source: setup.cfg diff --git a/.github/workflows/beta-to-tier4-main-sync.yaml b/.github/workflows/beta-to-tier4-main-sync.yaml new file mode 100644 index 0000000000000..53f40f1e811ab --- /dev/null +++ b/.github/workflows/beta-to-tier4-main-sync.yaml @@ -0,0 +1,34 @@ +name: beta-to-tier4-main-sync + +on: + workflow_dispatch: + inputs: + source_branch: + description: Source branch + required: true + type: string + +jobs: + sync-beta-branch: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: tier4/main + sync-pr-branch: beta-to-tier4-main-sync + sync-target-repository: https://github.com/tier4/autoware.universe.git + sync-target-branch: ${{ inputs.source_branch }} + pr-title: "chore: sync beta branch ${{ inputs.source_branch }} with tier4/main" + pr-labels: | + bot + sync-beta-branch + auto-merge-method: merge diff --git a/.github/workflows/build-and-test-daily-arm64.yaml b/.github/workflows/build-and-test-daily-arm64.yaml index 8b4c2e135e761..5e15675bece04 100644 --- a/.github/workflows/build-and-test-daily-arm64.yaml +++ b/.github/workflows/build-and-test-daily-arm64.yaml @@ -23,7 +23,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Check out repository diff --git a/.github/workflows/build-and-test-daily.yaml b/.github/workflows/build-and-test-daily.yaml index 66275444482b5..b2612f2fcd1f0 100644 --- a/.github/workflows/build-and-test-daily.yaml +++ b/.github/workflows/build-and-test-daily.yaml @@ -5,9 +5,13 @@ on: - cron: 0 0 * * * workflow_dispatch: +env: + CC: /usr/lib/ccache/gcc + CXX: /usr/lib/ccache/g++ + jobs: build-and-test-daily: - runs-on: [self-hosted, linux, X64, gpu] + runs-on: [self-hosted, Linux, X64] container: ${{ matrix.container }}${{ matrix.container-suffix }} strategy: fail-fast: false @@ -19,7 +23,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Check out repository @@ -30,6 +34,9 @@ jobs: - name: Show disk space before the tasks run: df -h + - name: Show machine specs + run: lscpu && free -h + - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 @@ -37,6 +44,33 @@ jobs: id: get-self-packages uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 + - name: Create ccache directory + run: | + mkdir -p ${CCACHE_DIR} + du -sh ${CCACHE_DIR} && ccache -s + shell: bash + + - name: Attempt to restore ccache + uses: actions/cache/restore@v4 + with: + path: | + /root/.ccache + key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }} + restore-keys: | + ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}- + + - name: Limit ccache size + run: | + rm -f "${CCACHE_DIR}/ccache.conf" + echo -e "# Set maximum cache size\nmax_size = 600MB" >> "${CCACHE_DIR}/ccache.conf" + shell: bash + + - name: Show ccache stats before build and reset stats + run: | + du -sh ${CCACHE_DIR} && ccache -s + ccache --zero-stats + shell: bash + - name: Export CUDA state as a variable for adding to cache key run: | build_type_cuda_state=nocuda @@ -56,6 +90,10 @@ jobs: build-depends-repos: ${{ matrix.build-depends-repos }} cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }} + - name: Show ccache stats after build + run: du -sh ${CCACHE_DIR} && ccache -s + shell: bash + - name: Test if: ${{ steps.get-self-packages.outputs.self-packages != '' }} id: test diff --git a/.github/workflows/build-and-test-differential-arm64.yaml b/.github/workflows/build-and-test-differential-arm64.yaml index 9e121aa028867..bc6fe11c85bfa 100644 --- a/.github/workflows/build-and-test-differential-arm64.yaml +++ b/.github/workflows/build-and-test-differential-arm64.yaml @@ -33,7 +33,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Set PR fetch depth @@ -76,7 +76,7 @@ jobs: target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} build-depends-repos: ${{ matrix.build-depends-repos }} cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }} - build-pre-command: taskset --cpu-list 0-6 + build-pre-command: taskset --cpu-list 0-5 - name: Test id: test diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 5e1f3e2c093a5..f62904b03c6e4 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -27,29 +27,58 @@ jobs: with: label: tag:require-cuda-build-and-test - build-and-test-differential: + prepare-build-and-test-differential: + runs-on: ubuntu-latest needs: [make-sure-label-is-present, make-sure-require-cuda-label-is-present] - if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }} - runs-on: ${{ matrix.runner }} - container: ${{ matrix.container }}${{ matrix.container-suffix }} - strategy: - fail-fast: false - matrix: - rosdistro: - - humble - container-suffix: - - "" - - -cuda - include: - - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe - build-depends-repos: build_depends.repos - - container-suffix: -cuda - runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large - build-pre-command: taskset --cpu-list 0-6 - - container-suffix: "" - runner: ubuntu-latest - build-pre-command: "" + outputs: + cuda_build: ${{ steps.check-if-cuda-build-is-required.outputs.cuda_build }} + steps: + - name: Check if cuda-build is required + id: check-if-cuda-build-is-required + run: | + if ${{ needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }}; then + echo "cuda-build is required" + echo "cuda_build=true" >> $GITHUB_OUTPUT + else + echo "cuda-build is not required" + echo "cuda_build=false" >> $GITHUB_OUTPUT + fi + shell: bash + - name: Fail if the tag:run-build-and-test-differential is missing + if: ${{ needs.make-sure-label-is-present.outputs.result != 'true' }} + run: exit 1 + + build-and-test-differential: + runs-on: ubuntu-latest + container: ghcr.io/autowarefoundation/autoware:universe-devel + needs: prepare-build-and-test-differential + steps: + - name: Set PR fetch depth + run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" + shell: bash + + - name: Checkout PR branch and all PR commits + uses: actions/checkout@v4 + with: + ref: ${{ github.event.pull_request.head.sha }} + fetch-depth: ${{ env.PR_FETCH_DEPTH }} + + - name: Run build-and-test-differential action + uses: ./.github/actions/build-and-test-differential + with: + rosdistro: humble + container: ghcr.io/autowarefoundation/autoware:universe-devel + container-suffix: "" + runner: ubuntu-latest + build-depends-repos: build_depends.repos + build-pre-command: "" + codecov-token: ${{ secrets.CODECOV_TOKEN }} + + build-and-test-differential-cuda: + runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large + container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda + needs: prepare-build-and-test-differential + if: ${{ needs.prepare-build-and-test-differential.outputs.cuda_build == 'true' }} steps: - name: Set PR fetch depth run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" @@ -62,21 +91,65 @@ jobs: fetch-depth: ${{ env.PR_FETCH_DEPTH }} - name: Run build-and-test-differential action - if: ${{ !(matrix.container-suffix == '-cuda') || needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }} uses: ./.github/actions/build-and-test-differential with: - rosdistro: ${{ matrix.rosdistro }} - container: ${{ matrix.container }} - container-suffix: ${{ matrix.container-suffix }} - runner: ${{ matrix.runner }} - build-depends-repos: ${{ matrix.build-depends-repos }} - build-pre-command: ${{ matrix.build-pre-command }} + rosdistro: humble + container: ghcr.io/autowarefoundation/autoware:universe-devel + container-suffix: -cuda + runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large + build-depends-repos: build_depends.repos + build-pre-command: taskset --cpu-list 0-5 codecov-token: ${{ secrets.CODECOV_TOKEN }} clang-tidy-differential: - needs: build-and-test-differential + needs: [build-and-test-differential, prepare-build-and-test-differential] + if: ${{ needs.prepare-build-and-test-differential.outputs.cuda_build == 'false' }} runs-on: ubuntu-latest - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda + container: ghcr.io/autowarefoundation/autoware:universe-devel + steps: + - name: Set PR fetch depth + run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" + + - name: Checkout PR branch and all PR commits + uses: actions/checkout@v4 + with: + ref: ${{ github.event.pull_request.head.sha }} + fetch-depth: ${{ env.PR_FETCH_DEPTH }} + + - name: Show disk space before the tasks + run: df -h + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get modified packages + id: get-modified-packages + uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 + + - name: Get changed files (existing files only) + id: get-changed-files + run: | + echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT + shell: bash + + - name: Run clang-tidy + if: ${{ steps.get-changed-files.outputs.changed-files != '' }} + uses: autowarefoundation/autoware-github-actions/clang-tidy@v1 + with: + rosdistro: humble + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci + clang-tidy-ignore-path: .clang-tidy-ignore + build-depends-repos: build_depends.repos + cache-key-element: cuda + + - name: Show disk space after the tasks + run: df -h + + clang-tidy-differential-cuda: + needs: build-and-test-differential-cuda + runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large + container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda steps: - name: Set PR fetch depth run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" @@ -109,8 +182,8 @@ jobs: with: rosdistro: humble target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} - target-files: ${{ steps.get-changed-files.outputs.changed-files }} clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci + clang-tidy-ignore-path: .clang-tidy-ignore build-depends-repos: build_depends.repos cache-key-element: cuda diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 0f239cd328591..6b3886f124a44 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -16,7 +16,7 @@ env: jobs: build-and-test: - runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large + runs-on: [self-hosted, Linux, X64] container: ${{ matrix.container }}${{ matrix.container-suffix }} strategy: fail-fast: false @@ -27,7 +27,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Check out repository @@ -93,7 +93,7 @@ jobs: target-packages: ${{ steps.get-self-packages.outputs.self-packages }} build-depends-repos: ${{ matrix.build-depends-repos }} cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }} - build-pre-command: taskset --cpu-list 0-6 + build-pre-command: taskset --cpu-list 0-5 - name: Show ccache stats after build run: du -sh ${CCACHE_DIR} && ccache -s diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml index 44983f7deadcb..ee79ce0e4d41c 100644 --- a/.github/workflows/cancel-previous-workflows.yaml +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: cancel-previous-workflows on: @@ -5,7 +9,7 @@ on: jobs: cancel-previous-workflows: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Cancel previous runs uses: styfle/cancel-workflow-action@0.12.1 diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml index 81618a1db0eea..bb1d89851dea6 100644 --- a/.github/workflows/check-build-depends.yaml +++ b/.github/workflows/check-build-depends.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: check-build-depends on: @@ -7,7 +11,7 @@ on: jobs: check-build-depends: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 container: ${{ matrix.container }} strategy: fail-fast: false @@ -20,7 +24,7 @@ jobs: build-depends-repos: build_depends.repos steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 diff --git a/.github/workflows/clang-tidy-pr-comments-manually.yaml b/.github/workflows/clang-tidy-pr-comments-manually.yaml index 9bccd972becde..747c62cdcd5a3 100644 --- a/.github/workflows/clang-tidy-pr-comments-manually.yaml +++ b/.github/workflows/clang-tidy-pr-comments-manually.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: clang-tidy-pr-comments-manually on: @@ -8,7 +12,7 @@ on: required: true jobs: clang-tidy-pr-comments-manually: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v3 diff --git a/.github/workflows/clang-tidy-pr-comments.yaml b/.github/workflows/clang-tidy-pr-comments.yaml index baaa0fb8e7744..c8df6a62c9a0a 100644 --- a/.github/workflows/clang-tidy-pr-comments.yaml +++ b/.github/workflows/clang-tidy-pr-comments.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: clang-tidy-pr-comments on: @@ -10,7 +14,7 @@ on: jobs: clang-tidy-pr-comments: if: ${{ github.event.workflow_run.event == 'pull_request' && contains(fromJson('["success", "failure"]'), github.event.workflow_run.conclusion) }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v3 diff --git a/.github/workflows/comment-on-pr.yaml b/.github/workflows/comment-on-pr.yaml index e517016a300d9..3fba91f6ea3dc 100644 --- a/.github/workflows/comment-on-pr.yaml +++ b/.github/workflows/comment-on-pr.yaml @@ -1,25 +1,31 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: comment-on-pr + on: - pull_request_target: + pull_request: + types: + - opened + branches: + - beta/v0.[0-9]+.[1-9]+ jobs: comment-on-pr: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 permissions: pull-requests: write steps: - - name: Check out repository - uses: actions/checkout@v4 - - - name: Initial PR comment - uses: marocchino/sticky-pull-request-comment@v2 - with: - message: | - Thank you for contributing to the Autoware project! - - 🚧 If your pull request is in progress, [switch it to draft mode](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#converting-a-pull-request-to-a-draft). - - Please ensure: - - You've checked our [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/). - - Your PR follows our [pull request guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/). - - All required CI checks pass before [marking the PR ready for review](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#marking-a-pull-request-as-ready-for-review). + - name: Create comments + run: | + cat << EOF > comments + ### Merging guidelines for the beta branch + Please use `Squash and merge` as the default. + However, when incorporating multiple changes with cherry-pick, use a `Create a merge commit` to preserve the changes in the history. + EOF + - name: Post comments + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + URL: ${{ github.event.pull_request.html_url }} + run: gh pr comment -F ./comments "${URL}" diff --git a/.github/workflows/cppcheck-differential.yaml b/.github/workflows/cppcheck-differential.yaml index 8c2edd3c76724..09b9b6e983f06 100644 --- a/.github/workflows/cppcheck-differential.yaml +++ b/.github/workflows/cppcheck-differential.yaml @@ -5,7 +5,7 @@ on: jobs: cppcheck-differential: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Set PR fetch depth diff --git a/.github/workflows/cppcheck-weekly.yaml b/.github/workflows/cppcheck-weekly.yaml index 573dcc54aa8c0..28be3897ae4f8 100644 --- a/.github/workflows/cppcheck-weekly.yaml +++ b/.github/workflows/cppcheck-weekly.yaml @@ -7,7 +7,7 @@ on: jobs: cppcheck-weekly: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Checkout code diff --git a/.github/workflows/dco.yaml b/.github/workflows/dco.yaml index db7ace467c658..e95b394ac63d0 100644 --- a/.github/workflows/dco.yaml +++ b/.github/workflows/dco.yaml @@ -4,7 +4,7 @@ on: pull_request: jobs: dco: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - uses: actions/checkout@v4 diff --git a/.github/workflows/delete-closed-pr-docs.yaml b/.github/workflows/delete-closed-pr-docs.yaml index b7b009fb00263..b8ff4f6d14599 100644 --- a/.github/workflows/delete-closed-pr-docs.yaml +++ b/.github/workflows/delete-closed-pr-docs.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: delete-closed-pr-docs on: @@ -7,7 +11,7 @@ on: jobs: delete-closed-pr-docs: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v3 diff --git a/.github/workflows/deploy-docs.yaml b/.github/workflows/deploy-docs.yaml index b48d70dbacb0c..d39e97e540794 100644 --- a/.github/workflows/deploy-docs.yaml +++ b/.github/workflows/deploy-docs.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: deploy-docs on: @@ -27,7 +31,7 @@ jobs: deploy-docs: needs: prevent-no-label-execution if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v3 diff --git a/.github/workflows/dispatch-push-event.yaml b/.github/workflows/dispatch-push-event.yaml new file mode 100644 index 0000000000000..492083c8038f6 --- /dev/null +++ b/.github/workflows/dispatch-push-event.yaml @@ -0,0 +1,45 @@ +name: dispatch-push-event +on: + push: + +jobs: + search-dispatch-repo: + runs-on: ubuntu-latest + strategy: + matrix: + include: + - { version: beta/v0.3.**, dispatch-repo: pilot-auto.x1.eve } + outputs: + dispatch-repo: ${{ steps.search-dispatch-repo.outputs.value }} + steps: + - name: Search dispatch repo + id: search-dispatch-repo + run: | + if [[ ${{ github.ref_name }} =~ ${{ matrix.version }} ]]; then + echo ::set-output name=value::"${{ matrix.dispatch-repo }}" + echo "Detected beta branch: ${{ github.ref_name }}" + echo "Dispatch repository: ${{ matrix.dispatch-repo }}" + fi + + dispatch-push-event: + runs-on: ubuntu-latest + needs: search-dispatch-repo + if: ${{ needs.search-dispatch-repo.outputs.dispatch-repo != '' }} + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.INTERNAL_APP_ID }} + private_key: ${{ secrets.INTERNAL_PRIVATE_KEY }} + + # 注意: workflow_dispatchで指定するブランチはmain固定となっているため、dispatch-repoのmainブランチにupdate-beta-branch.yamlが存在することが前提条件。 + - name: Dispatch the update-beta-branch workflow + run: | + curl -L \ + -X POST \ + -H "Accept: application/vnd.github+json" \ + -H "Authorization: Bearer ${{ steps.generate-token.outputs.token }}" \ + -H "X-GitHub-Api-Version: 2022-11-28" \ + https://api.github.com/repos/tier4/${{ needs.search-dispatch-repo.outputs.dispatch-repo }}/actions/workflows/update-beta-branch.yaml/dispatches \ + -d '{"ref":"main"}' diff --git a/.github/workflows/dispatch-release-note.yaml b/.github/workflows/dispatch-release-note.yaml new file mode 100644 index 0000000000000..0245e2b929cd8 --- /dev/null +++ b/.github/workflows/dispatch-release-note.yaml @@ -0,0 +1,46 @@ +name: dispatch-release-note +on: + push: + branches: + - beta/v* + - tier4/main + tags: + - v* + workflow_dispatch: + inputs: + beta-branch-or-tag-name: + description: The name of the beta branch or tag to write release note + type: string + required: true +jobs: + dispatch-release-note: + runs-on: ubuntu-latest + name: release-repository-dispatch + steps: + - name: Set tag name + id: set-tag-name + run: | + if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then + REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}" + else + REF_NAME="${{ github.ref_name }}" + fi + echo ::set-output name=ref-name::"$REF_NAME" + echo ::set-output name=tag-name::"${REF_NAME#beta/}" + + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Repository dispatch for release note + run: | + curl \ + -X POST \ + -H "Accept: application/vnd.github+json" \ + -H "Authorization: token ${{ steps.generate-token.outputs.token }}" \ + -H "X-GitHub-Api-Version: 2022-11-28" \ + "https://api.github.com/repos/tier4/update-release-notes/dispatches" \ + -d '{"event_type":"${{ steps.set-tag-name.outputs.ref-name }}"}' diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index b426d0cba6614..bbe2ac512d70d 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: github-release on: @@ -15,7 +19,7 @@ on: jobs: github-release: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Set tag name id: set-tag-name diff --git a/.github/workflows/json-schema-check.yaml b/.github/workflows/json-schema-check.yaml index 5c223edf1eec2..be9b8e3ce20fe 100644 --- a/.github/workflows/json-schema-check.yaml +++ b/.github/workflows/json-schema-check.yaml @@ -6,7 +6,7 @@ on: jobs: check-if-relevant-files-changed: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 outputs: run-check: ${{ steps.paths_filter.outputs.json_or_yaml }} steps: @@ -22,7 +22,7 @@ jobs: json-schema-check: needs: check-if-relevant-files-changed if: needs.check-if-relevant-files-changed.outputs.run-check == 'true' - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v4 @@ -33,7 +33,7 @@ jobs: no-relevant-changes: needs: check-if-relevant-files-changed if: needs.check-if-relevant-files-changed.outputs.run-check == 'false' - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Dummy step run: echo "No relevant changes, passing check" diff --git a/.github/workflows/pr-agent.yaml b/.github/workflows/pr-agent.yaml index 98646d8161da2..a60e65ccf7b32 100644 --- a/.github/workflows/pr-agent.yaml +++ b/.github/workflows/pr-agent.yaml @@ -13,11 +13,11 @@ jobs: pr_agent_job: needs: prevent-no-label-execution-pr-agent if: ${{ needs.prevent-no-label-execution-pr-agent.outputs.run == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 permissions: issues: write pull-requests: write - contents: write + contents: read name: Run pr agent on every pull request, respond to user comments steps: - name: PR Agent action step @@ -35,6 +35,7 @@ jobs: config.model_turbo: gpt-4o config.max_model_tokens: 64000 pr_code_suggestions.max_context_tokens: 12000 + # cSpell:ignore commitable pr_code_suggestions.commitable_code_suggestions: true pr_reviewer.enable_review_labels_effort: false pr_reviewer.enable_review_labels_security: false diff --git a/.github/workflows/pr-labeler.yaml b/.github/workflows/pr-labeler.yaml index d45067bee59ed..cc2b26fd3e422 100644 --- a/.github/workflows/pr-labeler.yaml +++ b/.github/workflows/pr-labeler.yaml @@ -8,7 +8,7 @@ on: jobs: label: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - uses: actions/labeler@v4 with: diff --git a/.github/workflows/pre-commit-autoupdate.yaml b/.github/workflows/pre-commit-autoupdate.yaml index 23b403f2a52af..489e32a1de166 100644 --- a/.github/workflows/pre-commit-autoupdate.yaml +++ b/.github/workflows/pre-commit-autoupdate.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit-autoupdate on: @@ -14,7 +18,7 @@ jobs: pre-commit-autoupdate: needs: check-secret if: ${{ needs.check-secret.outputs.set == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token diff --git a/.github/workflows/pre-commit-optional-autoupdate.yaml b/.github/workflows/pre-commit-optional-autoupdate.yaml new file mode 100644 index 0000000000000..be79ad481d16e --- /dev/null +++ b/.github/workflows/pre-commit-optional-autoupdate.yaml @@ -0,0 +1,41 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: pre-commit-optional-autoupdate + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + check-secret: + uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 + secrets: + secret: ${{ secrets.APP_ID }} + + pre-commit-optional-autoupdate: + needs: check-secret + if: ${{ needs.check-secret.outputs.set == 'true' }} + runs-on: ubuntu-22.04 + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v2 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run pre-commit-autoupdate + uses: autowarefoundation/autoware-github-actions/pre-commit-autoupdate@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + pre-commit-config: .pre-commit-config-optional.yaml + pr-labels: | + tag:bot + tag:pre-commit-autoupdate + pr-branch: pre-commit-optional-autoupdate + pr-title: "ci(pre-commit-optional): autoupdate" + pr-commit-message: "ci(pre-commit-optional): autoupdate" + auto-merge-method: squash diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml index 38738196a0bd3..3d0867028f76a 100644 --- a/.github/workflows/pre-commit-optional.yaml +++ b/.github/workflows/pre-commit-optional.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit-optional on: @@ -5,7 +9,7 @@ on: jobs: pre-commit-optional: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v4 diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml index c724885fcb3e4..15c8e86c4f950 100644 --- a/.github/workflows/pre-commit.yaml +++ b/.github/workflows/pre-commit.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit on: @@ -6,7 +10,7 @@ on: jobs: pre-commit: if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml index 71224c224ec0f..b56040b084f0c 100644 --- a/.github/workflows/semantic-pull-request.yaml +++ b/.github/workflows/semantic-pull-request.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: semantic-pull-request on: diff --git a/.github/workflows/slack-send.yaml b/.github/workflows/slack-send.yaml new file mode 100644 index 0000000000000..973b08674f7e8 --- /dev/null +++ b/.github/workflows/slack-send.yaml @@ -0,0 +1,25 @@ +name: slack-send +on: + workflow_run: + workflows: + - build-and-test + types: + - completed + +jobs: + on-failure: + if: ${{ github.event.workflow_run.conclusion == 'failure' }} + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Send to Slack workflow + uses: slackapi/slack-github-action@v1 + with: + payload: | + { + "workflow-url": "${{ github.event.workflow_run.html_url }}" + } + env: + SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WORKFLOW_WEBHOOK_URL }} diff --git a/.github/workflows/spell-check-daily.yaml b/.github/workflows/spell-check-daily.yaml index dcee449abc728..696963ff11cfd 100644 --- a/.github/workflows/spell-check-daily.yaml +++ b/.github/workflows/spell-check-daily.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: spell-check-daily on: @@ -7,7 +11,7 @@ on: jobs: spell-check-daily: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v4 @@ -18,3 +22,6 @@ jobs: local-cspell-json: .cspell.json incremental-files-only: false cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json + dict-packages: | + https://github.com/autowarefoundation/autoware-spell-check-dict + https://github.com/tier4/cspell-dicts diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml index ee9d451ba9b9e..81e3309365e9b 100644 --- a/.github/workflows/spell-check-differential.yaml +++ b/.github/workflows/spell-check-differential.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: spell-check-differential on: @@ -5,7 +9,7 @@ on: jobs: spell-check-differential: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v4 @@ -14,4 +18,7 @@ jobs: uses: autowarefoundation/autoware-github-actions/spell-check@v1 with: local-cspell-json: .cspell.json - cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json + cspell-json-url: https://raw.githubusercontent.com/autowarefoundation/autoware-spell-check-dict/main/.cspell.json + dict-packages: | + https://github.com/autowarefoundation/autoware-spell-check-dict + https://github.com/tier4/cspell-dicts diff --git a/.github/workflows/sync-awf-latest.yaml b/.github/workflows/sync-awf-latest.yaml new file mode 100644 index 0000000000000..950e27aae5504 --- /dev/null +++ b/.github/workflows/sync-awf-latest.yaml @@ -0,0 +1,26 @@ +name: sync-awf-latest + +on: + schedule: + - cron: 50 */1 * * * # every 1 hour (**:50) + workflow_dispatch: + +jobs: + sync-awf-latest: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + with: + token: ${{ secrets.TOKEN_TO_MODIFY_WOKFLOW }} + fetch-depth: 0 + - name: Commit Results + run: | + git config --local user.email "action@github.com" + git config --local user.name "GitHub Action" + + git checkout awf-latest + git remote add awf https://github.com/autowarefoundation/autoware.universe + git fetch awf main + git rebase awf/main + + git push origin awf-latest --force diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml index 51e523b8031bf..9224c1503ed22 100644 --- a/.github/workflows/sync-files.yaml +++ b/.github/workflows/sync-files.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: sync-files on: @@ -14,7 +18,7 @@ jobs: sync-files: needs: check-secret if: ${{ needs.check-secret.outputs.set == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml new file mode 100644 index 0000000000000..978ae00a06e20 --- /dev/null +++ b/.github/workflows/sync-upstream.yaml @@ -0,0 +1,49 @@ +name: sync-upstream + +on: + workflow_dispatch: + inputs: + target_branch: + description: Target branch + required: true + type: string + +jobs: + sync-upstream: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - uses: actions/setup-node@v3 + with: + node-version: 16 + + - run: npm install @holiday-jp/holiday_jp + + - uses: actions/github-script@v6 + id: is-holiday + with: + script: | + const holiday_jp = require(`${process.env.GITHUB_WORKSPACE}/node_modules/@holiday-jp/holiday_jp`) + core.setOutput('holiday', holiday_jp.isHoliday(new Date())); + - name: Print warning for invalid branch name + if: ${{ inputs.target_branch == 'tier4/main' }} + run: | + echo This action cannot be performed on 'tier4/main' branch + + - name: Run sync-branches + if: ${{ inputs.target_branch != 'tier4/main' }} + uses: autowarefoundation/autoware-github-actions/sync-branches@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: ${{ inputs.target_branch }} + sync-pr-branch: sync-upstream + sync-target-repository: https://github.com/tier4/autoware.universe.git + sync-target-branch: awf-latest + pr-title: "chore: sync tier4/autoware.universe:awf-latest" + auto-merge-method: merge diff --git a/.github/workflows/update-codeowners-from-packages.yaml b/.github/workflows/update-codeowners-from-packages.yaml index 8b3d2407fbc75..c9ecdb100688f 100644 --- a/.github/workflows/update-codeowners-from-packages.yaml +++ b/.github/workflows/update-codeowners-from-packages.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: update-codeowners-from-packages on: @@ -14,7 +18,7 @@ jobs: update-codeowners-from-packages: needs: check-secret if: ${{ needs.check-secret.outputs.set == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token diff --git a/.markdownlint.yaml b/.markdownlint.yaml index 7b7359fe0cdc4..584154b2009de 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules. default: true MD013: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index 8c9345e15f064..56000d93a8af5 100644 --- a/.pre-commit-config-optional.yaml +++ b/.pre-commit-config-optional.yaml @@ -1,6 +1,10 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + repos: - repo: https://github.com/tcort/markdown-link-check - rev: v3.12.2 + rev: v3.13.6 hooks: - id: markdown-link-check args: [--quiet, --config=.markdown-link-check.json] diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 63dc504f61a2b..6e7c64fd982fc 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,9 +1,13 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + ci: autofix_commit_msg: "style(pre-commit): autofix" repos: - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.6.0 + rev: v5.0.0 hooks: - id: check-json - id: check-merge-conflict @@ -18,7 +22,7 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.41.0 + rev: v0.43.0 hooks: - id: markdownlint args: [-c, .markdownlint.yaml, --fix] @@ -49,7 +53,7 @@ repos: - id: shellcheck - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.9.0-1 + rev: v3.10.0-2 hooks: - id: shfmt args: [-w, -s, -i=4] @@ -60,26 +64,26 @@ repos: - id: isort - repo: https://github.com/psf/black - rev: 24.8.0 + rev: 24.10.0 hooks: - id: black args: [--line-length=100] - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v18.1.8 + rev: v19.1.4 hooks: - id: clang-format types_or: [c++, c, cuda] - repo: https://github.com/cpplint/cpplint - rev: 1.6.1 + rev: 2.0.0 hooks: - id: cpplint args: [--quiet] exclude: .cu - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.29.2 + rev: 0.30.0 hooks: - id: check-metaschema files: ^.+/schema/.*schema\.json$ @@ -93,3 +97,9 @@ repos: language: node files: .svg$ additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"] + + - repo: https://github.com/AleksaC/hadolint-py + rev: v2.12.1b3 + hooks: + - id: hadolint + exclude: .svg$ diff --git a/.prettierignore b/.prettierignore index a3c34d00a1377..3e96aacebba60 100644 --- a/.prettierignore +++ b/.prettierignore @@ -1,2 +1,6 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + *.param.yaml *.rviz diff --git a/.prettierrc.yaml b/.prettierrc.yaml index e29bf32762769..fe476936f7b9e 100644 --- a/.prettierrc.yaml +++ b/.prettierrc.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + printWidth: 100 tabWidth: 2 overrides: diff --git a/.yamllint.yaml b/.yamllint.yaml index 2c7bd088e2648..e0be62dbcb16f 100644 --- a/.yamllint.yaml +++ b/.yamllint.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + extends: default ignore: | diff --git a/CPPLINT.cfg b/CPPLINT.cfg index ba6bdf08c10ca..159042dba0b48 100644 --- a/CPPLINT.cfg +++ b/CPPLINT.cfg @@ -1,12 +1,18 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120 set noparent linelength=100 includeorder=standardcfirst filter=-build/c++11 # we do allow C++11 +filter=-build/c++17 # we allow filter=-build/namespaces_literals # we allow using namespace for literals filter=-runtime/references # we consider passing non-const references to be ok filter=-whitespace/braces # we wrap open curly braces for namespaces, classes and functions filter=-whitespace/indent # we don't indent keywords like public, protected and private with one space +filter=-whitespace/newline # we allow the developer to decide about newline at the end of file (it's clashing with clang-format) filter=-whitespace/parens # we allow closing parenthesis to be on the next line filter=-whitespace/semicolon # we allow the developer to decide about whitespace after a semicolon filter=-build/header_guard # we automatically fix the names of header guards using pre-commit diff --git a/build_depends.repos b/build_depends.repos index 0c1deb7194cfb..4db947b7c26a8 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -24,11 +24,11 @@ repositories: core/autoware_msgs: type: git url: https://github.com/autowarefoundation/autoware_msgs.git - version: 1.1.0 + version: 1.3.0 core/autoware_adapi_msgs: type: git url: https://github.com/autowarefoundation/autoware_adapi_msgs.git - version: 1.3.0 + version: beta/1.7.0 core/autoware_internal_msgs: type: git url: https://github.com/autowarefoundation/autoware_internal_msgs.git diff --git a/codecov.yaml b/codecov.yaml index 4c989445a9f54..89b40a063b0ed 100644 --- a/codecov.yaml +++ b/codecov.yaml @@ -117,6 +117,7 @@ component_management: # - control/control_performance_analysis/** - control/obstacle_collision_checker/** # - control/predicted_path_checker/** + - control/autoware_collision_detector/** - component_id: localization-tier-iv-maintained-packages name: Localization TIER IV Maintained Packages @@ -215,7 +216,7 @@ component_management: - planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/** - planning/behavior_path_planner/autoware_behavior_path_planner_common/** - planning/behavior_path_planner/autoware_behavior_path_start_planner_module/** - - planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/** + # - planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/** - planning/behavior_path_planner/autoware_behavior_path_lane_change_module/** # - planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/** - planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/** @@ -245,3 +246,5 @@ component_management: - planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** - planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** - planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** + #### sampling_based_planner + - planning/sampling_based_planner/autoware_bezier_sampler/** diff --git a/common/.pages b/common/.pages index 362e6dffba002..3c5a77c4d68cf 100644 --- a/common/.pages +++ b/common/.pages @@ -2,40 +2,34 @@ nav: - 'Introduction': common - 'Testing Libraries': - 'autoware_testing': common/autoware_testing/design/autoware_testing-design - - 'fake_test_node': common/fake_test_node/design/fake_test_node-design + - 'autoware_fake_test_node': common/autoware_fake_test_node/design/fake_test_node-design - 'Test Utils': common/autoware_test_utils - 'Common Libraries': - 'autoware_auto_common': - 'comparisons': common/autoware_auto_common/design/comparisons - 'autoware_grid_map_utils': common/autoware_grid_map_utils - 'autoware_point_types': common/autoware_point_types - - 'Cuda Utils': common/cuda_utils - - 'Geography Utils': common/geography_utils - - 'Global Parameter Loader': common/global_parameter_loader/Readme - - 'Glog Component': common/glog_component - - 'interpolation': common/interpolation - - 'Kalman Filter': common/kalman_filter + - 'Geography Utils': common/autoware_geography_utils + - 'Global Parameter Loader': common/autoware_global_parameter_loader/Readme + - 'Glog Component': common/autoware_glog_component + - 'interpolation': common/autoware_interpolation + - 'Kalman Filter': common/autoware_kalman_filter - 'Motion Utils': common/autoware_motion_utils - 'Vehicle Utils': common/autoware_motion_utils/docs/vehicle/vehicle - - 'Object Recognition Utils': common/object_recognition_utils - - 'OSQP Interface': common/osqp_interface/design/osqp_interface-design - - 'Perception Utils': common/perception_utils - - 'QP Interface': common/qp_interface/design/qp_interface-design + - 'Object Recognition Utils': common/autoware_object_recognition_utils + - 'OSQP Interface': common/autoware_osqp_interface/design/osqp_interface-design + - 'QP Interface': common/autoware_qp_interface/design/qp_interface-design - 'Signal Processing': - - 'Introduction': common/signal_processing - - 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter - - 'TensorRT Common': common/tensorrt_common + - 'Introduction': common/autoware_signal_processing + - 'Butterworth Filter': common/autoware_signal_processing/documentation/ButterworthFilter + - 'autoware_traffic_light_utils': common/autoware_traffic_light_utils - 'autoware_universe_utils': common/autoware_universe_utils - - 'traffic_light_utils': common/traffic_light_utils - - 'TVM Utility': - - 'Introduction': common/tvm_utility - - 'YOLOv2 Tiny Example': common/tvm_utility/tvm-utility-yolo-v2-tiny-tests - 'RVIZ2 Plugins': - 'autoware_perception_rviz_plugin': common/autoware_perception_rviz_plugin - 'autoware_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin - 'autoware_mission_details_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin - 'bag_time_manager_rviz_plugin': common/bag_time_manager_rviz_plugin - - 'polar_grid': common/polar_grid/Readme + - 'polar_grid': common/autoware_polar_grid/Readme - 'tier4_adapi_rviz_plugin': common/tier4_adapi_rviz_plugin - 'tier4_api_utils': common/tier4_api_utils - 'tier4_camera_view_rviz_plugin': common/tier4_camera_view_rviz_plugin @@ -46,12 +40,12 @@ nav: - 'tier4_system_rviz_plugin': common/tier4_system_rviz_plugin - 'tier4_traffic_light_rviz_plugin': common/tier4_traffic_light_rviz_plugin - 'tier4_vehicle_rviz_plugin': common/tier4_vehicle_rviz_plugin - - 'traffic_light_recognition_marker_publisher': common/traffic_light_recognition_marker_publisher/Readme + - 'autoware_traffic_light_recognition_marker_publisher': common/autoware_traffic_light_recognition_marker_publisher/Readme - 'Node': - - 'Goal Distance Calculator': common/goal_distance_calculator/Readme + - 'Goal Distance Calculator': common/autoware_goal_distance_calculator/Readme - 'Path Distance Calculator': common/autoware_path_distance_calculator/Readme - 'Others': - - 'autoware_ad_api_specs': common/autoware_ad_api_specs - - 'component_interface_specs': common/component_interface_specs - - 'component_interface_tools': common/component_interface_tools - - 'component_interface_utils': common/component_interface_utils + - 'autoware_adapi_specs': common/autoware_adapi_specs + - 'autoware_component_interface_specs': common/autoware_component_interface_specs + - 'autoware_component_interface_tools': common/autoware_component_interface_tools + - 'autoware_component_interface_utils': common/autoware_component_interface_utils diff --git a/common/autoware_adapi_specs/CHANGELOG.rst b/common/autoware_adapi_specs/CHANGELOG.rst new file mode 100644 index 0000000000000..7693074353d9f --- /dev/null +++ b/common/autoware_adapi_specs/CHANGELOG.rst @@ -0,0 +1,175 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_adapi_specs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix package names in changelog files (`#9500 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix: adapi vehicle topic qos (`#7847 `_) +* feat(default_ad_api): add heratbeat api (`#6969 `_) + * feat(default_ad_api): add heratbeat api + * fix node dying + --------- +* Contributors: Takagi, Isamu, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* feat(default_ad_api): add door api (`#5737 `_) +* chore: update api package maintainers (`#6086 `_) + * update api maintainers + * fix + --------- +* feat(default_ad_api): add object recognition api (`#2887 `_) + * add object recognition api + * add unorder map + * pre-commit + * add missing time_span + * change naming + * update message + * change style + * change topic naming + --------- + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* docs: add readme for interface packages (`#4235 `_) + add readme for interface packages +* feat: add vehicle status api (`#2930 `_) + * add vehicle status api + * update msgs + * change naming + * ada none + * change naming + * add publish geoposition + * add door status + * change variable naming + * change variable naming + * update license + * fix gps convert + * add support for UTM reverse + * fix naming + * update naming + * fix naming + * remote door status + * clean up vehicle.hpp + * fix missing declare + * move convert to cpp + * move convert to timer callback + * set to nan when no projector info + * added checking message valid + * fix msgs + --------- +* feat(default_ad_api): add vehicle info api (`#2984 `_) + * feat(default_ad_api): add vehicle dimensions api + * feat: add footprint + * update api name + --------- +* feat(autoware_api_specs): change topic depth of route state api and localization state api (`#3757 `_) + fix depth +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* chore: update codeowners (`#3513 `_) +* feat(default_ad_api): add route change api (`#3197 `_) + * feat: add route change api + * fix: reroute + --------- +* feat(default_ad_api): add planning api (`#2481 `_) + * feat(default_ad_api): add planning api + * feat: complement velocity factor + * feat: add stop check + * feat: make the same process into a function + * feat: update visualizer + * fix: remove flake8 test +* chore: add api maintainers (`#2361 `_) +* feat(default_ad_api): add fail-safe api (`#2295 `_) +* feat(default_ad_api): add motion api (`#1809 `_) + * feat(autoware_ad_api_specs): define motion interface + * feat(default_ad_api): add motion api + * feat: modify motion api + * feat: modify motion api + * feat: add error code + * feat: move adapi messages + * feat: update message type + * feat(component_interface_utils): apply message change + * feat: apply status type change + * feat: change message type + * feat: change message name + * fix: fix state + * feat: add option + * feat: modify state name + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat(autoware_ad_api_specs): define operation mode interface (`#1570 `_) + * feat(autoware_ad_api_msgs): define operation mode interface + * fix: add message + * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * feat: move adapi message + * feat: change message type + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat(autoware_ad_api_specs): define motion interface (`#1808 `_) + * feat(autoware_ad_api_specs): define motion interface + * feat: add error code + * feat: move adapi messages + * feat(component_interface_utils): apply message change + * feat: change message type +* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) +* feat(autoware_ad_api_specs): define localization interface (`#1560 `_) + feat(autoware_ad_api_msgs): define localization interface +* feat(autoware_ad_api_specs): define routing interface (`#1559 `_) + * feat(autoware_ad_api_msgs): define routing interface + * feat: rename route body message + * feat: rename route state +* feat(autoware_ad_api_specs): modify interface version api to use spec package (`#1677 `_) +* Contributors: Kah Hooi Tan, Takagi, Isamu, Vincent Richard, yabuta diff --git a/common/autoware_ad_api_specs/CMakeLists.txt b/common/autoware_adapi_specs/CMakeLists.txt similarity index 79% rename from common/autoware_ad_api_specs/CMakeLists.txt rename to common/autoware_adapi_specs/CMakeLists.txt index 5f02e45a9c6b2..62eced4c76c93 100644 --- a/common/autoware_ad_api_specs/CMakeLists.txt +++ b/common/autoware_adapi_specs/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(autoware_ad_api_specs) +project(autoware_adapi_specs) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/autoware_ad_api_specs/README.md b/common/autoware_adapi_specs/README.md similarity index 100% rename from common/autoware_ad_api_specs/README.md rename to common/autoware_adapi_specs/README.md diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp similarity index 81% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp index 9b46feba47f11..d9366e567ed90 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_ -#define AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_ +#define AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_ #include #include -namespace autoware_ad_api::fail_safe +namespace autoware::adapi_specs::fail_safe { struct MrmState @@ -31,6 +31,6 @@ struct MrmState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::fail_safe +} // namespace autoware::adapi_specs::fail_safe -#endif // AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp similarity index 77% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp index 95dca9671e768..8c94569ab8063 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__INTERFACE_HPP_ -#define AUTOWARE_AD_API_SPECS__INTERFACE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_ +#define AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_ #include -namespace autoware_ad_api::interface +namespace autoware::adapi_specs::interface { struct Version @@ -26,6 +26,6 @@ struct Version static constexpr char name[] = "/api/interface/version"; }; -} // namespace autoware_ad_api::interface +} // namespace autoware::adapi_specs::interface -#endif // AUTOWARE_AD_API_SPECS__INTERFACE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp similarity index 84% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp index 634713845868b..92198128c5d96 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_ -#define AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_ +#define AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_ #include #include #include -namespace autoware_ad_api::localization +namespace autoware::adapi_specs::localization { struct Initialize @@ -38,6 +38,6 @@ struct InitializationState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::localization +} // namespace autoware::adapi_specs::localization -#endif // AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp similarity index 84% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp index 041baa9a67051..5e40b7c5bda3a 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__MOTION_HPP_ -#define AUTOWARE_AD_API_SPECS__MOTION_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__MOTION_HPP_ +#define AUTOWARE__ADAPI_SPECS__MOTION_HPP_ #include #include #include -namespace autoware_ad_api::motion +namespace autoware::adapi_specs::motion { struct AcceptStart @@ -38,6 +38,6 @@ struct State static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::motion +} // namespace autoware::adapi_specs::motion -#endif // AUTOWARE_AD_API_SPECS__MOTION_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__MOTION_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp similarity index 89% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp index f52b66cc88d2a..81f63ef63b5e0 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ -#define AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_ +#define AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_ #include #include #include -namespace autoware_ad_api::operation_mode +namespace autoware::adapi_specs::operation_mode { struct ChangeToStop @@ -68,6 +68,6 @@ struct OperationModeState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::operation_mode +} // namespace autoware::adapi_specs::operation_mode -#endif // AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp similarity index 81% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp index 5711c9a86d12a..80f876cdd588f 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_ -#define AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_ +#define AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_ #include #include -namespace autoware_ad_api::perception +namespace autoware::adapi_specs::perception { struct DynamicObjectArray @@ -31,6 +31,6 @@ struct DynamicObjectArray static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace autoware_ad_api::perception +} // namespace autoware::adapi_specs::perception -#endif // AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp similarity index 86% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp index 4d4530dc38b75..246cd92d94385 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__PLANNING_HPP_ -#define AUTOWARE_AD_API_SPECS__PLANNING_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__PLANNING_HPP_ +#define AUTOWARE__ADAPI_SPECS__PLANNING_HPP_ #include #include #include -namespace autoware_ad_api::planning +namespace autoware::adapi_specs::planning { struct VelocityFactors @@ -41,6 +41,6 @@ struct SteeringFactors static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace autoware_ad_api::planning +} // namespace autoware::adapi_specs::planning -#endif // AUTOWARE_AD_API_SPECS__PLANNING_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__PLANNING_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp similarity index 91% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp index 1e119bc36e9b7..4988a82bb9ad2 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__ROUTING_HPP_ -#define AUTOWARE_AD_API_SPECS__ROUTING_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__ROUTING_HPP_ +#define AUTOWARE__ADAPI_SPECS__ROUTING_HPP_ #include @@ -23,7 +23,7 @@ #include #include -namespace autoware_ad_api::routing +namespace autoware::adapi_specs::routing { struct SetRoutePoints @@ -74,6 +74,6 @@ struct Route static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::routing +} // namespace autoware::adapi_specs::routing -#endif // AUTOWARE_AD_API_SPECS__ROUTING_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__ROUTING_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp similarity index 82% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp index 09144c1d8ff50..06e039174a3c5 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ -#define AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_ +#define AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_ #include #include -namespace autoware_ad_api::system +namespace autoware::adapi_specs::system { struct Heartbeat @@ -31,6 +31,6 @@ struct Heartbeat static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace autoware_ad_api::system +} // namespace autoware::adapi_specs::system -#endif // AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp similarity index 91% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp index e1220bf2c5879..a7568d54b5e1a 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ -#define AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_ +#define AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_ #include @@ -24,7 +24,7 @@ #include #include -namespace autoware_ad_api::vehicle +namespace autoware::adapi_specs::vehicle { struct VehicleKinematics @@ -72,6 +72,6 @@ struct DoorStatus static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::vehicle +} // namespace autoware::adapi_specs::vehicle -#endif // AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_ diff --git a/common/autoware_ad_api_specs/package.xml b/common/autoware_adapi_specs/package.xml similarity index 83% rename from common/autoware_ad_api_specs/package.xml rename to common/autoware_adapi_specs/package.xml index 0d14ccff758b0..5424d5bad52d5 100644 --- a/common/autoware_ad_api_specs/package.xml +++ b/common/autoware_adapi_specs/package.xml @@ -1,9 +1,9 @@ - autoware_ad_api_specs - 0.0.0 - The autoware_ad_api_specs package + autoware_adapi_specs + 0.40.0 + The autoware_adapi_specs package Takagi, Isamu Ryohsuke Mitsudome Apache License 2.0 diff --git a/common/autoware_auto_common/CHANGELOG.rst b/common/autoware_auto_common/CHANGELOG.rst new file mode 100644 index 0000000000000..63f0fe2ac83e3 --- /dev/null +++ b/common/autoware_auto_common/CHANGELOG.rst @@ -0,0 +1,974 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_auto_common +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_auto_common): fix cppcheck warnings of functionStatic (`#8265 `_) + fix: deal with functionStatic warnings +* fix(autoware_auto_common): nullptr_t (`#7212 `_) +* fix: do not use c++20 char8_t keyword (`#3629 `_) + fix: do not use c++20 keyword as a type alias +* Contributors: Shumpei Wakabayashi, Yutaka Kondo, ralwing, taisa1 + +0.26.0 (2024-04-03) +------------------- +* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) + * fix(autoware_auto_common): move headers to a separate directory + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: add maintainer (`#4234 `_) + * chore: add maintainer + * Update evaluator/localization_evaluator/package.xml + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* chore(typo): eliminate typos (`#2216 `_) + * Replace 'asssert' with 'assert' + * fix(typo): computationall => computational + * fix(typo): collinearity => collinearity + * fix(typo): hypothenus => hypotenuse + * fix(typo): numbef => number + * fix(typo): missmatched => mismatched + * fix(typo): minimun => minimum + * fix(typo): neighbore => neighbor + * fix(typo): neighbour => neighbor + * fix(typo): propery => properly + * ci(pre-commit): autofix + * fix(typo): reagion => region + * fix(typo): shirinking => shrinking + * fix(typo): turining => turning + * fix(typo): lexas => lexus + * fix(typo): fastetst => fastest + * fix(typo): analyse => analyze + * fix(typo): ordinaray => ordinary + * fix(typo): existance => existence + * fix(typo): insert missing space + * fix(typo): modify url including typo in original url + * fix(typo): precompined => precomputed + * fix(typo): magitude => magnitude + * fix(typo): exernal => external + * fix(typo): undderlying => underlying + * fix(typo): expicitly => explicitly + * fix(typo): paremterized => parameterized + * fix(typo): thier => their + * fix(typo): simualtor => simulator + * fix(typo): modifiy => modify + * fix(typo): neccessary => necessary + * fix(typo): travelled => traveled + * fix(typo): heursitic => heuristic + * fix(typo): chagne => change + * fix(typo): waypints => waypoints + * fix(typo): unknwon => unknown + * fix(typo): true => true + * fix(typo): approximiate => approximate + * fix(typo): analitically => analytically + * fix(typo): modify url including typo in original url + * fix(typo): computationall => computational + * fix(typo): hypothenus => hypotenuse + * fix(typo): neighbour => neighbor + * ci(pre-commit): autofix + * fix(typo): modify url including typo in original url + * fix(typo): kiro => kilo + * fix(typo): flowchar => flowchart + * fix(typo): projecton => projection + * fix(cspell): divide variable name with space to fix cspell error + * fix(typo): yawrate => yaw rate + * fix(typo): timelag => time_lag + * fix(cspell): divide variable name with space to fix cspell error + * fix(typo): retrive => retrieve + * fix(typo): posemsg => pose msg + * fix(cspell): replace northup with east_north_up + * ci(pre-commit): autofix + * fix(cspell): ignore person names + * fix(cspell): ignore cspell error due to the source from OpenCV + * fix(cspell): ignore cspell error due to the source from OpenCV + * ci(pre-commit): autofix + * chore(spell-check): ignore minx, maxx, miny, maxy, minz, maxz from autoware parameter names + * chore(spell-check): Ignore cspell errors caused by external factor(plotjuggler) + * fix(typo): dereferencable => dereferenceable + * fix(typo): maxs => maxes + * fix(typo): interpolatable => interpolable (more common) + * fix(typo): fillter => filter + * fix(typo): retrurn => return + * fix(typo): diagnotics => diagnostics + * fix(typo): Frist => First + * chore(cspell): ignore ptfilter (external reference code) + * fix(typo): overwite => overwrite + * fix(cspell): use semi-major instead of semimajor + * fix(typo): transien => transient + * chore(cspell): ignore multipolygon, multilinestring + * fix(typo): symetric => symmetric + * chore(cspell): ignore Gammell (person name) + * chore(cspell): ignore Karaman (person name) + * chore(cspell): ignore feps with adding explanation + * chore(cspell): replace iradius with i_radius + * chore(cspell): replace inorm with inv_norm + * chore(cspell): replace idist with i_dist + * chore(cspell): ignore lfit, LFIT + * chore(cspell): ignore Bboxes + * fix(typo): unsuppoerted => unsupported + * chore(cspell): ignore person names + * chore(cspell): replace eigvec with eig_vec + * chore(cspell): replace eigv with eig_v + * chore(cspell): ignore eigenbox + * chore(cspell): replace fltmax with flt_max + * chore(cspell): ignore asan + * ci(pre-commit): autofix + * chore(cspell): ignore rsspace with adding explanation + * chore(cspell): replace bfqueue with bf_queue + * chore(cspell): expanded abbreviations in variable names　in debug_plot.py + * chore(cspell): ignore nparr with adding explanation + * chore(cspell): replace vmodel with vehicle_model + * chore(cspell): ignore fpalgos + * ci(pre-commit): autofix + * chore(cspell): replace inpro with inner_product + * chore(cspell): replace iradius with i_radius + * chore(cspell): replace sstm with ss + * chore(cspell): ignore dend + * chore(cspell): ignore ndim, ndata, linewidth + * ci(pre-commit): autofix + * chore(cspell): ignore errors from parameter name + * fix(typo): socre => score + * chore(cspell): newstamp => new_stamp + * chore(cspell): fuseon => fuseOn + * chore(cspell): stdpair => std_pair + * chore(cspell): boxid => box_id + * fix(typo): intensity => intensity + * fix(typo): inorder to => in order to + * chore(cspell): ignore divup + * chore(cspell): faceobjects => face_objects + * chore(cspell): ignore rsspace + * chore(cspell): ignore errors from citation + * chore(cspell): ignore moraisim + * chore(cspell): ignore ADMM + * chore(cspell): ignore pointinpoly from reference + * fix(typo): replaned => replanned + * fix(typo): interaface => interface + * fix(typo): supress => suppress + * ci(pre-commit): autofix + * fix(typo): distane => distance + * fix(typo): relevent => relevant + * fix(typo): pedestrain => pedestrian + * fix(typo): obejct => object + * fix(typo): paramters => parameters + * ci(pre-commit): autofix + * chore(cspell): ignore asdasd + * chore(cspell): unnormalized => un-normalized + * chore(cspell): precompilation => pre-compilation + * fix(typo): compensents => components + * fix(typo): cummulative => cumulative + * chore(cspell): ignore degrounded + * chore(cspell): ignore person names + * ci(pre-commit): autofix + * chore(cspell): publically => publicly + * chore(cspell): interpolable => interpolatable + * chore(cspell): ignore longl + * chore(cspell): pngs => png images + * chore(cspell): concate => concat + * chore(cspell): ignore cand + * chore(cspell): image magick => imagemagick + * fix(typo): faceo_ject=> face_object + * chore(cspell): velocityinsertion => velocity insertion + * fix(typo): euclidian => euclidean + * chore(cspell): ignore steerings + * chore(cspell): ignore OCCUPANCYGRID + * fix(typo): occuring => occurring + * fix(typo): refere => refer + * chore(cspell): ignore fourcell + * chore(cspell): eigvalue => eigenvalue + * chore(cspell): ignore badpt + * chore(cspell): ignore divb + * ci(pre-commit): autofix + * style(pre-commit): autofix + * doc: add comment to describe LFIT + Co-authored-by: Yukihiro Saito + * fix(typo): computationall => computational + * fix(typo): hypothenus => hypotenuse + * ci(pre-commit): autofix + * fix(typo): computationall => computational + * fix(typo): hypothenus => hypotenuse + * ci(pre-commit): autofix + * update + * fix(typo): interpolatable => interpolable (more common) + * Squashed commit of the following: + commit c7d3b7d2132323af3437af01e9d774b13005bace + Author: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> + Date: Fri Dec 16 13:51:35 2022 +0900 + test(freespace_planning_algorithms): done't dump rosbag by default (`#2504 `_) + commit 6731e0ced39e3187c2afffe839eaa697a19e5e84 + Author: kminoda <44218668+kminoda@users.noreply.github.com> + Date: Fri Dec 16 09:29:35 2022 +0900 + feat(pose_initializer): partial map loading (`#2500 `_) + * first commit + * move function + * now works + * ci(pre-commit): autofix + * update readme + * ci(pre-commit): autofix + * clarify how to enable partial mao loading interface + * ci(pre-commit): autofix + * update readme + * ci(pre-commit): autofix + * Update localization/pose_initializer/config/pose_initializer.param.yaml + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * fix pre-commit + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + commit efb4ff1cea6e07aa9e894a6042e8685e30b420ba + Author: Kosuke Takeuchi + Date: Thu Dec 15 17:29:44 2022 +0900 + feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) + * feat(trajectory_follower): extend mpc trajectory for terminal yaw + * make mpc min vel param + * add mpc extended point after smoothing + * Revert "make mpc min vel param" + This reverts commit 02157b6ae0c2ff1564840f6d15e3c55025327baf. + * add comment and hypot + * remove min vel + * add flag for extending traj + * add extend param to default param + * fix typo + * fix from TakaHoribe review + * fix typo + * refactor + commit ad2ae7827bdc3af7da8607fdd53ea74940426421 + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Thu Dec 15 15:52:34 2022 +0900 + feat(component_interface_tools): add service log checker (`#2503 `_) + * feat(component_interface_utils): add service log checker + * feat(component_interface_tools): add service log checker + * feat(component_interface_tools): add diagnostics + * feat: update system error monitor config + commit 4a13cc5a32898f5b17791d9381744bf71ff8ed20 + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Thu Dec 15 12:54:11 2022 +0900 + fix(behavior_path_planner): fix goal lanelet extension (`#2508 `_) + commit 77b1c36b5ca89b25250dcbb117c9f03a9c36c1c4 + Author: Kyoichi Sugahara <81.s.kyo.19@gmail.com> + Date: Thu Dec 15 10:45:45 2022 +0900 + feat(behavior_path_planner): change side shift module logic (`#2195 `_) + * change side shift module design + * cherry picked side shift controller + * add debug marker to side shift + * fix pointer error due to direct assignment + added make_shared + * add flow chart + * add status of AFTER_SHIFT + * remove function for debug + * ci(pre-commit): autofix + * fix flow chart + * ci(pre-commit): autofix + Co-authored-by: tanaka3 + Co-authored-by: Muhammad Zulfaqar Azmi + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + commit 9183c4f20eb4592ed0b48c2eac67add070711677 + Author: Takamasa Horibe + Date: Wed Dec 14 19:59:00 2022 +0900 + refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) + commit ed992b10ed326f03354dce3b563b8622f9ae9a6c + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Wed Dec 14 17:48:24 2022 +0900 + fix(behavior_path_planner): fix planner data copy (`#2501 `_) + commit 0c6c46b33b3c828cb95eaa31fcbf85655fc6a55f + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Wed Dec 14 14:42:16 2022 +0900 + fix(behavior_path_planner): fix find nearest function from lateral distance (`#2499 `_) + * feat(behavior_path_planner): fix find nearest function from lateral distance + * empty commit + commit a26b69d1df55e9369ea3adcdd011ae2d7c86dfb7 + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Wed Dec 14 11:28:07 2022 +0900 + feat(behavior_path_planner): fix overlap checker (`#2498 `_) + * feat(behavior_path_planner): fix overlap checker + * remove reserve + commit 3a24859ca6851caaeb25fc4fac2334fcbdb887d1 + Author: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> + Date: Tue Dec 13 16:51:59 2022 +0300 + feat(mission_planner): check goal footprint (`#2088 `_) + commit b6a18855431b5f3a67fcbf383fac8df2b45d462e + Author: Takamasa Horibe + Date: Tue Dec 13 22:46:24 2022 +0900 + feat(trajectory_visualizer): update for steer limit, remove tf for pose source (`#2267 `_) + commit f1a9a9608559a5b89f631df3dc2fadd037e36ab4 + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Tue Dec 13 19:47:16 2022 +0900 + feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (`#2494 `_) + * feat(behavior_path_planner): clean drivable area code + * make a function for turn signal decider + commit fafe1d8235b99302bc9ba8f3770ae34878f1e7e7 + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Tue Dec 13 18:19:41 2022 +0900 + feat(behavior_path_planner): change turn signal output timing (`#2493 `_) + commit c48b9cfa7074ecd46d96f6dc43679e17bde3a63d + Author: kminoda <44218668+kminoda@users.noreply.github.com> + Date: Tue Dec 13 09:16:14 2022 +0900 + feat(map_loader): add differential map loading interface (`#2417 `_) + * first commit + * ci(pre-commit): autofix + * added module load in _node.cpp + * ci(pre-commit): autofix + * create pcd metadata dict when either of the flag is true + * ci(pre-commit): autofix + * fix readme + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + commit 9a3613bfcd3e36e522d0ea9130f6200ca7689e2b + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Tue Dec 13 08:49:23 2022 +0900 + docs(default_ad_api): add readme (`#2491 `_) + * docs(default_ad_api): add readme + * feat: update table + commit 49aa10b04de61c36706f6151d11bf17257ca54d1 + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Tue Dec 13 06:46:20 2022 +0900 + feat(default_ad_api): split parameters into file (`#2488 `_) + * feat(default_ad_api): split parameters into file + * feat: remove old parameter + * fix: test + * feat: add default config + commit 7f0138c356c742b6e15e571e7a4683caa55969ac + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Mon Dec 12 22:16:54 2022 +0900 + feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) + * update + * update + * update + * update obstacle avoidance planner + * update + * clean code + * uddate + * clean code + * remove resample + * update + * add orientation + * change color + * update + * remove drivable area + * add flag + * update + * update color + * fix some codes + * change to makerker array + * change avoidance utils + commit c855e23cc17d1518ebce5dd15629d03acfe17da3 + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Mon Dec 12 17:15:10 2022 +0900 + refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) + commit fa04d540c9afdded016730c9978920a194d2d2b4 + Author: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Date: Mon Dec 12 16:04:00 2022 +0900 + feat: replace python launch with xml launch for system monitor (`#2430 `_) + * feat: replace python launch with xml launch for system monitor + * ci(pre-commit): autofix + * update figure + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + commit 4a6990c49d1f8c3bedfb345e7c94c3c6893b4099 + Author: Kosuke Takeuchi + Date: Mon Dec 12 15:01:39 2022 +0900 + feat(trajectory_follower): pub steer converged marker (`#2441 `_) + * feat(trajectory_follower): pub steer converged marker + * Revert "feat(trajectory_follower): pub steer converged marker" + This reverts commit a6f6917bc542d5b533150f6abba086121e800974. + * add steer converged debug marker in contoller_node + commit 3c01f15125dfbc45e1050ee96ccc42618d6ee6fd + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Mon Dec 12 12:48:41 2022 +0900 + docs(tier4_state_rviz_plugin): update readme (`#2475 `_) + commit d8ece0040354be5381a27403bcc757354735a77b + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Mon Dec 12 11:57:03 2022 +0900 + chore(simulator_compatibility_test): suppress setuptools warnings (`#2483 `_) + commit 727586bfe86dc9cb21ce34d9cbe19c241e162b04 + Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + Date: Mon Dec 12 10:00:35 2022 +0900 + fix(behavior_path_planner): lane change candidate resolution (`#2426 `_) + * fix(behavior_path_planner): lane change candidate resolution + * rework sampling based on current speed + * refactor code + * use util's resampler + * consider min_resampling_points and resampling dt + * simplify code + commit 284548ca7f38b1d83af11f2b9caaac116eb9b09c + Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + Date: Mon Dec 12 09:57:19 2022 +0900 + fix(behavior_path_planner): minimum distance for lane change (`#2413 `_) + commit 469d8927bd7a0c98b9d491d347e111065973e13f + Author: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Date: Fri Dec 9 21:27:18 2022 +0900 + revert(behavior_path): revert removal of refineGoalFunction (`#2340 `_)" (`#2485 `_) + This reverts commit 8e13ced6dfb6edfea77a589ef4cb93d82683bf51. + commit d924f85b079dfe64feab017166685be40e977e62 + Author: NorahXiong <103234047+NorahXiong@users.noreply.github.com> + Date: Fri Dec 9 19:53:51 2022 +0800 + fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (`#2350 `_) + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + commit b2ded82324bce78d9db3ff01b0227b00709b1efe + Author: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> + Date: Fri Dec 9 17:12:13 2022 +0900 + fix(ground-segmentation): recheck gnd cluster pointcloud (`#2448 `_) + * fix: reclassify ground cluster pcl + * fix: add lowest-based recheck + * chore: refactoring + * chore: refactoring + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + commit 8906a1e78bc5b7d6417683ecedc1efe3f48be31e + Author: Takamasa Horibe + Date: Fri Dec 9 16:29:45 2022 +0900 + fix(trajectory_follower): fix mpc trajectory z pos (`#2482 `_) + commit d4939058f05f9a1609f0ed22afbd0d4febfb212d + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Fri Dec 9 12:40:30 2022 +0900 + feat(behavior_velocity_planner): clean walkway module (`#2480 `_) + commit d3b86a37ae7c3a0d59832caf56afa13b148d562c + Author: Makoto Kurihara + Date: Thu Dec 8 22:59:32 2022 +0900 + fix(emergency_handler): fix mrm handling when mrm behavior is none (`#2476 `_) + commit 2dde073a101e96757ef0cd189bb9ff06836934e9 + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Thu Dec 8 17:16:13 2022 +0900 + feat(behavior_velocity_planner): add velocity factors (`#1985 `_) + * (editting) add intersection_coordination to stop reason + * (editting) add intersection coordination to stop reasons + * (Editting) add v2x to stop reason + * (editting) add stop reason2 publisher + * (editting) add stop reason2 to scene modules + * add stop reason2 to obstacle stop planner and surround obstacle checker + * Modify files including unintended change by rebase + * ci(pre-commit): autofix + * Modification 1: not to publsh vacant stop reason, 2: change default status in obstacle stop and surround obstacle checker + * fix error + * ci(pre-commit): autofix + * modification for renaming stop_reason2 to motion_factor + * (Editting) rename variables + * bug fix + * (WIP) Add motion factor message. Modify scene modules due to new motion factor. Moving motion factor aggregator. + * (WIP) Save current work. Modify aggregator, CMakeList. Add launcher + * (WIP) Solved build error, but not launched + * (WIP) fixing error in launch + * (WIP) fixing error in launch + * (WIP) fixing launch error + * Fix error in launching motion factor aggregator + * Delete unnecessary comment-out in CMakelists. Change remapping in launcher. + * ci(pre-commit): autofix + * pull the latest foundation/main + * (fix for pre-commit.ci) Add to motion_factor_aggregator.hpp + * ci(pre-commit): autofix + * feat: add velocity factor interface + * fix: fix build error + * feat: stop sign + * WIP + * feat: update visualizer + * feat: modify traffic light manager + * feat: update velocity factors + * feat: update api + * feat: move adapi msgs + * feat: remove old aggregator + * feat: move api + * feat: rename message + * feat: add using + * feat: add distance + * feat: fix build error + * feat: use nan as default distance + * fix: set virtual traffic light detail + * fix: remove debug code + * fix: copyright + Co-authored-by: TakumiKozaka-T4 + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + commit 9a5057e4948ff5ac9165c14eb7112d79f2de76d5 + Author: Kosuke Takeuchi + Date: Thu Dec 8 13:42:50 2022 +0900 + fix(freespace_planning_algorithms): comment out failing tests (`#2440 `_) + commit cddb8c74d0fbf49390b4d462c20c12bc257f4825 + Author: kminoda <44218668+kminoda@users.noreply.github.com> + Date: Thu Dec 8 11:57:04 2022 +0900 + feat(gyro_odometer): publish twist when both data arrives (`#2423 `_) + * feat(gyro_odometer): publish when both data arrive + * remove unnecessary commentouts + * ci(pre-commit): autofix + * use latest timestamp + * small fix + * debugged + * update gyro_odometer + * ci(pre-commit): autofix + * add comments + * add comments + * ci(pre-commit): autofix + * fix timestamp validation flow + * ci(pre-commit): autofix + * remove unnecessary commentouts + * pre-commit + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + commit f0f513cf44532dfe8d51d27c4caef23fb694af16 + Author: kminoda <44218668+kminoda@users.noreply.github.com> + Date: Thu Dec 8 11:08:29 2022 +0900 + fix: remove unnecessary DEBUG_INFO declarations (`#2457 `_) + commit 01daebf42937a05a2d83f3dee2c0778389492e50 + Author: Takayuki Murooka + Date: Thu Dec 8 00:28:35 2022 +0900 + fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) + commit 26ef8174b1c12b84070b36df2a7cd14bfa9c0363 + Author: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + Date: Wed Dec 7 19:32:09 2022 +0900 + fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) + * fix: rename use_external_emergency_stop to check_external_emergency_heartbeat + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + commit 024b993a0db8c0d28db0f05f64990bed7069cbd8 + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Wed Dec 7 18:00:32 2022 +0900 + fix(motion_utils): rename sampling function (`#2469 `_) + commit c240ce2b6f4e79c435ed651b347a7d665a947862 + Author: Yukihiro Saito + Date: Wed Dec 7 16:33:44 2022 +0900 + feat: remove web controller (`#2405 `_) + commit 2992b1cadae7e7ac86fd249998ce3c7ddbe476c9 + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Wed Dec 7 15:39:28 2022 +0900 + feat(motion_utils): add points resample function (`#2465 `_) + commit 4a75d7c0ddbd88f54afaf2bb05eb65138a53ea60 + Author: Mingyu1991 <115005477+Mingyu1991@users.noreply.github.com> + Date: Wed Dec 7 14:42:33 2022 +0900 + docs: update training data for traffic light (`#2464 `_) + * update traffic light cnn classifier README.md + * correct to upper case + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + commit a4287165be87fa7727f79c01dfb0bea6af54c333 + Author: Ryuta Kambe + Date: Wed Dec 7 12:21:49 2022 +0900 + perf(behavior_velocity_planner): remove unnecessary debug data (`#2462 `_) + commit 0a5b2857d3b2c1c9370598013b25aeaebf2d654d + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Wed Dec 7 12:03:46 2022 +0900 + feat(behavior_path_planner): cut overlapped path (`#2451 `_) + * feat(behavior_path_planner): cut overlapped path + * clean code + commit 65003dc99f2abe937afcc010514530fa666fbbfd + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Wed Dec 7 11:06:41 2022 +0900 + revert(default_ad_api): fix autoware state to add wait time (`#2407 `_) (`#2460 `_) + Revert "fix(default_ad_api): fix autoware state to add wait time (`#2407 `_)" + This reverts commit c4224854a7e57a9526dde998f742741fe383471c. + commit fab18677ca4de378faff84a41db5147577e7448d + Author: Makoto Kurihara + Date: Wed Dec 7 10:32:41 2022 +0900 + fix(raw_vehicle_cmd_converter): fix column index for map validation (`#2450 `_) + commit a1d3c80a4f5e3a388887a5afb32d9bf7961301f1 + Author: Ambroise Vincent + Date: Tue Dec 6 10:39:02 2022 +0100 + fix(tvm_utility): copy test result to CPU (`#2414 `_) + Also remove dependency to autoware_auto_common. + Issue-Id: SCM-5401 + Change-Id: I83b859742df2f2ff7df1d0bd2d287bfe0aa04c3d + Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com> + commit eb9946832c7e42d5380fd71956165409d0b592c3 + Author: Mamoru Sobue + Date: Tue Dec 6 18:11:41 2022 +0900 + chore(behaviror_velocity_planner): changed logging level for intersection (`#2459 `_) + changed logging level + commit c4224854a7e57a9526dde998f742741fe383471c + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Tue Dec 6 17:01:37 2022 +0900 + fix(default_ad_api): fix autoware state to add wait time (`#2407 `_) + * fix(default_ad_api): fix autoware state to add wait time + * Update system/default_ad_api/src/compatibility/autoware_state.cpp + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + commit f984fbb708cb02947ec2824ce041c739c35940f7 + Author: Takamasa Horibe + Date: Tue Dec 6 13:55:17 2022 +0900 + feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) + * feat(transition_manager): add param to ignore autonomous transition condition + * same for modeChangeCompleted + * remove debug print + commit d3e640df270a0942c4639e11451faf26e099bbe1 + Author: Tomoya Kimura + Date: Tue Dec 6 13:01:06 2022 +0900 + feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (`#2427 `_) + * chore(cspell): interpolable => interpolatable + * Revert "Merge branch 'destroy-typos-check-all' into destroy-typos" + This reverts commit 6116ca02d9df59f815d772a271fed7b0b21ebaf7, reversing + changes made to 1f7157a6b6d957dc0ddd2ac5ef7f8a36c94b96e4. + * chore: fix duplication of parameter + * chore: fix duplication of function + * revert: system/system_monitor/launch/system_monitor.launch.xml + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Yukihiro Saito +* revert: "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper" (`#2317 `_) + Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (`#1276 `_)" + This reverts commit ef7dcda087beffaa0acf35e9647be1cb439007ba. +* feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (`#1276 `_) +* docs: update link style and fix typos (`#950 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * docs: update link style + * chore: fix link + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * add random point sampling function to quickly calculate the 'viewer' coordinate + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) + * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) + * fixed panel type + * modified instruction for rosbag replay case + * modified update_map_dir service name + * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) + * skipping emplace back stop reason if it is empty + * add braces + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) + * feat(behavior_path_planner): Weakened noise filtering of drivable area + * fix lanelet's longitudinal disconnection + * add comments of erode/dilate process + * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) + * refactor(vehicle-cmd-gate): using namespace for msgs + * for clang + * feat(pose_initializer): introduce an array copy function (`#900 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat: add lidar point filter when debug (`#865 `_) + * feat: add lidar point filter when debug + * ci(pre-commit): autofix + Co-authored-by: suchang + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(component_interface_utils): add interface classes (`#899 `_) + * feat(component_interface_utils): add interface classes + * feat(default_ad_api): apply the changes of interface utils + * fix(component_interface_utils): remove old comment + * fix(component_interface_utils): add client log + * fix(component_interface_utils): remove unimplemented message + * docs(component_interface_utils): add design policy + * docs(component_interface_utils): add comment + * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) + Co-authored-by: Berkay + * feat: visualize lane boundaries (`#923 `_) + * feat: visualize lane boundaries + * fix: start_bound + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) + * fix(system_monitor): fix truncation warning in strncpy + * Use std::string constructor to copy char array + * Fixed typo + * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) + * fix: extend following and previous search range to avoid no collision + * chore: add debug marker + * fix: simplify logic + * chore: update debug code + * fix: delete space + * fix: some fix + * ci(pre-commit): autofix + * fix: delete debug code + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * docs(surround obstacle checker): update documentation (`#878 `_) + * docs(surround_obstacle_checker): update pub/sub topics & params + * docs(surround_obstacle_checker): remove unused files + * docs(surround_obstacke_checker): update purpose + * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) + * feat(tier4_autoware_utils): add vehicle state checker + * fix(tier4_autoware_utils): use absolute value + * feat(tier4_autoware_utils): divide into two classies + * test(tier4_autoware_utils): add unit test for vehicle_state checker + * fix(tier4_autoware_utils): impl class inheritance + * docs(tier4_autoware_utils): add vehicle_state_checker document + * fix(tier4_autoware_utils): into same loop + * fix(tier4_autoware_utils): fix variables name + * fix(tier4_autoware_utils): remove redundant codes + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point + * Modify overwriteStopPoint input and output + * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) + * feat(obstacle_avoidance_planner) fix bug of stop line unalignment + * fix bug of unsorted output points + * move calcVelocity in node.cpp + * fix build error + * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) + * fix(system_monitor): add some smart information to diagnostics (`#708 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change + * fix bug of right lane change + * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) + * use car like constraints in mpt + * use not widest bounds for the first bounds + * organized params + * fix format + * prepare rear_drive and uniform_circle constraints + * fix param callback + * update config + * remove unnecessary files + * update tier4_planning_launch params + * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check + * feat: use marker helper + * feat(map_loader): visualize center line by points (`#931 `_) + * feat: visualize center line points + * fix: delete space + * feat: visualize center line by arrow + * revert insertMarkerArray + * fix: delete space + * feat: add RTC interface (`#765 `_) + * feature(rtc_interface): add files + * feature(rtc_interface): implement functions + * feature(rtc_interface): reimprement functions to use CooperateCommands and write README.md + * feature(rtc_interface): fix README + * feature(rtc_interface): add getModuleType() + * feature(rtc_interface): fix definition of constructor + * feature(rtc_interface): fix time stamp + * feature(rtc_interface): fix README + * feature(rtc_interface): add isRegistered and clearCooperateStatus + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore: sync files (`#911 `_) + Co-authored-by: kenji-miyake + * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) + * fix: replace boost::mutex::scoped_lock to std::scoped_lock + * fix: replace boost::mutex to std::mutex + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node + * feat(tensorrt_yolo): update arg + Co-authored-by: Kaan Colak + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner + * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * feat: add param.yaml in behavior_velocity_planner package + * some fix + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader + * fix(map_loader): remove c_str + * fix(map_loader): replace c_str to string + * fix: relative link + * fix: relative links + * fix: relative links + * fix: relative links + * fix: typo + * fix relative links + * docs: ignore rare unknown words + * ci(pre-commit): autofix + * docs: ignore unknown words one by one + * ci(pre-commit): autofix + Co-authored-by: Hiroki OTA + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takeshi Ishita + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Mamoru Sobue + Co-authored-by: TakumiKozaka-T4 <70260442+TakumiKozaka-T4@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Takayuki Murooka + Co-authored-by: Takamasa Horibe + Co-authored-by: storrrrrrrrm <103425473+storrrrrrrrm@users.noreply.github.com> + Co-authored-by: suchang + Co-authored-by: Berkay + Co-authored-by: Berkay + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> + Co-authored-by: Kosuke Takeuchi + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: kk-inoue-esol <76925382+kk-inoue-esol@users.noreply.github.com> + Co-authored-by: Fumiya Watanabe + Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> + Co-authored-by: kenji-miyake + Co-authored-by: RyuYamamoto + Co-authored-by: Kaan Çolak + Co-authored-by: Kaan Colak + Co-authored-by: Kenji Miyake +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* chore: remove license notations from CMakeLists.txt (`#846 `_) +* chore: remove bad chars (`#845 `_) +* style: fix format of package.xml (`#844 `_) +* fix(autoware_auto_tf2): modify build error in rolling (`#718 `_) + * fix(autoware_auto_common): modify build error in rolling + * fix(autoware_auto_tf2): modify build error in rolling + * fix(autoware_auto_geometry): modify build error in rolling + * fix(simple_planning_simulator): add compile definition for geometry2 + * fix(motion_common): add compile definition for geometry2 + * fix(motion_testing): add compile definition for geometry2 + * fix(simple_planning_simulator): modify build error in rolling + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: fix typos (`#751 `_) +* ci(pre-commit): clear the exclude option (`#426 `_) + * ci(pre-commit): remove unnecessary excludes + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * address pre-commit for Markdown files + * fix Python imports + * address cpplint errors + * fix broken package.xml + * rename ROS parameter files + * fix build + * use autoware_lint_common + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: remove filesystem.hpp (`#440 `_) +* feat: add autoware auto dependencies (`#185 `_) + * Back port .auto control packages (`#571 `_) + * Implement Lateral and Longitudinal Control Muxer + * [`#570 `_] Porting wf_simulator + * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' + * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' + * [`#1057 `_] Add osqp_interface package + * [`#1057 `_] Add library code for MPC-based lateral control + * [`#1271 `_] Use std::abs instead of abs + * [`#1057 `_] Implement Lateral Controller for Cargo ODD + * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" + * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' + * [`#1058 `_] Add library code of longitudinal controller + * Fix build error for trajectory follower + * Fix build error for trajectory follower nodes + * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator + * [`#1058 `_] Add Longitudinal Controller node + * [`#1058 `_] Rename velocity_controller -> longitudinal_controller + * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node + * [`#1058 `_] Add smoke test python launch file + * [`#1058 `_] Use LowPassFilter1d from trajectory_follower + * [`#1058 `_] Use autoware_auto_msgs + * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) + * [`#1058 `_] Remove unused parameters + * [`#1058 `_] Fix ros test + * [`#1058 `_] Rm default params from declare_parameters + use autoware types + * [`#1058 `_] Use default param file to setup NodeOptions in the ros test + * [`#1058 `_] Fix docstring + * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState + * [`#1058 `_] Change class variables format to m\_ prefix + * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt + * [`#1058 `_] Fix copyright dates + * [`#1058 `_] Reorder includes + * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) + * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) + * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope + * [`#1058 `_] Calculate wheel_base value from vehicle parameters + * [`#1058 `_] Cleanup redundant logger setting in tests + * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures + * [`#1058 `_] Remove TF listener and use published vehicle state instead + * [`#1058 `_] Change smoke tests to use autoware_testing + * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control + * [`#1058 `_] Improve design documents + * [`#1058 `_] Disable flaky test + * [`#1058 `_] Properly transform vehicle state in longitudinal node + * [`#1058 `_] Fix TF buffer of lateral controller + * [`#1058 `_] Tuning of lateral controller for LGSVL + * [`#1058 `_] Fix formating + * [`#1058 `_] Fix /tf_static sub to be transient_local + * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller + * modify trajectory_follower for galactic build + * [`#1379 `_] Update trajectory_follower + * [`#1379 `_] Update simple_planning_simulator + * [`#1379 `_] Update trajectory_follower_nodes + * apply trajectory msg modification in control + * move directory + * remote control/trajectory_follower level dorectpry + * remove .iv trajectory follower + * use .auto trajectory_follower + * remove .iv simple_planning_simulator & osqp_interface + * use .iv simple_planning_simulator & osqp_interface + * add tmp_autoware_auto_dependencies + * tmporally add autoware_auto_msgs + * apply .auto message split + * fix build depend + * fix packages using osqp + * fix autoware_auto_geometry + * ignore lint of some packages + * ignore ament_lint of some packages + * ignore lint/pre-commit of trajectory_follower_nodes + * disable unit tests of some packages + Co-authored-by: Maxime CLEMENT + Co-authored-by: Joshua Whitley + Co-authored-by: Igor Bogoslavskyi + Co-authored-by: MIURA Yasuyuki + Co-authored-by: wep21 + Co-authored-by: tomoya.kimura + * Port parking planner packages from .Auto (`#600 `_) + * Copy code of 'vehicle_constants_manager' + * Fix vehicle_constants_manager for ROS galactic + * Rm .iv costmap_generator freespace_planner freespace_planning_aglorihtms + * Add astar_search (from .Auto) + * Copy freespace_planner from .Auto + * Update freespace_planner for .IV + * Copy costmap_generator from .Auto + * Copy and update had_map_utils from .Auto + * Update costmap_generator + * Copy costmap_generator_nodes + * Update costmap_generator_nodes + * Comment out all tests + * Move vehicle_constant_managers to tmp_autoware_auto_dependencies + * ignore pre-commit for back-ported packages + * ignore testing + Co-authored-by: Takamasa Horibe + * fix: fix pre-commit + * fix: fix markdownlint + * fix: fix cpplint + * feat: remove autoware_auto_dependencies + Co-authored-by: Takamasa Horibe + Co-authored-by: Maxime CLEMENT + Co-authored-by: Joshua Whitley + Co-authored-by: Igor Bogoslavskyi + Co-authored-by: MIURA Yasuyuki + Co-authored-by: wep21 + Co-authored-by: tomoya.kimura + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* Contributors: Daisuke Nishimatsu, Esteve Fernandez, Kenji Miyake, Kotaro Yoshimoto, Maxime CLEMENT, Satoshi OTA, Shumpei Wakabayashi, Shunsuke Miura, Takeshi Miura, Vincent Richard diff --git a/common/autoware_auto_common/design/comparisons.md b/common/autoware_auto_common/design/comparisons.md index 3d00f77c1b0c3..d0f84c7475308 100644 --- a/common/autoware_auto_common/design/comparisons.md +++ b/common/autoware_auto_common/design/comparisons.md @@ -28,7 +28,7 @@ The `exclusive_or` function will test whether two values cast to different boole #include // using-directive is just for illustration; don't do this in practice -using namespace autoware::common::helper_functions::comparisons; +using namespace autoware::qp_interface::helper_functions::comparisons; static constexpr auto epsilon = 0.2; static constexpr auto relative_epsilon = 0.01; diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml index 10524876f749d..ccdcd4bab8608 100644 --- a/common/autoware_auto_common/package.xml +++ b/common/autoware_auto_common/package.xml @@ -2,7 +2,7 @@ autoware_auto_common - 1.0.0 + 0.40.0 Miscellaneous helper functions Apex.AI, Inc. Tomoya Kimura diff --git a/common/autoware_component_interface_specs/CHANGELOG.rst b/common/autoware_component_interface_specs/CHANGELOG.rst new file mode 100644 index 0000000000000..43590966602d2 --- /dev/null +++ b/common/autoware_component_interface_specs/CHANGELOG.rst @@ -0,0 +1,51 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_component_interface_specs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix: fix internal door interface qos (`#9144 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* Contributors: Esteve Fernandez, Takagi, Isamu, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/component_interface_specs/CMakeLists.txt b/common/autoware_component_interface_specs/CMakeLists.txt similarity index 90% rename from common/component_interface_specs/CMakeLists.txt rename to common/autoware_component_interface_specs/CMakeLists.txt index 146f3688513cd..a4e93cc8f04f9 100644 --- a/common/component_interface_specs/CMakeLists.txt +++ b/common/autoware_component_interface_specs/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(component_interface_specs) +project(autoware_component_interface_specs) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/component_interface_specs/README.md b/common/autoware_component_interface_specs/README.md similarity index 61% rename from common/component_interface_specs/README.md rename to common/autoware_component_interface_specs/README.md index b9fcd83a29dc0..9d9298a95e329 100644 --- a/common/component_interface_specs/README.md +++ b/common/autoware_component_interface_specs/README.md @@ -1,3 +1,3 @@ -# component_interface_specs +# autoware_component_interface_specs This package is a specification of component interfaces. diff --git a/common/component_interface_specs/include/component_interface_specs/control.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp similarity index 88% rename from common/component_interface_specs/include/component_interface_specs/control.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp index dfa708dd33403..03c93d75d674b 100644 --- a/common/component_interface_specs/include/component_interface_specs/control.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ -#define COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ #include @@ -23,7 +23,7 @@ #include #include -namespace control_interface +namespace autoware::component_interface_specs::control { struct SetPause @@ -65,6 +65,6 @@ struct IsStopped static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace control_interface +} // namespace autoware::component_interface_specs::control -#endif // COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/localization.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp similarity index 86% rename from common/component_interface_specs/include/component_interface_specs/localization.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp index e00d8cef1840d..b2e41a179506a 100644 --- a/common/component_interface_specs/include/component_interface_specs/localization.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ -#define COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ #include @@ -22,7 +22,7 @@ #include #include -namespace localization_interface +namespace autoware::component_interface_specs::localization { struct Initialize @@ -58,6 +58,6 @@ struct Acceleration static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace localization_interface +} // namespace autoware::component_interface_specs::localization -#endif // COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/map.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp similarity index 69% rename from common/component_interface_specs/include/component_interface_specs/map.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp index dc162d4a7267a..aeb09e44c665f 100644 --- a/common/component_interface_specs/include/component_interface_specs/map.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp @@ -12,25 +12,25 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__MAP_HPP_ -#define COMPONENT_INTERFACE_SPECS__MAP_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_ #include -#include +#include -namespace map_interface +namespace autoware::component_interface_specs::map { struct MapProjectorInfo { - using Message = tier4_map_msgs::msg::MapProjectorInfo; + using Message = autoware_map_msgs::msg::MapProjectorInfo; static constexpr char name[] = "/map/map_projector_info"; static constexpr size_t depth = 1; static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace map_interface +} // namespace autoware::component_interface_specs::map -#endif // COMPONENT_INTERFACE_SPECS__MAP_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/perception.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp similarity index 77% rename from common/component_interface_specs/include/component_interface_specs/perception.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp index 0c72dbdb12078..4f450e6a3ee1c 100644 --- a/common/component_interface_specs/include/component_interface_specs/perception.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ -#define COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ #include #include -namespace perception_interface +namespace autoware::component_interface_specs::perception { struct ObjectRecognition @@ -31,6 +31,6 @@ struct ObjectRecognition static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace perception_interface +} // namespace autoware::component_interface_specs::perception -#endif // COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/planning.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp similarity index 89% rename from common/component_interface_specs/include/component_interface_specs/planning.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp index 58aba53d8ac8a..247844123881b 100644 --- a/common/component_interface_specs/include/component_interface_specs/planning.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ -#define COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ #include @@ -24,7 +24,7 @@ #include #include -namespace planning_interface +namespace autoware::component_interface_specs::planning { struct SetLaneletRoute @@ -73,6 +73,6 @@ struct Trajectory static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace planning_interface +} // namespace autoware::component_interface_specs::planning -#endif // COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/system.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp similarity index 86% rename from common/component_interface_specs/include/component_interface_specs/system.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp index 2132d16dd2969..6ae3447c0786d 100644 --- a/common/component_interface_specs/include/component_interface_specs/system.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ -#define COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ #include @@ -22,7 +22,7 @@ #include #include -namespace system_interface +namespace autoware::component_interface_specs::system { struct MrmState @@ -55,6 +55,6 @@ struct OperationModeState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace system_interface +} // namespace autoware::component_interface_specs::system -#endif // COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/vehicle.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp similarity index 90% rename from common/component_interface_specs/include/component_interface_specs/vehicle.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp index e7ce2c5212a25..6c071299faae8 100644 --- a/common/component_interface_specs/include/component_interface_specs/vehicle.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ -#define COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ #include @@ -26,7 +26,7 @@ #include #include -namespace vehicle_interface +namespace autoware::component_interface_specs::vehicle { struct SteeringStatus @@ -92,9 +92,9 @@ struct DoorStatus static constexpr char name[] = "/vehicle/doors/status"; static constexpr size_t depth = 1; static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; - static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace vehicle_interface +} // namespace autoware::component_interface_specs::vehicle -#endif // COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ diff --git a/common/component_interface_specs/package.xml b/common/autoware_component_interface_specs/package.xml similarity index 85% rename from common/component_interface_specs/package.xml rename to common/autoware_component_interface_specs/package.xml index fa57bb1641eed..4bbe62e7e9701 100644 --- a/common/component_interface_specs/package.xml +++ b/common/autoware_component_interface_specs/package.xml @@ -1,9 +1,9 @@ - component_interface_specs - 0.0.0 - The component_interface_specs package + autoware_component_interface_specs + 0.40.0 + The autoware_component_interface_specs package Takagi, Isamu Yukihiro Saito Apache License 2.0 @@ -12,6 +12,7 @@ autoware_cmake autoware_adapi_v1_msgs + autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_vehicle_msgs @@ -21,7 +22,6 @@ rosidl_runtime_cpp tier4_control_msgs tier4_localization_msgs - tier4_map_msgs tier4_planning_msgs tier4_system_msgs tier4_vehicle_msgs diff --git a/common/component_interface_specs/test/gtest_main.cpp b/common/autoware_component_interface_specs/test/gtest_main.cpp similarity index 100% rename from common/component_interface_specs/test/gtest_main.cpp rename to common/autoware_component_interface_specs/test/gtest_main.cpp diff --git a/common/component_interface_specs/test/test_control.cpp b/common/autoware_component_interface_specs/test/test_control.cpp similarity index 84% rename from common/component_interface_specs/test/test_control.cpp rename to common/autoware_component_interface_specs/test/test_control.cpp index 366641eacbd23..db6e7817e7a9d 100644 --- a/common/component_interface_specs/test/test_control.cpp +++ b/common/autoware_component_interface_specs/test/test_control.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/control.hpp" +#include "autoware/component_interface_specs/control.hpp" #include "gtest/gtest.h" TEST(control, interface) { { - using control_interface::IsPaused; + using autoware::component_interface_specs::control::IsPaused; IsPaused is_paused; size_t depth = 1; EXPECT_EQ(is_paused.depth, depth); @@ -27,7 +27,7 @@ TEST(control, interface) } { - using control_interface::IsStartRequested; + using autoware::component_interface_specs::control::IsStartRequested; IsStartRequested is_start_requested; size_t depth = 1; EXPECT_EQ(is_start_requested.depth, depth); @@ -36,7 +36,7 @@ TEST(control, interface) } { - using control_interface::IsStopped; + using autoware::component_interface_specs::control::IsStopped; IsStopped is_stopped; size_t depth = 1; EXPECT_EQ(is_stopped.depth, depth); diff --git a/common/component_interface_specs/test/test_localization.cpp b/common/autoware_component_interface_specs/test/test_localization.cpp similarity index 83% rename from common/component_interface_specs/test/test_localization.cpp rename to common/autoware_component_interface_specs/test/test_localization.cpp index 31d8e139bd69a..18ec5f15acaf8 100644 --- a/common/component_interface_specs/test/test_localization.cpp +++ b/common/autoware_component_interface_specs/test/test_localization.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/localization.hpp" +#include "autoware/component_interface_specs/localization.hpp" #include "gtest/gtest.h" TEST(localization, interface) { { - using localization_interface::InitializationState; + using autoware::component_interface_specs::localization::InitializationState; InitializationState initialization_state; size_t depth = 1; EXPECT_EQ(initialization_state.depth, depth); @@ -27,7 +27,7 @@ TEST(localization, interface) } { - using localization_interface::KinematicState; + using autoware::component_interface_specs::localization::KinematicState; KinematicState kinematic_state; size_t depth = 1; EXPECT_EQ(kinematic_state.depth, depth); @@ -36,7 +36,7 @@ TEST(localization, interface) } { - using localization_interface::Acceleration; + using autoware::component_interface_specs::localization::Acceleration; Acceleration acceleration; size_t depth = 1; EXPECT_EQ(acceleration.depth, depth); diff --git a/common/component_interface_specs/test/test_map.cpp b/common/autoware_component_interface_specs/test/test_map.cpp similarity index 88% rename from common/component_interface_specs/test/test_map.cpp rename to common/autoware_component_interface_specs/test/test_map.cpp index a65f2cb7120d1..aafb33e73c9dc 100644 --- a/common/component_interface_specs/test/test_map.cpp +++ b/common/autoware_component_interface_specs/test/test_map.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/map.hpp" +#include "autoware/component_interface_specs/map.hpp" #include "gtest/gtest.h" TEST(map, interface) { { - using map_interface::MapProjectorInfo; + using autoware::component_interface_specs::map::MapProjectorInfo; MapProjectorInfo map_projector; size_t depth = 1; EXPECT_EQ(map_projector.depth, depth); diff --git a/common/component_interface_specs/test/test_perception.cpp b/common/autoware_component_interface_specs/test/test_perception.cpp similarity index 87% rename from common/component_interface_specs/test/test_perception.cpp rename to common/autoware_component_interface_specs/test/test_perception.cpp index ec80c06bb119a..8ad6d9dfceb6f 100644 --- a/common/component_interface_specs/test/test_perception.cpp +++ b/common/autoware_component_interface_specs/test/test_perception.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/perception.hpp" +#include "autoware/component_interface_specs/perception.hpp" #include "gtest/gtest.h" TEST(perception, interface) { { - using perception_interface::ObjectRecognition; + using autoware::component_interface_specs::perception::ObjectRecognition; ObjectRecognition object_recognition; size_t depth = 1; EXPECT_EQ(object_recognition.depth, depth); diff --git a/common/component_interface_specs/test/test_planning.cpp b/common/autoware_component_interface_specs/test/test_planning.cpp similarity index 83% rename from common/component_interface_specs/test/test_planning.cpp rename to common/autoware_component_interface_specs/test/test_planning.cpp index c9cf353de5f34..8278bf86f3861 100644 --- a/common/component_interface_specs/test/test_planning.cpp +++ b/common/autoware_component_interface_specs/test/test_planning.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/planning.hpp" +#include "autoware/component_interface_specs/planning.hpp" #include "gtest/gtest.h" TEST(planning, interface) { { - using planning_interface::RouteState; + using autoware::component_interface_specs::planning::RouteState; RouteState state; size_t depth = 1; EXPECT_EQ(state.depth, depth); @@ -27,7 +27,7 @@ TEST(planning, interface) } { - using planning_interface::LaneletRoute; + using autoware::component_interface_specs::planning::LaneletRoute; LaneletRoute route; size_t depth = 1; EXPECT_EQ(route.depth, depth); @@ -36,7 +36,7 @@ TEST(planning, interface) } { - using planning_interface::Trajectory; + using autoware::component_interface_specs::planning::Trajectory; Trajectory trajectory; size_t depth = 1; EXPECT_EQ(trajectory.depth, depth); diff --git a/common/component_interface_specs/test/test_system.cpp b/common/autoware_component_interface_specs/test/test_system.cpp similarity index 85% rename from common/component_interface_specs/test/test_system.cpp rename to common/autoware_component_interface_specs/test/test_system.cpp index 416d2effad766..3faff08734905 100644 --- a/common/component_interface_specs/test/test_system.cpp +++ b/common/autoware_component_interface_specs/test/test_system.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/system.hpp" +#include "autoware/component_interface_specs/system.hpp" #include "gtest/gtest.h" TEST(system, interface) { { - using system_interface::MrmState; + using autoware::component_interface_specs::system::MrmState; MrmState state; size_t depth = 1; EXPECT_EQ(state.depth, depth); @@ -27,7 +27,7 @@ TEST(system, interface) } { - using system_interface::OperationModeState; + using autoware::component_interface_specs::system::OperationModeState; OperationModeState state; size_t depth = 1; EXPECT_EQ(state.depth, depth); diff --git a/common/component_interface_specs/test/test_vehicle.cpp b/common/autoware_component_interface_specs/test/test_vehicle.cpp similarity index 81% rename from common/component_interface_specs/test/test_vehicle.cpp rename to common/autoware_component_interface_specs/test/test_vehicle.cpp index 1f2041b6cb79e..e9ee65e2fa210 100644 --- a/common/component_interface_specs/test/test_vehicle.cpp +++ b/common/autoware_component_interface_specs/test/test_vehicle.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/vehicle.hpp" +#include "autoware/component_interface_specs/vehicle.hpp" #include "gtest/gtest.h" TEST(vehicle, interface) { { - using vehicle_interface::SteeringStatus; + using autoware::component_interface_specs::vehicle::SteeringStatus; SteeringStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -27,7 +27,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::GearStatus; + using autoware::component_interface_specs::vehicle::GearStatus; GearStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -36,7 +36,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::TurnIndicatorStatus; + using autoware::component_interface_specs::vehicle::TurnIndicatorStatus; TurnIndicatorStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -45,7 +45,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::HazardLightStatus; + using autoware::component_interface_specs::vehicle::HazardLightStatus; HazardLightStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -54,7 +54,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::EnergyStatus; + using autoware::component_interface_specs::vehicle::EnergyStatus; EnergyStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); diff --git a/common/autoware_component_interface_tools/CHANGELOG.rst b/common/autoware_component_interface_tools/CHANGELOG.rst new file mode 100644 index 0000000000000..b17fa431b27bb --- /dev/null +++ b/common/autoware_component_interface_tools/CHANGELOG.rst @@ -0,0 +1,50 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_component_interface_tools +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix missing namespaces in C++ code (`#9477 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(component_interface_tools): prefix package and namespace with autoware (`#9093 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/component_interface_tools/CMakeLists.txt b/common/autoware_component_interface_tools/CMakeLists.txt similarity index 73% rename from common/component_interface_tools/CMakeLists.txt rename to common/autoware_component_interface_tools/CMakeLists.txt index 2b896a951b8ed..ce4af924f4c28 100644 --- a/common/component_interface_tools/CMakeLists.txt +++ b/common/autoware_component_interface_tools/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(component_interface_tools) +project(autoware_component_interface_tools) find_package(autoware_cmake REQUIRED) autoware_package() @@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "ServiceLogChecker" + PLUGIN "autoware::component_interface_tools::ServiceLogChecker" EXECUTABLE service_log_checker_node ) diff --git a/common/component_interface_tools/README.md b/common/autoware_component_interface_tools/README.md similarity index 83% rename from common/component_interface_tools/README.md rename to common/autoware_component_interface_tools/README.md index 630483acc1d9e..48492664a647e 100644 --- a/common/component_interface_tools/README.md +++ b/common/autoware_component_interface_tools/README.md @@ -1,4 +1,4 @@ -# component_interface_tools +# autoware_component_interface_tools This package provides the following tools for component interface. diff --git a/common/autoware_component_interface_tools/launch/service_log_checker.launch.xml b/common/autoware_component_interface_tools/launch/service_log_checker.launch.xml new file mode 100644 index 0000000000000..be822497bb744 --- /dev/null +++ b/common/autoware_component_interface_tools/launch/service_log_checker.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/common/component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml similarity index 83% rename from common/component_interface_tools/package.xml rename to common/autoware_component_interface_tools/package.xml index 6df07af8729ff..e38b048e22ebe 100644 --- a/common/component_interface_tools/package.xml +++ b/common/autoware_component_interface_tools/package.xml @@ -1,9 +1,9 @@ - component_interface_tools - 0.1.0 - The component_interface_tools package + autoware_component_interface_tools + 0.40.0 + The autoware_component_interface_tools package Takagi, Isamu Apache License 2.0 diff --git a/common/component_interface_tools/src/service_log_checker.cpp b/common/autoware_component_interface_tools/src/service_log_checker.cpp similarity index 94% rename from common/component_interface_tools/src/service_log_checker.cpp rename to common/autoware_component_interface_tools/src/service_log_checker.cpp index 18f90af5737d2..ce413da5c1987 100644 --- a/common/component_interface_tools/src/service_log_checker.cpp +++ b/common/autoware_component_interface_tools/src/service_log_checker.cpp @@ -22,6 +22,8 @@ #define FMT_HEADER_ONLY #include +namespace autoware::component_interface_tools +{ ServiceLogChecker::ServiceLogChecker(const rclcpp::NodeOptions & options) : Node("service_log_checker", options), diagnostics_(this) { @@ -98,6 +100,6 @@ void ServiceLogChecker::update_diagnostics(diagnostic_updater::DiagnosticStatusW stat.summary(DiagnosticStatus::ERROR, "ERROR"); } } - +} // namespace autoware::component_interface_tools #include -RCLCPP_COMPONENTS_REGISTER_NODE(ServiceLogChecker) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::component_interface_tools::ServiceLogChecker) diff --git a/common/component_interface_tools/src/service_log_checker.hpp b/common/autoware_component_interface_tools/src/service_log_checker.hpp similarity index 93% rename from common/component_interface_tools/src/service_log_checker.hpp rename to common/autoware_component_interface_tools/src/service_log_checker.hpp index 9579753dfd900..f6077d238e2e1 100644 --- a/common/component_interface_tools/src/service_log_checker.hpp +++ b/common/autoware_component_interface_tools/src/service_log_checker.hpp @@ -23,6 +23,8 @@ #include #include +namespace autoware::component_interface_tools +{ class ServiceLogChecker : public rclcpp::Node { public: @@ -38,5 +40,5 @@ class ServiceLogChecker : public rclcpp::Node void update_diagnostics(diagnostic_updater::DiagnosticStatusWrapper & stat); std::unordered_map errors_; }; - +} // namespace autoware::component_interface_tools #endif // SERVICE_LOG_CHECKER_HPP_ diff --git a/common/autoware_component_interface_utils/CHANGELOG.rst b/common/autoware_component_interface_utils/CHANGELOG.rst new file mode 100644 index 0000000000000..d19e72f19e469 --- /dev/null +++ b/common/autoware_component_interface_utils/CHANGELOG.rst @@ -0,0 +1,196 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_component_interface_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* fix: fix package names in changelog files (`#9500 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* ci(pre-commit): autoupdate (`#7499 `_) + Co-authored-by: M. Fatih Cırıt +* Contributors: Yutaka Kondo, awf-autoware-bot[bot] + +0.26.0 (2024-04-03) +------------------- +* chore: update api package maintainers (`#6086 `_) + * update api maintainers + * fix + --------- +* chore(component_interface_utils): set log level of debug printing to DEBUG (`#5995 `_) +* feat: add common interface utils test (`#5173 `_) + * add interface utils test + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_api_specs): change topic depth of route state api and localization state api (`#3757 `_) + fix depth +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* chore: update codeowners (`#3513 `_) +* feat(component_interface_tools): add service log checker (`#2503 `_) + * feat(component_interface_utils): add service log checker + * feat(component_interface_tools): add service log checker + * feat(component_interface_tools): add diagnostics + * feat: update system error monitor config +* chore: add api maintainers (`#2361 `_) +* fix(component_interface_utils): fix error level (`#2322 `_) +* feat(operation_mode_transition_manager): support ad api (`#1535 `_) + * feat(operation_mode_transition_manager): support ad api + * fix: merge operation mode state message + * feat(autoware_ad_api_msgs): define operation mode interface + * fix: add message + * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * feat: apply field name change + * feat: move adapi message + * feat: change message type + * fix: fix build error + * fix: fix error message + * WIP + * feat: add compatibility + * fix: fix operation mode change when disable autoware control + * fix: fix operation mode change when autoware control is disabled + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat(default_ad_api): add motion api (`#1809 `_) + * feat(autoware_ad_api_specs): define motion interface + * feat(default_ad_api): add motion api + * feat: modify motion api + * feat: modify motion api + * feat: add error code + * feat: move adapi messages + * feat: update message type + * feat(component_interface_utils): apply message change + * feat: apply status type change + * feat: change message type + * feat: change message name + * fix: fix state + * feat: add option + * feat: modify state name + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat(component_interface_utils): change service log output (`#2022 `_) + * feat(component_interface_utils): change client log + * feat(component_interface_utils): change server log + * feat(component_interface_utils): add interface + * feat: add console log +* feat(component_interface_utils): apply message change (`#1921 `_) + * feat(component_interface_utils): apply message change + * feat: add error category +* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) +* feat(autoware_ad_api_specs): define routing interface (`#1559 `_) + * feat(autoware_ad_api_msgs): define routing interface + * feat: rename route body message + * feat: rename route state +* feat(component_interface_utils): update service utility (`#1429 `_) + * feat(component_interface_utils): add exceptions, relay, and synchronous service call + * feat(autoware_ad_api_msgs): add status code + * feat(component_interface_utils): fix for hubmle + * feat(component_interface_utils): fix for galactic + * docs(component_interface_utils): update readme + * docs(component_interface_utils): update readme + * docs(component_interface_utils): fix typo and spell check + * feat(component_interface_utils): add transform error + * feat(component_interface_utils): use optional for no timeout + * docs(component_interface_utils): update readme + * feat(component_interface_utils): add bind function +* feat(component_interface_utils): add interface classes (`#899 `_) + * feat(component_interface_utils): add interface classes + * feat(default_ad_api): apply the changes of interface utils + * fix(component_interface_utils): remove old comment + * fix(component_interface_utils): add client log + * fix(component_interface_utils): remove unimplemented message + * docs(component_interface_utils): add design policy + * docs(component_interface_utils): add comment +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* fix: apply fixes for rolling (`#821 `_) + * fix(component_interface_utils): add USE_DEPRECATED_TO_YAML + * fix(lidar_apollo_instance_segmentation): add USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER + * add rclcpp_components to package.xml + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(default_ad_api): add interface version (`#704 `_) + * feat(default_ad_api): add interface version + * feat(default_ad_api): add http server + * feat(default_ad_api): add message readme + * feat(default_ad_api): modify message readme + * feat(default_ad_api): fix message type + * feat(default_ad_api): fix message type + * feat(default_ad_api): remove unused message + * feat(component_interface_utils): use full path + * feat(component_interface_utils): rename package + * feat(autoware_ad_api_msgs): remove unused message + * feat(component_interface_utils): add readme and comments + * feat(default_ad_api): fix api name + * Update common/autoware_ad_api_msgs/README.md + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * add test + * fix server name + * Add comment + * fix typo + * rename version api + * Update system/default_ad_api/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Update common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Update system/default_ad_api/launch/default_ad_api.launch.py + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Fix for renaming web server script + * Fix test script for readability + * Fix test script for readability + * Add comment + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* Contributors: Kenji Miyake, Takagi, Isamu, Takayuki Murooka, Vincent Richard, shulanbushangshu, yabuta diff --git a/common/component_interface_utils/CMakeLists.txt b/common/autoware_component_interface_utils/CMakeLists.txt similarity index 92% rename from common/component_interface_utils/CMakeLists.txt rename to common/autoware_component_interface_utils/CMakeLists.txt index 435d5535e0a37..b7cce55eba9fa 100644 --- a/common/component_interface_utils/CMakeLists.txt +++ b/common/autoware_component_interface_utils/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(component_interface_utils) +project(autoware_component_interface_utils) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/component_interface_utils/README.md b/common/autoware_component_interface_utils/README.md similarity index 83% rename from common/component_interface_utils/README.md rename to common/autoware_component_interface_utils/README.md index 2a2b191c854a0..2f4038c9f37cd 100644 --- a/common/component_interface_utils/README.md +++ b/common/autoware_component_interface_utils/README.md @@ -1,4 +1,4 @@ -# component_interface_utils +# autoware_component_interface_utils ## Features @@ -40,13 +40,13 @@ Create the wrapper using the above definition as follows. ```cpp // header file -component_interface_utils::Service::SharedPtr srv_; -component_interface_utils::Client::SharedPtr cli_; -component_interface_utils::Publisher::SharedPtr pub_; -component_interface_utils::Subscription::SharedPtr sub_; +autoware::component_interface_utils::Service::SharedPtr srv_; +autoware::component_interface_utils::Client::SharedPtr cli_; +autoware::component_interface_utils::Publisher::SharedPtr pub_; +autoware::component_interface_utils::Subscription::SharedPtr sub_; // source file -const auto node = component_interface_utils::NodeAdaptor(this); +const auto node = autoware::component_interface_utils::NodeAdaptor(this); node.init_srv(srv_, callback); node.init_cli(cli_); node.init_pub(pub_); @@ -94,7 +94,7 @@ void service_callback(Request req, Response res) There are utilities for relaying services and messages of the same type. ```cpp -const auto node = component_interface_utils::NodeAdaptor(this); +const auto node = autoware::component_interface_utils::NodeAdaptor(this); service_callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); node.relay_message(pub_, sub_); node.relay_service(cli_, srv_, service_callback_group_); // group is for avoiding deadlocks diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp.hpp similarity index 84% rename from common/component_interface_utils/include/component_interface_utils/rclcpp.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp.hpp index 8099bea36784e..bae7856af04f1 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp.hpp @@ -12,21 +12,21 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { class NodeAdaptor @@ -123,6 +123,6 @@ class NodeAdaptor NodeInterface::SharedPtr interface_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/create_interface.hpp similarity index 79% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/create_interface.hpp index d5af211b015bf..66f85613cb11b 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/create_interface.hpp @@ -12,20 +12,20 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// Create a client wrapper for logging. This is a private implementation. @@ -72,6 +72,6 @@ typename Subscription::SharedPtr create_subscription_impl( return Subscription::make_shared(subscription); } -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/exceptions.hpp similarity index 88% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/exceptions.hpp index e0a6064875d91..03dc5e2bd8b74 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/exceptions.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ #include #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { class ServiceException : public std::exception @@ -104,6 +104,6 @@ class NoEffectWarning : public ServiceException } }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/interface.hpp similarity index 87% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/interface.hpp index 97f46933f2fe6..ce4a11f8e1086 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ #include @@ -23,7 +23,7 @@ #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { struct NodeInterface @@ -68,6 +68,6 @@ struct NodeInterface std::string node_name; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/service_client.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_client.hpp similarity index 87% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/service_client.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_client.hpp index e9cf68fa098a2..1b2c77cb30c51 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/service_client.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_client.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ -#include -#include +#include +#include #include #include @@ -25,7 +25,7 @@ #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// The wrapper class of rclcpp::Client for logging. @@ -104,6 +104,6 @@ class Client NodeInterface::SharedPtr interface_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/service_server.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_server.hpp similarity index 86% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/service_server.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_server.hpp index 762f95fe8b450..3e9a4c81d3bcf 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/service_server.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_server.hpp @@ -12,18 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ -#include -#include +#include +#include #include #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// The wrapper class of rclcpp::Service for logging. @@ -94,6 +94,6 @@ class Service NodeInterface::SharedPtr interface_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/topic_publisher.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_publisher.hpp similarity index 79% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/topic_publisher.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_publisher.hpp index b2c002613a294..49304eaaa06a3 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/topic_publisher.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_publisher.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// The wrapper class of rclcpp::Publisher. This is for future use and no functionality now. @@ -43,6 +43,6 @@ class Publisher typename WrapType::SharedPtr publisher_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/topic_subscription.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_subscription.hpp similarity index 77% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/topic_subscription.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_subscription.hpp index 195a04c370964..bd092c30b9866 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/topic_subscription.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_subscription.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// The wrapper class of rclcpp::Subscription. This is for future use and no functionality now. @@ -40,6 +40,6 @@ class Subscription typename WrapType::SharedPtr subscription_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/specs.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/specs.hpp similarity index 74% rename from common/component_interface_utils/include/component_interface_utils/specs.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/specs.hpp index db3bb9517430f..565c5555cb085 100644 --- a/common/component_interface_utils/include/component_interface_utils/specs.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/specs.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__SPECS_HPP_ -#define COMPONENT_INTERFACE_UTILS__SPECS_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__SPECS_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__SPECS_HPP_ #include -namespace component_interface_utils +namespace autoware::component_interface_utils { template @@ -29,6 +29,6 @@ rclcpp::QoS get_qos() return qos; } -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__SPECS_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__SPECS_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/status.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/status.hpp similarity index 74% rename from common/component_interface_utils/include/component_interface_utils/status.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/status.hpp index bf4d67ae5c833..076c5b95c31c5 100644 --- a/common/component_interface_utils/include/component_interface_utils/status.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/status.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__STATUS_HPP_ -#define COMPONENT_INTERFACE_UTILS__STATUS_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__STATUS_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__STATUS_HPP_ -namespace component_interface_utils::status +namespace autoware::component_interface_utils::status { template @@ -26,6 +26,6 @@ void copy(const T1 & src, T2 & dst) // NOLINT(build/include_what_you_use): cppl dst->status.message = src->status.message; } -} // namespace component_interface_utils::status +} // namespace autoware::component_interface_utils::status -#endif // COMPONENT_INTERFACE_UTILS__STATUS_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__STATUS_HPP_ diff --git a/common/component_interface_utils/package.xml b/common/autoware_component_interface_utils/package.xml similarity index 85% rename from common/component_interface_utils/package.xml rename to common/autoware_component_interface_utils/package.xml index 7a6a6d12880ad..0bc51ee211d50 100755 --- a/common/component_interface_utils/package.xml +++ b/common/autoware_component_interface_utils/package.xml @@ -1,9 +1,9 @@ - component_interface_utils - 0.0.0 - The component_interface_utils package + autoware_component_interface_utils + 0.40.0 + The autoware_component_interface_utils package Takagi, Isamu Yukihiro Saito Apache License 2.0 diff --git a/common/component_interface_utils/test/test_component_interface_utils.cpp b/common/autoware_component_interface_utils/test/test_component_interface_utils.cpp similarity index 82% rename from common/component_interface_utils/test/test_component_interface_utils.cpp rename to common/autoware_component_interface_utils/test/test_component_interface_utils.cpp index 3c41f4a85b4f9..6919271214983 100644 --- a/common/component_interface_utils/test/test_component_interface_utils.cpp +++ b/common/autoware_component_interface_utils/test/test_component_interface_utils.cpp @@ -12,15 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_utils/rclcpp/exceptions.hpp" -#include "component_interface_utils/specs.hpp" -#include "component_interface_utils/status.hpp" +#include "autoware/component_interface_utils/rclcpp/exceptions.hpp" +#include "autoware/component_interface_utils/specs.hpp" +#include "autoware/component_interface_utils/status.hpp" #include "gtest/gtest.h" +#include +#include +#include + TEST(interface, utils) { { - using component_interface_utils::ServiceException; + using autoware::component_interface_utils::ServiceException; using ResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus; using ResponseStatusCode = ResponseStatus::_code_type; @@ -34,7 +38,7 @@ TEST(interface, utils) } { - using component_interface_utils::ServiceException; + using autoware::component_interface_utils::ServiceException; using ResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus; using ResponseStatusCode = ResponseStatus::_code_type; @@ -48,10 +52,10 @@ TEST(interface, utils) } { - using component_interface_utils::ServiceException; + using autoware::component_interface_utils::ServiceException; using ResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus; using ResponseStatusCode = ResponseStatus::_code_type; - using component_interface_utils::status::copy; + using autoware::component_interface_utils::status::copy; class status_test { diff --git a/common/autoware_fake_test_node/CHANGELOG.rst b/common/autoware_fake_test_node/CHANGELOG.rst new file mode 100644 index 0000000000000..5bc3669a5aa27 --- /dev/null +++ b/common/autoware_fake_test_node/CHANGELOG.rst @@ -0,0 +1,382 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_fake_test_node +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix package names in changelog files (`#9500 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions (`#7855 `_) + * fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* Contributors: Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) + * fix(autoware_auto_common): move headers to a separate directory + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: add maintainer (`#4234 `_) + * chore: add maintainer + * Update evaluator/localization_evaluator/package.xml + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* chore: sync files (`#3227 `_) + * chore: sync files + * style(pre-commit): autofix + --------- + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* docs: update link style and fix typos (`#950 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * docs: update link style + * chore: fix link + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * add random point sampling function to quickly calculate the 'viewer' coordinate + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) + * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) + * fixed panel type + * modified instruction for rosbag replay case + * modified update_map_dir service name + * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) + * skipping emplace back stop reason if it is empty + * add braces + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) + * feat(behavior_path_planner): Weakened noise filtering of drivable area + * fix lanelet's longitudinal disconnection + * add comments of erode/dilate process + * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) + * refactor(vehicle-cmd-gate): using namespace for msgs + * for clang + * feat(pose_initializer): introduce an array copy function (`#900 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat: add lidar point filter when debug (`#865 `_) + * feat: add lidar point filter when debug + * ci(pre-commit): autofix + Co-authored-by: suchang + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(component_interface_utils): add interface classes (`#899 `_) + * feat(component_interface_utils): add interface classes + * feat(default_ad_api): apply the changes of interface utils + * fix(component_interface_utils): remove old comment + * fix(component_interface_utils): add client log + * fix(component_interface_utils): remove unimplemented message + * docs(component_interface_utils): add design policy + * docs(component_interface_utils): add comment + * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) + Co-authored-by: Berkay + * feat: visualize lane boundaries (`#923 `_) + * feat: visualize lane boundaries + * fix: start_bound + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) + * fix(system_monitor): fix truncation warning in strncpy + * Use std::string constructor to copy char array + * Fixed typo + * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) + * fix: extend following and previous search range to avoid no collision + * chore: add debug marker + * fix: simplify logic + * chore: update debug code + * fix: delete space + * fix: some fix + * ci(pre-commit): autofix + * fix: delete debug code + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * docs(surround obstacle checker): update documentation (`#878 `_) + * docs(surround_obstacle_checker): update pub/sub topics & params + * docs(surround_obstacle_checker): remove unused files + * docs(surround_obstacke_checker): update purpose + * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) + * feat(tier4_autoware_utils): add vehicle state checker + * fix(tier4_autoware_utils): use absolute value + * feat(tier4_autoware_utils): divide into two classies + * test(tier4_autoware_utils): add unit test for vehicle_state checker + * fix(tier4_autoware_utils): impl class inheritance + * docs(tier4_autoware_utils): add vehicle_state_checker document + * fix(tier4_autoware_utils): into same loop + * fix(tier4_autoware_utils): fix variables name + * fix(tier4_autoware_utils): remove redundant codes + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point + * Modify overwriteStopPoint input and output + * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) + * feat(obstacle_avoidance_planner) fix bug of stop line unalignment + * fix bug of unsorted output points + * move calcVelocity in node.cpp + * fix build error + * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) + * fix(system_monitor): add some smart information to diagnostics (`#708 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change + * fix bug of right lane change + * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) + * use car like constraints in mpt + * use not widest bounds for the first bounds + * organized params + * fix format + * prepare rear_drive and uniform_circle constraints + * fix param callback + * update config + * remove unnecessary files + * update tier4_planning_launch params + * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check + * feat: use marker helper + * feat(map_loader): visualize center line by points (`#931 `_) + * feat: visualize center line points + * fix: delete space + * feat: visualize center line by arrow + * revert insertMarkerArray + * fix: delete space + * feat: add RTC interface (`#765 `_) + * feature(rtc_interface): add files + * feature(rtc_interface): implement functions + * feature(rtc_interface): reimprement functions to use CooperateCommands and write README.md + * feature(rtc_interface): fix README + * feature(rtc_interface): add getModuleType() + * feature(rtc_interface): fix definition of constructor + * feature(rtc_interface): fix time stamp + * feature(rtc_interface): fix README + * feature(rtc_interface): add isRegistered and clearCooperateStatus + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore: sync files (`#911 `_) + Co-authored-by: kenji-miyake + * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) + * fix: replace boost::mutex::scoped_lock to std::scoped_lock + * fix: replace boost::mutex to std::mutex + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node + * feat(tensorrt_yolo): update arg + Co-authored-by: Kaan Colak + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner + * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * feat: add param.yaml in behavior_velocity_planner package + * some fix + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader + * fix(map_loader): remove c_str + * fix(map_loader): replace c_str to string + * fix: relative link + * fix: relative links + * fix: relative links + * fix: relative links + * fix: typo + * fix relative links + * docs: ignore rare unknown words + * ci(pre-commit): autofix + * docs: ignore unknown words one by one + * ci(pre-commit): autofix + Co-authored-by: Hiroki OTA + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takeshi Ishita + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Mamoru Sobue + Co-authored-by: TakumiKozaka-T4 <70260442+TakumiKozaka-T4@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Takayuki Murooka + Co-authored-by: Takamasa Horibe + Co-authored-by: storrrrrrrrm <103425473+storrrrrrrrm@users.noreply.github.com> + Co-authored-by: suchang + Co-authored-by: Berkay + Co-authored-by: Berkay + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> + Co-authored-by: Kosuke Takeuchi + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: kk-inoue-esol <76925382+kk-inoue-esol@users.noreply.github.com> + Co-authored-by: Fumiya Watanabe + Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> + Co-authored-by: kenji-miyake + Co-authored-by: RyuYamamoto + Co-authored-by: Kaan Çolak + Co-authored-by: Kaan Colak + Co-authored-by: Kenji Miyake +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* chore: remove license notations from CMakeLists.txt (`#846 `_) +* chore: remove bad chars (`#845 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): clear the exclude option (`#426 `_) + * ci(pre-commit): remove unnecessary excludes + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * address pre-commit for Markdown files + * fix Python imports + * address cpplint errors + * fix broken package.xml + * rename ROS parameter files + * fix build + * use autoware_lint_common + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: add autoware auto dependencies (`#185 `_) + * Back port .auto control packages (`#571 `_) + * Implement Lateral and Longitudinal Control Muxer + * [`#570 `_] Porting wf_simulator + * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' + * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' + * [`#1057 `_] Add osqp_interface package + * [`#1057 `_] Add library code for MPC-based lateral control + * [`#1271 `_] Use std::abs instead of abs + * [`#1057 `_] Implement Lateral Controller for Cargo ODD + * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" + * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' + * [`#1058 `_] Add library code of longitudinal controller + * Fix build error for trajectory follower + * Fix build error for trajectory follower nodes + * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator + * [`#1058 `_] Add Longitudinal Controller node + * [`#1058 `_] Rename velocity_controller -> longitudinal_controller + * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node + * [`#1058 `_] Add smoke test python launch file + * [`#1058 `_] Use LowPassFilter1d from trajectory_follower + * [`#1058 `_] Use autoware_auto_msgs + * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) + * [`#1058 `_] Remove unused parameters + * [`#1058 `_] Fix ros test + * [`#1058 `_] Rm default params from declare_parameters + use autoware types + * [`#1058 `_] Use default param file to setup NodeOptions in the ros test + * [`#1058 `_] Fix docstring + * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState + * [`#1058 `_] Change class variables format to m\_ prefix + * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt + * [`#1058 `_] Fix copyright dates + * [`#1058 `_] Reorder includes + * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) + * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) + * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope + * [`#1058 `_] Calculate wheel_base value from vehicle parameters + * [`#1058 `_] Cleanup redundant logger setting in tests + * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures + * [`#1058 `_] Remove TF listener and use published vehicle state instead + * [`#1058 `_] Change smoke tests to use autoware_testing + * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control + * [`#1058 `_] Improve design documents + * [`#1058 `_] Disable flaky test + * [`#1058 `_] Properly transform vehicle state in longitudinal node + * [`#1058 `_] Fix TF buffer of lateral controller + * [`#1058 `_] Tuning of lateral controller for LGSVL + * [`#1058 `_] Fix formating + * [`#1058 `_] Fix /tf_static sub to be transient_local + * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller + * modify trajectory_follower for galactic build + * [`#1379 `_] Update trajectory_follower + * [`#1379 `_] Update simple_planning_simulator + * [`#1379 `_] Update trajectory_follower_nodes + * apply trajectory msg modification in control + * move directory + * remote control/trajectory_follower level dorectpry + * remove .iv trajectory follower + * use .auto trajectory_follower + * remove .iv simple_planning_simulator & osqp_interface + * use .iv simple_planning_simulator & osqp_interface + * add tmp_autoware_auto_dependencies + * tmporally add autoware_auto_msgs + * apply .auto message split + * fix build depend + * fix packages using osqp + * fix autoware_auto_geometry + * ignore lint of some packages + * ignore ament_lint of some packages + * ignore lint/pre-commit of trajectory_follower_nodes + * disable unit tests of some packages + Co-authored-by: Maxime CLEMENT + Co-authored-by: Joshua Whitley + Co-authored-by: Igor Bogoslavskyi + Co-authored-by: MIURA Yasuyuki + Co-authored-by: wep21 + Co-authored-by: tomoya.kimura + * Port parking planner packages from .Auto (`#600 `_) + * Copy code of 'vehicle_constants_manager' + * Fix vehicle_constants_manager for ROS galactic + * Rm .iv costmap_generator freespace_planner freespace_planning_aglorihtms + * Add astar_search (from .Auto) + * Copy freespace_planner from .Auto + * Update freespace_planner for .IV + * Copy costmap_generator from .Auto + * Copy and update had_map_utils from .Auto + * Update costmap_generator + * Copy costmap_generator_nodes + * Update costmap_generator_nodes + * Comment out all tests + * Move vehicle_constant_managers to tmp_autoware_auto_dependencies + * ignore pre-commit for back-ported packages + * ignore testing + Co-authored-by: Takamasa Horibe + * fix: fix pre-commit + * fix: fix markdownlint + * fix: fix cpplint + * feat: remove autoware_auto_dependencies + Co-authored-by: Takamasa Horibe + Co-authored-by: Maxime CLEMENT + Co-authored-by: Joshua Whitley + Co-authored-by: Igor Bogoslavskyi + Co-authored-by: MIURA Yasuyuki + Co-authored-by: wep21 + Co-authored-by: tomoya.kimura + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* Contributors: Esteve Fernandez, Kenji Miyake, Maxime CLEMENT, Satoshi OTA, Shumpei Wakabayashi, Takeshi Miura, Vincent Richard, awf-autoware-bot[bot] diff --git a/common/fake_test_node/CMakeLists.txt b/common/autoware_fake_test_node/CMakeLists.txt similarity index 51% rename from common/fake_test_node/CMakeLists.txt rename to common/autoware_fake_test_node/CMakeLists.txt index 8ad71df2777f3..1be6cdf51ee00 100644 --- a/common/fake_test_node/CMakeLists.txt +++ b/common/autoware_fake_test_node/CMakeLists.txt @@ -1,17 +1,17 @@ cmake_minimum_required(VERSION 3.14) -project(fake_test_node) +project(autoware_fake_test_node) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(fake_test_node SHARED src/fake_test_node.cpp) +ament_auto_add_library(${PROJECT_NAME} SHARED src/fake_test_node.cpp) if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_fake_test_node test/test_fake_test_node.cpp ) - add_dependencies(test_fake_test_node fake_test_node) - target_link_libraries(test_fake_test_node fake_test_node) + add_dependencies(test_fake_test_node ${PROJECT_NAME}) + target_link_libraries(test_fake_test_node ${PROJECT_NAME}) endif() ament_auto_package() diff --git a/common/fake_test_node/design/fake_test_node-design.md b/common/autoware_fake_test_node/design/fake_test_node-design.md similarity index 91% rename from common/fake_test_node/design/fake_test_node-design.md rename to common/autoware_fake_test_node/design/fake_test_node-design.md index c9c040881664a..34142c3529ea9 100644 --- a/common/fake_test_node/design/fake_test_node-design.md +++ b/common/autoware_fake_test_node/design/fake_test_node-design.md @@ -10,8 +10,8 @@ fixture. This package contains a library that introduces two utility classes that can be used in place of custom fixtures described above to write integration tests for a node: -- `autoware::tools::testing::FakeTestNode` - to use as a custom test fixture with `TEST_F` tests -- `autoware::tools::testing::FakeTestNodeParametrized` - to use a custom test fixture with the +- `autoware::fake_test_node::FakeTestNode` - to use as a custom test fixture with `TEST_F` tests +- `autoware::fake_test_node::FakeTestNodeParametrized` - to use a custom test fixture with the parametrized `TEST_P` tests (accepts a template parameter that gets forwarded to `testing::TestWithParam`) @@ -30,10 +30,10 @@ Let's say there is a node `NodeUnderTest` that requires testing. It just subscribes to `std_msgs::msg::Int32` messages and publishes a `std_msgs::msg::Bool` to indicate that the input is positive. To test such a node the following code can be used utilizing the -`autoware::tools::testing::FakeTestNode`: +`autoware::fake_test_node::FakeTestNode`: ```cpp -using FakeNodeFixture = autoware::tools::testing::FakeTestNode; +using FakeNodeFixture = autoware::fake_test_node::FakeTestNode; /// @test Test that we can use a non-parametrized test. TEST_F(FakeNodeFixture, Test) { diff --git a/common/fake_test_node/include/fake_test_node/fake_test_node.hpp b/common/autoware_fake_test_node/include/autoware/fake_test_node/fake_test_node.hpp similarity index 96% rename from common/fake_test_node/include/fake_test_node/fake_test_node.hpp rename to common/autoware_fake_test_node/include/autoware/fake_test_node/fake_test_node.hpp index 9f7fee89776b3..40d45f0689283 100644 --- a/common/fake_test_node/include/fake_test_node/fake_test_node.hpp +++ b/common/autoware_fake_test_node/include/autoware/fake_test_node/fake_test_node.hpp @@ -17,10 +17,10 @@ /// \copyright Copyright 2021 Apex.AI, Inc. /// All rights reserved. -#ifndef FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ -#define FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ +#ifndef AUTOWARE__FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ +#define AUTOWARE__FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ -#include +#include #include #include @@ -30,11 +30,7 @@ #include #include -namespace autoware -{ -namespace tools -{ -namespace testing +namespace autoware::fake_test_node { /// @@ -237,8 +233,6 @@ class FAKE_TEST_NODE_PUBLIC FakeTestNode : public detail::FakeNodeCore, public : void TearDown() override; }; -} // namespace testing -} // namespace tools -} // namespace autoware +} // namespace autoware::fake_test_node -#endif // FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ +#endif // AUTOWARE__FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ diff --git a/common/fake_test_node/include/fake_test_node/visibility_control.hpp b/common/autoware_fake_test_node/include/autoware/fake_test_node/visibility_control.hpp similarity index 90% rename from common/fake_test_node/include/fake_test_node/visibility_control.hpp rename to common/autoware_fake_test_node/include/autoware/fake_test_node/visibility_control.hpp index 62e57eef113f1..d21dbfdbcfc75 100644 --- a/common/fake_test_node/include/fake_test_node/visibility_control.hpp +++ b/common/autoware_fake_test_node/include/autoware/fake_test_node/visibility_control.hpp @@ -17,8 +17,8 @@ /// \copyright Copyright 2021 Apex.AI, Inc. /// All rights reserved. -#ifndef FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ -#define FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ +#ifndef AUTOWARE__FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ +#define AUTOWARE__FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ //////////////////////////////////////////////////////////////////////////////// #if defined(__WIN32) @@ -39,4 +39,4 @@ #error "Unsupported Build Configuration" #endif // defined(__WIN32) -#endif // FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ +#endif // AUTOWARE__FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ diff --git a/common/fake_test_node/package.xml b/common/autoware_fake_test_node/package.xml similarity index 94% rename from common/fake_test_node/package.xml rename to common/autoware_fake_test_node/package.xml index b3332a57a7a4d..0ae881e4a41ba 100644 --- a/common/fake_test_node/package.xml +++ b/common/autoware_fake_test_node/package.xml @@ -1,8 +1,8 @@ - fake_test_node - 1.0.0 + autoware_fake_test_node + 0.40.0 A fake node that we can use in the integration-like cpp tests. Apex.AI, Inc. Tomoya Kimura diff --git a/common/fake_test_node/src/fake_test_node.cpp b/common/autoware_fake_test_node/src/fake_test_node.cpp similarity index 90% rename from common/fake_test_node/src/fake_test_node.cpp rename to common/autoware_fake_test_node/src/fake_test_node.cpp index 1704d371c3a5e..75714c0dd5b08 100644 --- a/common/fake_test_node/src/fake_test_node.cpp +++ b/common/autoware_fake_test_node/src/fake_test_node.cpp @@ -17,12 +17,12 @@ /// \copyright Copyright 2021 Apex.AI, Inc. /// All rights reserved. -#include +#include #include #include -namespace +namespace autoware::fake_test_node { constexpr auto kSpinThread = false; constexpr auto kArgc = 0; @@ -34,15 +34,6 @@ std::string sanitize_test_name(const std::string & name) return sanitize_test_name; } -} // namespace - -namespace autoware -{ -namespace tools -{ -namespace testing -{ - void detail::FakeNodeCore::set_up(const std::string & test_name) { ASSERT_FALSE(rclcpp::ok()); @@ -76,6 +67,4 @@ void FakeTestNode::TearDown() tear_down(); } -} // namespace testing -} // namespace tools -} // namespace autoware +} // namespace autoware::fake_test_node diff --git a/common/fake_test_node/test/test_fake_test_node.cpp b/common/autoware_fake_test_node/test/test_fake_test_node.cpp similarity index 94% rename from common/fake_test_node/test/test_fake_test_node.cpp rename to common/autoware_fake_test_node/test/test_fake_test_node.cpp index 77e9294cb48c2..886433ed5fff6 100644 --- a/common/fake_test_node/test/test_fake_test_node.cpp +++ b/common/autoware_fake_test_node/test/test_fake_test_node.cpp @@ -17,7 +17,7 @@ /// \copyright Copyright 2021 Apex.AI, Inc. /// All rights reserved. -#include +#include #include #include @@ -30,8 +30,8 @@ using bool8_t = bool; -using FakeNodeFixture = autoware::tools::testing::FakeTestNode; -using FakeNodeFixtureParametrized = autoware::tools::testing::FakeTestNodeParametrized; +using FakeNodeFixture = autoware::fake_test_node::FakeTestNode; +using FakeNodeFixtureParametrized = autoware::fake_test_node::FakeTestNodeParametrized; using std_msgs::msg::Bool; using std_msgs::msg::Int32; diff --git a/common/autoware_geography_utils/CMakeLists.txt b/common/autoware_geography_utils/CMakeLists.txt deleted file mode 100644 index b4ab5c2f74494..0000000000000 --- a/common/autoware_geography_utils/CMakeLists.txt +++ /dev/null @@ -1,37 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(autoware_geography_utils) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -# GeographicLib -find_package(PkgConfig) -find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h - PATH_SUFFIXES GeographicLib -) -set(GeographicLib_INCLUDE_DIRS ${GeographicLib_INCLUDE_DIR}) -find_library(GeographicLib_LIBRARIES NAMES Geographic) - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/height.cpp - src/projection.cpp - src/lanelet2_projector.cpp -) - -target_link_libraries(${PROJECT_NAME} - ${GeographicLib_LIBRARIES} -) - -if(BUILD_TESTING) - find_package(ament_cmake_ros REQUIRED) - - file(GLOB_RECURSE test_files test/*.cpp) - - ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files}) - - target_link_libraries(test_${PROJECT_NAME} - ${PROJECT_NAME} - ) -endif() - -ament_auto_package() diff --git a/common/autoware_geography_utils/README.md b/common/autoware_geography_utils/README.md deleted file mode 100644 index fb4c2dc3a8312..0000000000000 --- a/common/autoware_geography_utils/README.md +++ /dev/null @@ -1,5 +0,0 @@ -# geography_utils - -## Purpose - -This package contains geography-related functions used by other packages, so please refer to them as needed. diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/height.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/height.hpp deleted file mode 100644 index 1f205eb8f8b18..0000000000000 --- a/common/autoware_geography_utils/include/autoware/geography_utils/height.hpp +++ /dev/null @@ -1,33 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__GEOGRAPHY_UTILS__HEIGHT_HPP_ -#define AUTOWARE__GEOGRAPHY_UTILS__HEIGHT_HPP_ - -#include - -namespace autoware::geography_utils -{ - -typedef double (*HeightConversionFunction)( - const double height, const double latitude, const double longitude); -double convert_wgs84_to_egm2008(const double height, const double latitude, const double longitude); -double convert_egm2008_to_wgs84(const double height, const double latitude, const double longitude); -double convert_height( - const double height, const double latitude, const double longitude, - const std::string & source_vertical_datum, const std::string & target_vertical_datum); - -} // namespace autoware::geography_utils - -#endif // AUTOWARE__GEOGRAPHY_UTILS__HEIGHT_HPP_ diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp deleted file mode 100644 index 5ad605f95f65b..0000000000000 --- a/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp +++ /dev/null @@ -1,33 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_ -#define AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_ - -#include -#include -#include - -namespace autoware::geography_utils -{ -using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo; -using GeoPoint = geographic_msgs::msg::GeoPoint; -using LocalPoint = geometry_msgs::msg::Point; - -LocalPoint project_forward(const GeoPoint & geo_point, const MapProjectorInfo & projector_info); -GeoPoint project_reverse(const LocalPoint & local_point, const MapProjectorInfo & projector_info); - -} // namespace autoware::geography_utils - -#endif // AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_ diff --git a/common/autoware_geography_utils/src/height.cpp b/common/autoware_geography_utils/src/height.cpp deleted file mode 100644 index 745dbf5b22cfc..0000000000000 --- a/common/autoware_geography_utils/src/height.cpp +++ /dev/null @@ -1,63 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include -#include - -#include -#include -#include -#include - -namespace autoware::geography_utils -{ - -double convert_wgs84_to_egm2008(const double height, const double latitude, const double longitude) -{ - GeographicLib::Geoid egm2008("egm2008-1"); - // cSpell: ignore ELLIPSOIDTOGEOID - return egm2008.ConvertHeight(latitude, longitude, height, GeographicLib::Geoid::ELLIPSOIDTOGEOID); -} - -double convert_egm2008_to_wgs84(const double height, const double latitude, const double longitude) -{ - GeographicLib::Geoid egm2008("egm2008-1"); - // cSpell: ignore GEOIDTOELLIPSOID - return egm2008.ConvertHeight(latitude, longitude, height, GeographicLib::Geoid::GEOIDTOELLIPSOID); -} - -double convert_height( - const double height, const double latitude, const double longitude, - const std::string & source_vertical_datum, const std::string & target_vertical_datum) -{ - if (source_vertical_datum == target_vertical_datum) { - return height; - } - std::map, HeightConversionFunction> conversion_map; - conversion_map[{"WGS84", "EGM2008"}] = convert_wgs84_to_egm2008; - conversion_map[{"EGM2008", "WGS84"}] = convert_egm2008_to_wgs84; - - auto key = std::make_pair(source_vertical_datum, target_vertical_datum); - if (conversion_map.find(key) != conversion_map.end()) { - return conversion_map[key](height, latitude, longitude); - } else { - std::string error_message = - "Invalid conversion types: " + std::string(source_vertical_datum.c_str()) + " to " + - std::string(target_vertical_datum.c_str()); - - throw std::invalid_argument(error_message); - } -} - -} // namespace autoware::geography_utils diff --git a/common/autoware_geography_utils/src/lanelet2_projector.cpp b/common/autoware_geography_utils/src/lanelet2_projector.cpp deleted file mode 100644 index 7de0935a3aa4e..0000000000000 --- a/common/autoware_geography_utils/src/lanelet2_projector.cpp +++ /dev/null @@ -1,54 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include -#include -#include -#include - -#include - -namespace autoware::geography_utils -{ - -std::unique_ptr get_lanelet2_projector(const MapProjectorInfo & projector_info) -{ - if (projector_info.projector_type == MapProjectorInfo::LOCAL_CARTESIAN_UTM) { - lanelet::GPSPoint position{ - projector_info.map_origin.latitude, projector_info.map_origin.longitude, - projector_info.map_origin.altitude}; - lanelet::Origin origin{position}; - lanelet::projection::UtmProjector projector{origin}; - return std::make_unique(projector); - - } else if (projector_info.projector_type == MapProjectorInfo::MGRS) { - lanelet::projection::MGRSProjector projector{}; - projector.setMGRSCode(projector_info.mgrs_grid); - return std::make_unique(projector); - - } else if (projector_info.projector_type == MapProjectorInfo::TRANSVERSE_MERCATOR) { - lanelet::GPSPoint position{ - projector_info.map_origin.latitude, projector_info.map_origin.longitude, - projector_info.map_origin.altitude}; - lanelet::Origin origin{position}; - lanelet::projection::TransverseMercatorProjector projector{origin}; - return std::make_unique(projector); - } - const std::string error_msg = - "Invalid map projector type: " + projector_info.projector_type + - ". Currently supported types: MGRS, LocalCartesianUTM, and TransverseMercator"; - throw std::invalid_argument(error_msg); -} - -} // namespace autoware::geography_utils diff --git a/common/autoware_geography_utils/src/projection.cpp b/common/autoware_geography_utils/src/projection.cpp deleted file mode 100644 index 3ab18b1d31698..0000000000000 --- a/common/autoware_geography_utils/src/projection.cpp +++ /dev/null @@ -1,95 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include -#include -#include -#include - -namespace autoware::geography_utils -{ - -Eigen::Vector3d to_basic_point_3d_pt(const LocalPoint src) -{ - Eigen::Vector3d dst; - dst.x() = src.x; - dst.y() = src.y; - dst.z() = src.z; - return dst; -} - -LocalPoint project_forward(const GeoPoint & geo_point, const MapProjectorInfo & projector_info) -{ - std::unique_ptr projector = get_lanelet2_projector(projector_info); - lanelet::GPSPoint position{geo_point.latitude, geo_point.longitude, geo_point.altitude}; - - lanelet::BasicPoint3d projected_local_point; - if (projector_info.projector_type == MapProjectorInfo::MGRS) { - const int mgrs_precision = 9; // set precision as 100 micro meter - const auto mgrs_projector = dynamic_cast(projector.get()); - - // project x and y using projector - // note that the altitude is ignored in MGRS projection conventionally - projected_local_point = mgrs_projector->forward(position, mgrs_precision); - } else { - // project x and y using projector - // note that the original projector such as UTM projector does not compensate for the altitude - // offset - projected_local_point = projector->forward(position); - - // correct z based on the map origin - // note that the converted altitude in local point is in the same vertical datum as the geo - // point - projected_local_point.z() = geo_point.altitude - projector_info.map_origin.altitude; - } - - LocalPoint local_point; - local_point.x = projected_local_point.x(); - local_point.y = projected_local_point.y(); - local_point.z = projected_local_point.z(); - - return local_point; -} - -GeoPoint project_reverse(const LocalPoint & local_point, const MapProjectorInfo & projector_info) -{ - std::unique_ptr projector = get_lanelet2_projector(projector_info); - - lanelet::GPSPoint projected_gps_point; - if (projector_info.projector_type == MapProjectorInfo::MGRS) { - const auto mgrs_projector = dynamic_cast(projector.get()); - // project latitude and longitude using projector - // note that the z is ignored in MGRS projection conventionally - projected_gps_point = - mgrs_projector->reverse(to_basic_point_3d_pt(local_point), projector_info.mgrs_grid); - } else { - // project latitude and longitude using projector - // note that the original projector such as UTM projector does not compensate for the altitude - // offset - projected_gps_point = projector->reverse(to_basic_point_3d_pt(local_point)); - - // correct altitude based on the map origin - // note that the converted altitude in local point is in the same vertical datum as the geo - // point - projected_gps_point.ele = local_point.z + projector_info.map_origin.altitude; - } - - GeoPoint geo_point; - geo_point.latitude = projected_gps_point.lat; - geo_point.longitude = projected_gps_point.lon; - geo_point.altitude = projected_gps_point.ele; - return geo_point; -} - -} // namespace autoware::geography_utils diff --git a/common/autoware_geography_utils/test/test_height.cpp b/common/autoware_geography_utils/test/test_height.cpp deleted file mode 100644 index f624f6c3ff9e3..0000000000000 --- a/common/autoware_geography_utils/test/test_height.cpp +++ /dev/null @@ -1,86 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include - -#include - -#include -#include - -// Test case to verify if same source and target datums return original height -TEST(GeographyUtils, SameSourceTargetDatum) -{ - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - const std::string datum = "WGS84"; - - double converted_height = - autoware::geography_utils::convert_height(height, latitude, longitude, datum, datum); - - EXPECT_DOUBLE_EQ(height, converted_height); -} - -// Test case to verify valid source and target datums -TEST(GeographyUtils, ValidSourceTargetDatum) -{ - // Calculated with - // https://www.unavco.org/software/geodetic-utilities/geoid-height-calculator/geoid-height-calculator.html - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - const double target_height = -30.18; - - double converted_height = - autoware::geography_utils::convert_height(height, latitude, longitude, "WGS84", "EGM2008"); - - EXPECT_NEAR(target_height, converted_height, 0.1); -} - -// Test case to verify invalid source and target datums -TEST(GeographyUtils, InvalidSourceTargetDatum) -{ - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - - EXPECT_THROW( - autoware::geography_utils::convert_height(height, latitude, longitude, "INVALID1", "INVALID2"), - std::invalid_argument); -} - -// Test case to verify invalid source datums -TEST(GeographyUtils, InvalidSourceDatum) -{ - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - - EXPECT_THROW( - autoware::geography_utils::convert_height(height, latitude, longitude, "INVALID1", "WGS84"), - std::invalid_argument); -} - -// Test case to verify invalid target datums -TEST(GeographyUtils, InvalidTargetDatum) -{ - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - - EXPECT_THROW( - autoware::geography_utils::convert_height(height, latitude, longitude, "WGS84", "INVALID2"), - std::invalid_argument); -} diff --git a/common/autoware_geography_utils/test/test_projection.cpp b/common/autoware_geography_utils/test/test_projection.cpp deleted file mode 100644 index 3355dbf8a50ea..0000000000000 --- a/common/autoware_geography_utils/test/test_projection.cpp +++ /dev/null @@ -1,161 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include - -#include - -#include -#include - -TEST(GeographyUtilsProjection, ProjectForwardToMGRS) -{ - // source point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62426; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // target point - geometry_msgs::msg::Point local_point; - local_point.x = 86128.0; - local_point.y = 43002.0; - local_point.z = 10.0; - - // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; - projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; - - // conversion - const geometry_msgs::msg::Point converted_point = - autoware::geography_utils::project_forward(geo_point, projector_info); - - EXPECT_NEAR(converted_point.x, local_point.x, 1.0); - EXPECT_NEAR(converted_point.y, local_point.y, 1.0); - EXPECT_NEAR(converted_point.z, local_point.z, 1.0); -} - -TEST(GeographyUtilsProjection, ProjectReverseFromMGRS) -{ - // source point - geometry_msgs::msg::Point local_point; - local_point.x = 86128.0; - local_point.y = 43002.0; - local_point.z = 10.0; - - // target point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62426; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; - projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; - - // conversion - const geographic_msgs::msg::GeoPoint converted_point = - autoware::geography_utils::project_reverse(local_point, projector_info); - - EXPECT_NEAR(converted_point.latitude, geo_point.latitude, 0.0001); - EXPECT_NEAR(converted_point.longitude, geo_point.longitude, 0.0001); - EXPECT_NEAR(converted_point.altitude, geo_point.altitude, 0.0001); -} - -TEST(GeographyUtilsProjection, ProjectForwardAndReverseMGRS) -{ - // source point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62426; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; - projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; - - // conversion - const geometry_msgs::msg::Point converted_local_point = - autoware::geography_utils::project_forward(geo_point, projector_info); - const geographic_msgs::msg::GeoPoint converted_geo_point = - autoware::geography_utils::project_reverse(converted_local_point, projector_info); - - EXPECT_NEAR(converted_geo_point.latitude, geo_point.latitude, 0.0001); - EXPECT_NEAR(converted_geo_point.longitude, geo_point.longitude, 0.0001); - EXPECT_NEAR(converted_geo_point.altitude, geo_point.altitude, 0.0001); -} - -TEST(GeographyUtilsProjection, ProjectForwardToLocalCartesianUTMOrigin) -{ - // source point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62406; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // target point - geometry_msgs::msg::Point local_point; - local_point.x = 0.0; - local_point.y = -22.18; - local_point.z = 20.0; - - // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; - projector_info.map_origin.latitude = 35.62426; - projector_info.map_origin.longitude = 139.74252; - projector_info.map_origin.altitude = -10.0; - - // conversion - const geometry_msgs::msg::Point converted_point = - autoware::geography_utils::project_forward(geo_point, projector_info); - - EXPECT_NEAR(converted_point.x, local_point.x, 1.0); - EXPECT_NEAR(converted_point.y, local_point.y, 1.0); - EXPECT_NEAR(converted_point.z, local_point.z, 1.0); -} - -TEST(GeographyUtilsProjection, ProjectForwardAndReverseLocalCartesianUTMOrigin) -{ - // source point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62426; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; - projector_info.map_origin.latitude = 35.0; - projector_info.map_origin.longitude = 139.0; - projector_info.map_origin.altitude = 0.0; - - // conversion - const geometry_msgs::msg::Point converted_local_point = - autoware::geography_utils::project_forward(geo_point, projector_info); - const geographic_msgs::msg::GeoPoint converted_geo_point = - autoware::geography_utils::project_reverse(converted_local_point, projector_info); - - EXPECT_NEAR(converted_geo_point.latitude, geo_point.latitude, 0.0001); - EXPECT_NEAR(converted_geo_point.longitude, geo_point.longitude, 0.0001); - EXPECT_NEAR(converted_geo_point.altitude, geo_point.altitude, 0.0001); -} diff --git a/common/autoware_global_parameter_loader/CHANGELOG.rst b/common/autoware_global_parameter_loader/CHANGELOG.rst new file mode 100644 index 0000000000000..d778018320271 --- /dev/null +++ b/common/autoware_global_parameter_loader/CHANGELOG.rst @@ -0,0 +1,118 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package global_parameter_loader +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) + * chore(autoware_vehicle_info_utils): rename header + * chore(bpp-common): vehicle info + * chore(path_optimizer): vehicle info + * chore(velocity_smoother): vehicle info + * chore(bvp-common): vehicle info + * chore(static_centerline_generator): vehicle info + * chore(obstacle_cruise_planner): vehicle info + * chore(obstacle_velocity_limiter): vehicle info + * chore(mission_planner): vehicle info + * chore(obstacle_stop_planner): vehicle info + * chore(planning_validator): vehicle info + * chore(surround_obstacle_checker): vehicle info + * chore(goal_planner): vehicle info + * chore(start_planner): vehicle info + * chore(control_performance_analysis): vehicle info + * chore(lane_departure_checker): vehicle info + * chore(predicted_path_checker): vehicle info + * chore(vehicle_cmd_gate): vehicle info + * chore(obstacle_collision_checker): vehicle info + * chore(operation_mode_transition_manager): vehicle info + * chore(mpc): vehicle info + * chore(control): vehicle info + * chore(common): vehicle info + * chore(perception): vehicle info + * chore(evaluator): vehicle info + * chore(freespace): vehicle info + * chore(planning): vehicle info + * chore(vehicle): vehicle info + * chore(simulator): vehicle info + * chore(launch): vehicle info + * chore(system): vehicle info + * chore(sensing): vehicle info + * fix(autoware_joy_controller): remove unused deps + --------- +* revert: feat(global_parameter_loader): add gtest to global parameter loader (`#6872 `_) + Revert "feat(global_parameter_loader): add gtest to global parameter loader (…" + This reverts commit dfec62ac277f893fd6276e3c6ffd9c7d4f475225. +* feat(global_parameter_loader): add gtest to global parameter loader (`#5021 `_) + * add remote + * feat(global_parameter_loader): add gtest of global-parameter-loader + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* Contributors: Hiroki OTA, Satoshi OTA, Yutaka Kondo, cyn-liu + +0.26.0 (2024-04-03) +------------------- +* chore: update maintainer (`#4140 `_) + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* style: fix format of package.xml (`#844 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) + * autoware_api_utils -> tier4_api_utils + * autoware_debug_tools -> tier4_debug_tools + * autoware_error_monitor -> system_error_monitor + * autoware_utils -> tier4_autoware_utils + * autoware_global_parameter_loader -> global_parameter_loader + * autoware_iv_auto_msgs_converter -> tier4_auto_msgs_converter + * autoware_joy_controller -> joy_controller + * autoware_error_monitor -> system_error_monitor(launch) + * autoware_state_monitor -> ad_service_state_monitor + * autoware_web_controller -> web_controller + * remove autoware_version + * remove autoware_rosbag_recorder + * autoware\_*_rviz_plugin -> tier4\_*_rviz_plugin + * fix ad_service_state_monitor + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Kenji Miyake, Tomoya Kimura, Vincent Richard diff --git a/common/global_parameter_loader/CMakeLists.txt b/common/autoware_global_parameter_loader/CMakeLists.txt similarity index 77% rename from common/global_parameter_loader/CMakeLists.txt rename to common/autoware_global_parameter_loader/CMakeLists.txt index e67ae1a5c06fc..fe47ffc0c845b 100644 --- a/common/global_parameter_loader/CMakeLists.txt +++ b/common/autoware_global_parameter_loader/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(global_parameter_loader) +project(autoware_global_parameter_loader) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/global_parameter_loader/Readme.md b/common/autoware_global_parameter_loader/Readme.md similarity index 83% rename from common/global_parameter_loader/Readme.md rename to common/autoware_global_parameter_loader/Readme.md index 53cb9e11e096f..7b818c26a87f2 100644 --- a/common/global_parameter_loader/Readme.md +++ b/common/autoware_global_parameter_loader/Readme.md @@ -8,7 +8,7 @@ Add the following lines to the launch file of the node in which you want to get ```xml - + ``` diff --git a/common/global_parameter_loader/launch/global_params.launch.py b/common/autoware_global_parameter_loader/launch/global_params.launch.py similarity index 100% rename from common/global_parameter_loader/launch/global_params.launch.py rename to common/autoware_global_parameter_loader/launch/global_params.launch.py diff --git a/common/global_parameter_loader/package.xml b/common/autoware_global_parameter_loader/package.xml similarity index 80% rename from common/global_parameter_loader/package.xml rename to common/autoware_global_parameter_loader/package.xml index 472ef0c063430..8238e5852284f 100644 --- a/common/global_parameter_loader/package.xml +++ b/common/autoware_global_parameter_loader/package.xml @@ -1,9 +1,9 @@ - global_parameter_loader - 0.1.0 - The global_parameter_loader package + autoware_global_parameter_loader + 0.40.0 + The autoware_global_parameter_loader package Ryohsuke Mitsudome Apache License 2.0 diff --git a/common/autoware_glog_component/CHANGELOG.rst b/common/autoware_glog_component/CHANGELOG.rst new file mode 100644 index 0000000000000..e9176b6524049 --- /dev/null +++ b/common/autoware_glog_component/CHANGELOG.rst @@ -0,0 +1,56 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package glog_component +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(glog): add initialization check (`#6792 `_) +* Contributors: Takamasa Horibe, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* feat(glog): add glog in planning and control modules (`#4714 `_) + * feat(glog): add glog component + * formatting + * remove namespace + * remove license + * Update launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update common/glog_component/CMakeLists.txt + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update launch/tier4_control_launch/launch/control.launch.py + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * add copyright + --------- + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> +* Contributors: Takamasa Horibe diff --git a/common/autoware_glog_component/CMakeLists.txt b/common/autoware_glog_component/CMakeLists.txt new file mode 100644 index 0000000000000..37e2862517bc1 --- /dev/null +++ b/common/autoware_glog_component/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_glog_component) + +find_package(autoware_cmake REQUIRED) +autoware_package() + + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/glog_component.cpp +) +target_link_libraries(${PROJECT_NAME} glog::glog) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::glog_component::GlogComponent" + EXECUTABLE ${PROJECT_NAME}_node +) + +ament_auto_package() diff --git a/common/glog_component/README.md b/common/autoware_glog_component/README.md similarity index 88% rename from common/glog_component/README.md rename to common/autoware_glog_component/README.md index 94a40fe32e40d..ae8d8e5b9b8f2 100644 --- a/common/glog_component/README.md +++ b/common/autoware_glog_component/README.md @@ -10,8 +10,8 @@ When you load the `glog_component` in container, the launch file can be like bel ```py glog_component = ComposableNode( - package="glog_component", - plugin="GlogComponent", + package="autoware_glog_component", + plugin="autoware::glog_component::GlogComponent", name="glog_component", ) diff --git a/common/glog_component/include/glog_component/glog_component.hpp b/common/autoware_glog_component/include/autoware/glog_component/glog_component.hpp similarity index 75% rename from common/glog_component/include/glog_component/glog_component.hpp rename to common/autoware_glog_component/include/autoware/glog_component/glog_component.hpp index d940363d75ac4..8e0a45d4e32c8 100644 --- a/common/glog_component/include/glog_component/glog_component.hpp +++ b/common/autoware_glog_component/include/autoware/glog_component/glog_component.hpp @@ -12,17 +12,22 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GLOG_COMPONENT__GLOG_COMPONENT_HPP_ -#define GLOG_COMPONENT__GLOG_COMPONENT_HPP_ +#ifndef AUTOWARE__GLOG_COMPONENT__GLOG_COMPONENT_HPP_ +#define AUTOWARE__GLOG_COMPONENT__GLOG_COMPONENT_HPP_ #include #include +namespace autoware::glog_component +{ + class GlogComponent : public rclcpp::Node { public: explicit GlogComponent(const rclcpp::NodeOptions & node_options); }; -#endif // GLOG_COMPONENT__GLOG_COMPONENT_HPP_ +} // namespace autoware::glog_component + +#endif // AUTOWARE__GLOG_COMPONENT__GLOG_COMPONENT_HPP_ diff --git a/common/glog_component/package.xml b/common/autoware_glog_component/package.xml similarity index 83% rename from common/glog_component/package.xml rename to common/autoware_glog_component/package.xml index 6feedd090f2c6..eab95fa8944d3 100644 --- a/common/glog_component/package.xml +++ b/common/autoware_glog_component/package.xml @@ -1,9 +1,9 @@ - glog_component - 0.1.0 - The glog_component package + autoware_glog_component + 0.40.0 + The autoware_glog_component package Takamasa Horibe Apache License 2.0 diff --git a/common/glog_component/src/glog_component.cpp b/common/autoware_glog_component/src/glog_component.cpp similarity index 81% rename from common/glog_component/src/glog_component.cpp rename to common/autoware_glog_component/src/glog_component.cpp index 7fd9c923d23c9..cddfd206668be 100644 --- a/common/glog_component/src/glog_component.cpp +++ b/common/autoware_glog_component/src/glog_component.cpp @@ -12,7 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "glog_component/glog_component.hpp" +#include "autoware/glog_component/glog_component.hpp" + +namespace autoware::glog_component +{ GlogComponent::GlogComponent(const rclcpp::NodeOptions & node_options) : Node("glog_component", node_options) @@ -23,5 +26,7 @@ GlogComponent::GlogComponent(const rclcpp::NodeOptions & node_options) } } +} // namespace autoware::glog_component + #include -RCLCPP_COMPONENTS_REGISTER_NODE(GlogComponent) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::glog_component::GlogComponent) diff --git a/common/autoware_goal_distance_calculator/CHANGELOG.rst b/common/autoware_goal_distance_calculator/CHANGELOG.rst new file mode 100644 index 0000000000000..df190270e02ab --- /dev/null +++ b/common/autoware_goal_distance_calculator/CHANGELOG.rst @@ -0,0 +1,52 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_goal_distance_calculator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(goal_distance_calculator): prefix package and namespace with autoware (`#9172 `_) + * refactor(goal_distance_calculator): prefix package and namespace with autoware + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_goal_distance_calculator/CMakeLists.txt b/common/autoware_goal_distance_calculator/CMakeLists.txt new file mode 100644 index 0000000000000..f6d326dd110af --- /dev/null +++ b/common/autoware_goal_distance_calculator/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_goal_distance_calculator) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/goal_distance_calculator_node.cpp + src/goal_distance_calculator.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::goal_distance_calculator::GoalDistanceCalculatorNode" + EXECUTABLE autoware_goal_distance_calculator_node +) + +ament_auto_package( + INSTALL_TO_SHARE + launch + config +) diff --git a/common/goal_distance_calculator/Readme.md b/common/autoware_goal_distance_calculator/Readme.md similarity index 98% rename from common/goal_distance_calculator/Readme.md rename to common/autoware_goal_distance_calculator/Readme.md index 062b23baabe47..28a1e2fada086 100644 --- a/common/goal_distance_calculator/Readme.md +++ b/common/autoware_goal_distance_calculator/Readme.md @@ -1,4 +1,4 @@ -# goal_distance_calculator +# autoware_goal_distance_calculator ## Purpose diff --git a/common/goal_distance_calculator/config/goal_distance_calculator.param.yaml b/common/autoware_goal_distance_calculator/config/goal_distance_calculator.param.yaml similarity index 100% rename from common/goal_distance_calculator/config/goal_distance_calculator.param.yaml rename to common/autoware_goal_distance_calculator/config/goal_distance_calculator.param.yaml diff --git a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp similarity index 79% rename from common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp rename to common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp index 69c8840b39421..99bc9bd73d140 100644 --- a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp +++ b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ -#define GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ +#ifndef AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ +#define AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ #include #include @@ -23,7 +23,7 @@ #include -namespace goal_distance_calculator +namespace autoware::goal_distance_calculator { using autoware::universe_utils::PoseDeviation; @@ -52,6 +52,6 @@ class GoalDistanceCalculator private: Param param_; }; -} // namespace goal_distance_calculator +} // namespace autoware::goal_distance_calculator -#endif // GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ +#endif // AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ diff --git a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp similarity index 82% rename from common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp rename to common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp index 602688ffe51d7..f6f617292ab15 100644 --- a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp +++ b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ -#define GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ +#ifndef AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ +#define AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ -#include "goal_distance_calculator/goal_distance_calculator.hpp" +#include "autoware/goal_distance_calculator/goal_distance_calculator.hpp" #include #include @@ -30,7 +30,7 @@ #include -namespace goal_distance_calculator +namespace autoware::goal_distance_calculator { struct NodeParam { @@ -66,5 +66,5 @@ class GoalDistanceCalculatorNode : public rclcpp::Node // Core std::unique_ptr goal_distance_calculator_; }; -} // namespace goal_distance_calculator -#endif // GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ +} // namespace autoware::goal_distance_calculator +#endif // AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ diff --git a/common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml b/common/autoware_goal_distance_calculator/launch/goal_distance_calculator.launch.xml similarity index 55% rename from common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml rename to common/autoware_goal_distance_calculator/launch/goal_distance_calculator.launch.xml index 7ba2eb45c9233..d35d17361bcb9 100644 --- a/common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml +++ b/common/autoware_goal_distance_calculator/launch/goal_distance_calculator.launch.xml @@ -1,6 +1,6 @@ - + diff --git a/common/goal_distance_calculator/package.xml b/common/autoware_goal_distance_calculator/package.xml similarity index 83% rename from common/goal_distance_calculator/package.xml rename to common/autoware_goal_distance_calculator/package.xml index 04ea8a37a5053..903d77515f262 100644 --- a/common/goal_distance_calculator/package.xml +++ b/common/autoware_goal_distance_calculator/package.xml @@ -1,9 +1,9 @@ - goal_distance_calculator - 0.0.0 - The goal_distance_calculator package + autoware_goal_distance_calculator + 0.40.0 + The autoware_goal_distance_calculator package Taiki Tanaka Apache License 2.0 diff --git a/common/goal_distance_calculator/schema/goal_distance_calculator.schema.json b/common/autoware_goal_distance_calculator/schema/goal_distance_calculator.schema.json similarity index 100% rename from common/goal_distance_calculator/schema/goal_distance_calculator.schema.json rename to common/autoware_goal_distance_calculator/schema/goal_distance_calculator.schema.json diff --git a/common/goal_distance_calculator/src/goal_distance_calculator.cpp b/common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp similarity index 83% rename from common/goal_distance_calculator/src/goal_distance_calculator.cpp rename to common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp index a577d43675224..0bf1d5d5f54bc 100755 --- a/common/goal_distance_calculator/src/goal_distance_calculator.cpp +++ b/common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "goal_distance_calculator/goal_distance_calculator.hpp" +#include "autoware/goal_distance_calculator/goal_distance_calculator.hpp" -namespace goal_distance_calculator +namespace autoware::goal_distance_calculator { Output GoalDistanceCalculator::update(const Input & input) { @@ -26,4 +26,4 @@ Output GoalDistanceCalculator::update(const Input & input) return output; } -} // namespace goal_distance_calculator +} // namespace autoware::goal_distance_calculator diff --git a/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp b/common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp similarity index 93% rename from common/goal_distance_calculator/src/goal_distance_calculator_node.cpp rename to common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp index 24d54ee2fcf87..c00a2e9bb452d 100644 --- a/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp +++ b/common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "goal_distance_calculator/goal_distance_calculator_node.hpp" +#include "autoware/goal_distance_calculator/goal_distance_calculator_node.hpp" #include #include @@ -26,7 +26,7 @@ #include #include -namespace goal_distance_calculator +namespace autoware::goal_distance_calculator { GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions & options) : Node("goal_distance_calculator", options), @@ -117,7 +117,7 @@ void GoalDistanceCalculatorNode::onTimer() rclcpp::shutdown(); } } -} // namespace goal_distance_calculator +} // namespace autoware::goal_distance_calculator #include -RCLCPP_COMPONENTS_REGISTER_NODE(goal_distance_calculator::GoalDistanceCalculatorNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::goal_distance_calculator::GoalDistanceCalculatorNode) diff --git a/common/autoware_grid_map_utils/CHANGELOG.rst b/common/autoware_grid_map_utils/CHANGELOG.rst new file mode 100644 index 0000000000000..7a1b19b90a958 --- /dev/null +++ b/common/autoware_grid_map_utils/CHANGELOG.rst @@ -0,0 +1,54 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_grid_map_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(grid_map_utils): add autoware prefix and namespace (`#7487 `_) +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_grid_map_utils/include/autoware_grid_map_utils/polygon_iterator.hpp b/common/autoware_grid_map_utils/include/autoware/grid_map_utils/polygon_iterator.hpp similarity index 96% rename from common/autoware_grid_map_utils/include/autoware_grid_map_utils/polygon_iterator.hpp rename to common/autoware_grid_map_utils/include/autoware/grid_map_utils/polygon_iterator.hpp index 9bb82e7be50ea..a7bea0bcc8348 100644 --- a/common/autoware_grid_map_utils/include/autoware_grid_map_utils/polygon_iterator.hpp +++ b/common/autoware_grid_map_utils/include/autoware/grid_map_utils/polygon_iterator.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ -#define AUTOWARE_GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ +#ifndef AUTOWARE__GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ +#define AUTOWARE__GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ #include "grid_map_core/TypeDefs.hpp" @@ -126,4 +126,4 @@ class PolygonIterator }; } // namespace autoware::grid_map_utils -#endif // AUTOWARE_GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ +#endif // AUTOWARE__GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ diff --git a/common/autoware_grid_map_utils/package.xml b/common/autoware_grid_map_utils/package.xml index d8344b08f2341..bf89abc507173 100644 --- a/common/autoware_grid_map_utils/package.xml +++ b/common/autoware_grid_map_utils/package.xml @@ -2,7 +2,7 @@ autoware_grid_map_utils - 0.0.0 + 0.40.0 Utilities for the grid_map library Maxime CLEMENT Apache License 2.0 diff --git a/common/autoware_grid_map_utils/src/polygon_iterator.cpp b/common/autoware_grid_map_utils/src/polygon_iterator.cpp index 1360ad6e6c255..47ff9a9e5957f 100644 --- a/common/autoware_grid_map_utils/src/polygon_iterator.cpp +++ b/common/autoware_grid_map_utils/src/polygon_iterator.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_grid_map_utils/polygon_iterator.hpp" +#include "autoware/grid_map_utils/polygon_iterator.hpp" #include "grid_map_core/GridMap.hpp" #include "grid_map_core/Polygon.hpp" @@ -21,6 +21,7 @@ #include #include #include +#include namespace autoware::grid_map_utils { diff --git a/common/autoware_grid_map_utils/test/benchmark.cpp b/common/autoware_grid_map_utils/test/benchmark.cpp index a63ed9985fef1..1498b1f7f4e0b 100644 --- a/common/autoware_grid_map_utils/test/benchmark.cpp +++ b/common/autoware_grid_map_utils/test/benchmark.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_grid_map_utils/polygon_iterator.hpp" +#include "autoware/grid_map_utils/polygon_iterator.hpp" #include "grid_map_core/TypeDefs.hpp" #include "grid_map_cv/GridMapCvConverter.hpp" #include "grid_map_cv/GridMapCvProcessing.hpp" diff --git a/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp b/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp index 1646586853800..36cff60fc4abe 100644 --- a/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp +++ b/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_grid_map_utils/polygon_iterator.hpp" +#include "autoware/grid_map_utils/polygon_iterator.hpp" #include #include diff --git a/common/autoware_interpolation/CHANGELOG.rst b/common/autoware_interpolation/CHANGELOG.rst new file mode 100644 index 0000000000000..37fc48c525a49 --- /dev/null +++ b/common/autoware_interpolation/CHANGELOG.rst @@ -0,0 +1,51 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_interpolation +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_interpolation/package.xml b/common/autoware_interpolation/package.xml index d2538bd602f45..3bad757405ed4 100644 --- a/common/autoware_interpolation/package.xml +++ b/common/autoware_interpolation/package.xml @@ -2,7 +2,7 @@ autoware_interpolation - 0.1.0 + 0.40.0 The spline interpolation package Fumiya Watanabe Takayuki Murooka diff --git a/common/autoware_interpolation/src/spherical_linear_interpolation.cpp b/common/autoware_interpolation/src/spherical_linear_interpolation.cpp index 697dda3b06770..5acdf6a9036a3 100644 --- a/common/autoware_interpolation/src/spherical_linear_interpolation.cpp +++ b/common/autoware_interpolation/src/spherical_linear_interpolation.cpp @@ -14,6 +14,8 @@ #include "autoware/interpolation/spherical_linear_interpolation.hpp" +#include + namespace autoware::interpolation { geometry_msgs::msg::Quaternion slerp( diff --git a/common/autoware_kalman_filter/CHANGELOG.rst b/common/autoware_kalman_filter/CHANGELOG.rst new file mode 100644 index 0000000000000..a7e68f8843e74 --- /dev/null +++ b/common/autoware_kalman_filter/CHANGELOG.rst @@ -0,0 +1,55 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_kalman_filter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) + * refactor(kalman_filter): prefix package and namespace with autoware + * move headers to include/autoware/ + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_kalman_filter/package.xml b/common/autoware_kalman_filter/package.xml index 7d36bfc47aecf..e51bb06e9de43 100644 --- a/common/autoware_kalman_filter/package.xml +++ b/common/autoware_kalman_filter/package.xml @@ -2,7 +2,7 @@ autoware_kalman_filter - 0.1.0 + 0.40.0 The kalman filter package Yukihiro Saito Takeshi Ishita diff --git a/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp b/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp index 31c1c768d7173..4d1dd8f33b7a6 100644 --- a/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp +++ b/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp @@ -14,6 +14,8 @@ #include "autoware/kalman_filter/time_delay_kalman_filter.hpp" +#include + namespace autoware::kalman_filter { TimeDelayKalmanFilter::TimeDelayKalmanFilter() diff --git a/common/autoware_motion_utils/CHANGELOG.rst b/common/autoware_motion_utils/CHANGELOG.rst new file mode 100644 index 0000000000000..187ddda4acd39 --- /dev/null +++ b/common/autoware_motion_utils/CHANGELOG.rst @@ -0,0 +1,206 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_motion_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(factor): move steering factor interface to motion utils (`#9337 `_) +* feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory (`#9299 `_) + * feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory + * update + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_motion_utils): add new trajectory class (`#8693 `_) + * feat(autoware_motion_utils): add interpolator + * use int32_t instead of int + * use int32_t instead of int + * use int32_t instead of int + * add const as much as possible and use `at()` in `vector` + * fix directory name + * refactor code and add example + * update + * remove unused include + * refactor code + * add clone function + * fix stairstep + * make constructor to public + * feat(autoware_motion_utils): add trajectory class + * Update CMakeLists.txt + * fix + * fix package.xml + * update crop + * revert crtp change + * update package.xml + * updating... + * update + * solve build problem + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_motion_utils): add new trajectory class (`#8693 `_) + * feat(autoware_motion_utils): add interpolator + * use int32_t instead of int + * use int32_t instead of int + * use int32_t instead of int + * add const as much as possible and use `at()` in `vector` + * fix directory name + * refactor code and add example + * update + * remove unused include + * refactor code + * add clone function + * fix stairstep + * make constructor to public + * feat(autoware_motion_utils): add trajectory class + * Update CMakeLists.txt + * fix + * fix package.xml + * update crop + * revert crtp change + * update package.xml + * updating... + * update + * solve build problem + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Yukinari Hisaki, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(autoware_motion_utils): add spherical linear interpolator (`#9175 `_) +* test(motion_utils): add test for path shift (`#9083 `_) + * remove unused function + * mover path shifter utils function to autoware motion utils + * minor change in license header + * fix warning message + * remove header file + * add test file + * add unit test to all function + * fix spelling + --------- +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) + * remove unused function + * mover path shifter utils function to autoware motion utils + * minor change in license header + * fix warning message + * remove header file + --------- +* refactor(autoware_motion_utils): refactor interpolator (`#8931 `_) + * refactor interpolator + * update cmake + * update + * rename + * Update CMakeLists.txt + --------- +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* feat(autoware_motion_utils): set zero velocity after stop in resample trajectory (`#8768 `_) + * feat(autoware_motion_utils): set zero velocity after stop in resample trajectory + * fix unit test + * simplify implementation + * update comment and add test + --------- +* fix(autoware_motion_utils): fix unusedFunction (`#8733 `_) + refactor:remove Path/Trajectory length calculation between designated points +* feat(autoware_motion_utils): add clone function and make the constructor public (`#8688 `_) + * feat(autoware_motion_utils): add interpolator + * use int32_t instead of int + * use int32_t instead of int + * use int32_t instead of int + * add const as much as possible and use `at()` in `vector` + * fix directory name + * refactor code and add example + * update + * remove unused include + * refactor code + * add clone function + * fix stairstep + * make constructor to public + --------- +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* feat(autoware_motion_utils): add interpolator (`#8517 `_) + * feat(autoware_motion_utils): add interpolator + * use int32_t instead of int + * use int32_t instead of int + * use int32_t instead of int + * add const as much as possible and use `at()` in `vector` + * fix directory name + * refactor code and add example + * update + * remove unused include + * refactor code + --------- +* fix(autoware_motion_utils): fix unusedFunction (`#8519 `_) + fix: unusedFunction +* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) + * fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength + * Update trajectory.hpp + Co-authored-by: Kyoichi Sugahara + * Update trajectory.hpp + Co-authored-by: Kyoichi Sugahara + --------- + Co-authored-by: Kyoichi Sugahara +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* Contributors: Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Maxime CLEMENT, Nagi70, Yukinari Hisaki, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_motion_utils/CMakeLists.txt b/common/autoware_motion_utils/CMakeLists.txt index 8cae2a8ac4110..4c36ef2f4e70d 100644 --- a/common/autoware_motion_utils/CMakeLists.txt +++ b/common/autoware_motion_utils/CMakeLists.txt @@ -1,8 +1,6 @@ cmake_minimum_required(VERSION 3.14) project(autoware_motion_utils) -option(BUILD_EXAMPLES "Build examples" OFF) - find_package(autoware_cmake REQUIRED) autoware_package() @@ -24,28 +22,4 @@ if(BUILD_TESTING) ) endif() -if(BUILD_EXAMPLES) - message(STATUS "Building examples") - - include(FetchContent) - fetchcontent_declare( - matplotlibcpp17 - GIT_REPOSITORY https://github.com/soblin/matplotlibcpp17.git - GIT_TAG master - ) - fetchcontent_makeavailable(matplotlibcpp17) - - file(GLOB_RECURSE example_files examples/*.cpp) - - foreach(example_file ${example_files}) - get_filename_component(example_name ${example_file} NAME_WE) - ament_auto_add_executable(${example_name} ${example_file}) - set_source_files_properties(${example_file} PROPERTIES COMPILE_FLAGS -Wno-error -Wno-attributes -Wno-unused-parameter) - target_link_libraries(${example_name} - autoware_motion_utils - matplotlibcpp17::matplotlibcpp17 - ) - endforeach() -endif() - ament_auto_package() diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/factor/steering_factor_interface.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/factor/steering_factor_interface.hpp new file mode 100644 index 0000000000000..5b701a73ac543 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/factor/steering_factor_interface.hpp @@ -0,0 +1,51 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_ +#define AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_ + +#include +#include +#include + +#include + +namespace autoware::motion_utils +{ + +using autoware_adapi_v1_msgs::msg::PlanningBehavior; +using autoware_adapi_v1_msgs::msg::SteeringFactor; +using SteeringFactorBehavior = SteeringFactor::_behavior_type; +using SteeringFactorStatus = SteeringFactor::_status_type; +using geometry_msgs::msg::Pose; + +class SteeringFactorInterface +{ +public: + [[nodiscard]] SteeringFactor get() const { return steering_factor_; } + void init(const SteeringFactorBehavior & behavior) { behavior_ = behavior; } + void reset() { steering_factor_.behavior = PlanningBehavior::UNKNOWN; } + + void set( + const std::array & pose, const std::array distance, + const uint16_t direction, const uint16_t status, const std::string & detail = ""); + +private: + SteeringFactorBehavior behavior_{SteeringFactor::UNKNOWN}; + SteeringFactor steering_factor_{}; +}; + +} // namespace autoware::motion_utils + +#endif // AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_ diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp index 30eca6927db34..2fcde52ec7c81 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp @@ -44,6 +44,9 @@ class VelocityFactorInterface const std::vector & points, const Pose & curr_pose, const Pose & stop_pose, const VelocityFactorStatus status, const std::string & detail = ""); + void set( + const double & distance, const VelocityFactorStatus & status, const std::string & detail = ""); + private: VelocityFactorBehavior behavior_{VelocityFactor::UNKNOWN}; VelocityFactor velocity_factor_{}; diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/path_shift.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/path_shift.hpp new file mode 100644 index 0000000000000..f4602ffff83e4 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/path_shift.hpp @@ -0,0 +1,71 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_SHIFT_HPP_ +#define AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_SHIFT_HPP_ + +namespace autoware::motion_utils +{ +/** + * @brief Calculates the velocity required for shifting + * @param lateral lateral distance + * @param jerk lateral jerk + * @param longitudinal_distance longitudinal distance + * @return velocity + */ +double calc_feasible_velocity_from_jerk( + const double lateral, const double jerk, const double longitudinal_distance); + +/** + * @brief Calculates the lateral distance required for shifting + * @param longitudinal longitudinal distance + * @param jerk lateral jerk + * @param velocity velocity + * @return lateral distance + */ +double calc_lateral_dist_from_jerk( + const double longitudinal, const double jerk, const double velocity); + +/** + * @brief Calculates the lateral distance required for shifting + * @param lateral lateral distance + * @param jerk lateral jerk + * @param velocity velocity + * @return longitudinal distance + */ +double calc_longitudinal_dist_from_jerk( + const double lateral, const double jerk, const double velocity); + +/** + * @brief Calculates the total time required for shifting + * @param lateral lateral distance + * @param jerk lateral jerk + * @param acc lateral acceleration + * @return time + */ +double calc_shift_time_from_jerk(const double lateral, const double jerk, const double acc); + +/** + * @brief Calculates the required jerk from lateral/longitudinal distance + * @param lateral lateral distance + * @param longitudinal longitudinal distance + * @param velocity velocity + * @return jerk + */ +double calc_jerk_from_lat_lon_distance( + const double lateral, const double longitudinal, const double velocity); + +} // namespace autoware::motion_utils + +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_SHIFT_HPP_ diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp deleted file mode 100644 index a6a0c69744301..0000000000000 --- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp +++ /dev/null @@ -1,22 +0,0 @@ -// Copyright 2024 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_ -#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_ -#include -#include -#include -#include -#include -#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_ diff --git a/common/autoware_motion_utils/package.xml b/common/autoware_motion_utils/package.xml index 1fe2c4d8e1ea8..029985a53f020 100644 --- a/common/autoware_motion_utils/package.xml +++ b/common/autoware_motion_utils/package.xml @@ -2,7 +2,7 @@ autoware_motion_utils - 0.1.0 + 0.40.0 The autoware_motion_utils package Satoshi Ota Takayuki Murooka diff --git a/common/autoware_motion_utils/src/distance/distance.cpp b/common/autoware_motion_utils/src/distance/distance.cpp index d31e7ec709810..c218561beacec 100644 --- a/common/autoware_motion_utils/src/distance/distance.cpp +++ b/common/autoware_motion_utils/src/distance/distance.cpp @@ -14,6 +14,8 @@ #include "autoware/motion_utils/distance/distance.hpp" +#include + namespace autoware::motion_utils { namespace diff --git a/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp b/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp new file mode 100644 index 0000000000000..7f12e2972ec86 --- /dev/null +++ b/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp @@ -0,0 +1,34 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include + +namespace autoware::motion_utils +{ +void SteeringFactorInterface::set( + const std::array & pose, const std::array distance, const uint16_t direction, + const uint16_t status, const std::string & detail) +{ + steering_factor_.pose = pose; + std::array converted_distance{0.0, 0.0}; + for (int i = 0; i < 2; ++i) converted_distance[i] = static_cast(distance[i]); + steering_factor_.distance = converted_distance; + steering_factor_.behavior = behavior_; + steering_factor_.direction = direction; + steering_factor_.status = status; + steering_factor_.detail = detail; +} +} // namespace autoware::motion_utils diff --git a/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp b/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp index e405cdb655c02..cfa3c91eac43e 100644 --- a/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp +++ b/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp @@ -19,6 +19,9 @@ #include #include +#include +#include + namespace autoware::motion_utils { template @@ -36,6 +39,15 @@ void VelocityFactorInterface::set( velocity_factor_.detail = detail; } +void VelocityFactorInterface::set( + const double & distance, const VelocityFactorStatus & status, const std::string & detail) +{ + velocity_factor_.behavior = behavior_; + velocity_factor_.distance = static_cast(distance); + velocity_factor_.status = status; + velocity_factor_.detail = detail; +} + template void VelocityFactorInterface::set( const std::vector &, const Pose &, const Pose &, const VelocityFactorStatus, const std::string &); diff --git a/common/autoware_motion_utils/src/marker/marker_helper.cpp b/common/autoware_motion_utils/src/marker/marker_helper.cpp index 29462afcb5b76..91ad1c41eecc3 100644 --- a/common/autoware_motion_utils/src/marker/marker_helper.cpp +++ b/common/autoware_motion_utils/src/marker/marker_helper.cpp @@ -20,6 +20,8 @@ #include +#include + using autoware::universe_utils::createDefaultMarker; using autoware::universe_utils::createDeletedDefaultMarker; using autoware::universe_utils::createMarkerColor; diff --git a/common/autoware_motion_utils/src/resample/resample.cpp b/common/autoware_motion_utils/src/resample/resample.cpp index 88ebf3f41c408..9e736444495fa 100644 --- a/common/autoware_motion_utils/src/resample/resample.cpp +++ b/common/autoware_motion_utils/src/resample/resample.cpp @@ -21,7 +21,10 @@ #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" +#include #include +#include +#include namespace autoware::motion_utils { diff --git a/common/autoware_motion_utils/src/trajectory/conversion.cpp b/common/autoware_motion_utils/src/trajectory/conversion.cpp index 368d3e0fbbb75..706dd6dae79af 100644 --- a/common/autoware_motion_utils/src/trajectory/conversion.cpp +++ b/common/autoware_motion_utils/src/trajectory/conversion.cpp @@ -15,6 +15,7 @@ #include "autoware/motion_utils/trajectory/conversion.hpp" #include +#include namespace autoware::motion_utils { diff --git a/common/autoware_motion_utils/src/trajectory/path_shift.cpp b/common/autoware_motion_utils/src/trajectory/path_shift.cpp new file mode 100644 index 0000000000000..8864128f94bd9 --- /dev/null +++ b/common/autoware_motion_utils/src/trajectory/path_shift.cpp @@ -0,0 +1,108 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/motion_utils/trajectory/path_shift.hpp" + +#include "autoware/motion_utils/trajectory/trajectory.hpp" + +#include +#include + +namespace autoware::motion_utils +{ +double calc_feasible_velocity_from_jerk( + const double lateral, const double jerk, const double longitudinal_distance) +{ + const double j = std::abs(jerk); + const double l = std::abs(lateral); + const double d = std::abs(longitudinal_distance); + if (j < 1.0e-8 || l < 1.0e-8) { + const std::string error_message( + std::string(__func__) + ": Failed to calculate velocity due to invalid arg"); + RCLCPP_WARN(get_logger(), "%s", error_message.c_str()); + return 1.0e10; + } + return d / (4.0 * std::pow(0.5 * l / j, 1.0 / 3.0)); +} + +double calc_lateral_dist_from_jerk( + const double longitudinal, const double jerk, const double velocity) +{ + const double j = std::abs(jerk); + const double d = std::abs(longitudinal); + const double v = std::abs(velocity); + + if (j < 1.0e-8 || v < 1.0e-8) { + const std::string error_message( + std::string(__func__) + ": Failed to calculate lateral distance due to invalid arg"); + RCLCPP_WARN(get_logger(), "%s", error_message.c_str()); + return 1.0e10; + } + return 2.0 * std::pow(d / (4.0 * v), 3.0) * j; +} + +double calc_longitudinal_dist_from_jerk( + const double lateral, const double jerk, const double velocity) +{ + const double j = std::abs(jerk); + const double l = std::abs(lateral); + const double v = std::abs(velocity); + if (j < 1.0e-8) { + const std::string error_message( + std::string(__func__) + ": Failed to calculate longitudinal distance due to invalid arg"); + RCLCPP_WARN(get_logger(), "%s", error_message.c_str()); + return 1.0e10; + } + return 4.0 * std::pow(0.5 * l / j, 1.0 / 3.0) * v; +} + +double calc_shift_time_from_jerk(const double lateral, const double jerk, const double acc) +{ + const double j = std::abs(jerk); + const double a = std::abs(acc); + const double l = std::abs(lateral); + if (j < 1.0e-8 || a < 1.0e-8) { + const std::string error_message( + std::string(__func__) + ": Failed to calculate shift time due to invalid arg"); + RCLCPP_WARN(get_logger(), "%s", error_message.c_str()); + return 1.0e10; // TODO(Horibe) maybe invalid arg? + } + + // time with constant jerk + double tj = a / j; + + // time with constant acceleration (zero jerk) + double ta = (std::sqrt(a * a + 4.0 * j * j * l / a) - 3.0 * a) / (2.0 * j); + + if (ta < 0.0) { + // it will not hit the acceleration limit this time + tj = std::pow(l / (2.0 * j), 1.0 / 3.0); + ta = 0.0; + } + + const double t_total = 4.0 * tj + 2.0 * ta; + return t_total; +} + +double calc_jerk_from_lat_lon_distance( + const double lateral, const double longitudinal, const double velocity) +{ + constexpr double ep = 1.0e-3; + const double lat = std::abs(lateral); + const double lon = std::max(std::abs(longitudinal), ep); + const double v = std::abs(velocity); + return 0.5 * lat * std::pow(4.0 * v / lon, 3); +} + +} // namespace autoware::motion_utils diff --git a/common/autoware_motion_utils/src/trajectory/trajectory.cpp b/common/autoware_motion_utils/src/trajectory/trajectory.cpp index 080d8ca8c7437..35e39fda75a69 100644 --- a/common/autoware_motion_utils/src/trajectory/trajectory.cpp +++ b/common/autoware_motion_utils/src/trajectory/trajectory.cpp @@ -14,6 +14,10 @@ #include "autoware/motion_utils/trajectory/trajectory.hpp" +#include +#include +#include + namespace autoware::motion_utils { diff --git a/common/autoware_motion_utils/test/src/marker/test_virtual_wall_marker_creator.cpp b/common/autoware_motion_utils/test/src/marker/test_virtual_wall_marker_creator.cpp index 5e2e0cc4bdf02..afce7f953e644 100644 --- a/common/autoware_motion_utils/test/src/marker/test_virtual_wall_marker_creator.cpp +++ b/common/autoware_motion_utils/test/src/marker/test_virtual_wall_marker_creator.cpp @@ -14,6 +14,9 @@ #include "autoware/motion_utils/marker/virtual_wall_marker_creator.hpp" #include "gtest/gtest.h" + +#include + namespace { constexpr auto wall_ns_suffix = "_virtual_wall"; diff --git a/common/autoware_motion_utils/test/src/resample/test_resample.cpp b/common/autoware_motion_utils/test/src/resample/test_resample.cpp index 68ead4b8c1520..ef97dfa410d2d 100644 --- a/common/autoware_motion_utils/test/src/resample/test_resample.cpp +++ b/common/autoware_motion_utils/test/src/resample/test_resample.cpp @@ -24,6 +24,7 @@ #include #include +#include namespace { diff --git a/common/autoware_motion_utils/test/src/trajectory/test_path_shift.cpp b/common/autoware_motion_utils/test/src/trajectory/test_path_shift.cpp new file mode 100644 index 0000000000000..fbdcc7a8f6f81 --- /dev/null +++ b/common/autoware_motion_utils/test/src/trajectory/test_path_shift.cpp @@ -0,0 +1,163 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/motion_utils/trajectory/path_shift.hpp" + +#include + +TEST(path_shift_test, calc_feasible_velocity_from_jerk) +{ + using autoware::motion_utils::calc_feasible_velocity_from_jerk; + + double longitudinal_distance = 0.0; + double lateral_distance = 0.0; + double lateral_jerk = 0.0; + + // Condition: zero lateral jerk + EXPECT_DOUBLE_EQ( + calc_feasible_velocity_from_jerk(lateral_distance, lateral_jerk, longitudinal_distance), + 1.0e10); + + // Condition: zero lateral distance + lateral_jerk = 1.0; + EXPECT_DOUBLE_EQ( + calc_feasible_velocity_from_jerk(lateral_distance, lateral_jerk, longitudinal_distance), + 1.0e10); + + // Condition: zero longitudinal distance + lateral_distance = 2.0; + EXPECT_DOUBLE_EQ( + calc_feasible_velocity_from_jerk(lateral_distance, lateral_jerk, longitudinal_distance), 0.0); + + // Condition: random condition + longitudinal_distance = 50.0; + EXPECT_DOUBLE_EQ( + calc_feasible_velocity_from_jerk(lateral_distance, lateral_jerk, longitudinal_distance), 12.5); +} + +TEST(path_shift_test, calc_lateral_dist_from_jerk) +{ + using autoware::motion_utils::calc_lateral_dist_from_jerk; + + double longitudinal_distance = 0.0; + double lateral_jerk = 0.0; + double velocity = 0.0; + + // Condition: zero lateral jerk + EXPECT_DOUBLE_EQ( + calc_lateral_dist_from_jerk(longitudinal_distance, lateral_jerk, velocity), 1.0e10); + + // Condition: zero velocity + lateral_jerk = 2.0; + EXPECT_DOUBLE_EQ( + calc_lateral_dist_from_jerk(longitudinal_distance, lateral_jerk, velocity), 1.0e10); + + // Condition: zero longitudinal distance + velocity = 10.0; + EXPECT_DOUBLE_EQ(calc_lateral_dist_from_jerk(longitudinal_distance, lateral_jerk, velocity), 0.0); + + // Condition: random condition + longitudinal_distance = 100.0; + EXPECT_DOUBLE_EQ( + calc_lateral_dist_from_jerk(longitudinal_distance, lateral_jerk, velocity), 62.5); +} + +TEST(path_shift_test, calc_longitudinal_dist_from_jerk) +{ + using autoware::motion_utils::calc_longitudinal_dist_from_jerk; + + double lateral_distance = 0.0; + double lateral_jerk = 0.0; + double velocity = 0.0; + + // Condition: zero lateral jerk + EXPECT_DOUBLE_EQ( + calc_longitudinal_dist_from_jerk(lateral_distance, lateral_jerk, velocity), 1.0e10); + + // Condition: zero lateral distance + lateral_jerk = -1.0; + velocity = 10.0; + EXPECT_DOUBLE_EQ(calc_longitudinal_dist_from_jerk(lateral_distance, lateral_jerk, velocity), 0.0); + + // Condition: zero velocity + velocity = 0.0; + lateral_distance = 54.0; + EXPECT_DOUBLE_EQ(calc_longitudinal_dist_from_jerk(lateral_distance, lateral_jerk, velocity), 0.0); + + // Condition: random + velocity = 8.0; + EXPECT_DOUBLE_EQ( + calc_longitudinal_dist_from_jerk(lateral_distance, lateral_jerk, velocity), 96.0); +} + +TEST(path_shift_test, calc_shift_time_from_jerk) +{ + constexpr double epsilon = 1e-6; + + using autoware::motion_utils::calc_shift_time_from_jerk; + + double lateral_distance = 0.0; + double lateral_jerk = 0.0; + double lateral_acceleration = 0.0; + + // Condition: zero lateral jerk + EXPECT_DOUBLE_EQ( + calc_shift_time_from_jerk(lateral_distance, lateral_jerk, lateral_acceleration), 1.0e10); + + // Condition: zero lateral acceleration + lateral_jerk = -2.0; + EXPECT_DOUBLE_EQ( + calc_shift_time_from_jerk(lateral_distance, lateral_jerk, lateral_acceleration), 1.0e10); + + // Condition: zero lateral distance + lateral_acceleration = -4.0; + EXPECT_DOUBLE_EQ( + calc_shift_time_from_jerk(lateral_distance, lateral_jerk, lateral_acceleration), 0.0); + + // Condition: random (TODO: use DOUBLE_EQ in future. currently not precise enough) + lateral_distance = 80.0; + EXPECT_NEAR( + calc_shift_time_from_jerk(lateral_distance, lateral_jerk, lateral_acceleration), 11.16515139, + epsilon); +} + +TEST(path_shift_test, calc_jerk_from_lat_lon_distance) +{ + using autoware::motion_utils::calc_jerk_from_lat_lon_distance; + + double lateral_distance = 0.0; + double longitudinal_distance = 100.0; + double velocity = 10.0; + + // Condition: zero lateral distance + EXPECT_DOUBLE_EQ( + calc_jerk_from_lat_lon_distance(lateral_distance, longitudinal_distance, velocity), 0.0); + + // Condition: zero velocity + lateral_distance = 5.0; + velocity = 0.0; + EXPECT_DOUBLE_EQ( + calc_jerk_from_lat_lon_distance(lateral_distance, longitudinal_distance, velocity), 0.0); + + // Condition: zero longitudinal distance + longitudinal_distance = 0.0; + velocity = 10.0; + EXPECT_DOUBLE_EQ( + calc_jerk_from_lat_lon_distance(lateral_distance, longitudinal_distance, velocity), 1.6 * 1e14); + + // Condition: random + longitudinal_distance = 100.0; + EXPECT_DOUBLE_EQ( + calc_jerk_from_lat_lon_distance(lateral_distance, longitudinal_distance, velocity), 0.16); +} diff --git a/common/autoware_motion_utils/test/src/trajectory/test_trajectory.cpp b/common/autoware_motion_utils/test/src/trajectory/test_trajectory.cpp index 4ff9b2a33ca13..f34365b08a943 100644 --- a/common/autoware_motion_utils/test/src/trajectory/test_trajectory.cpp +++ b/common/autoware_motion_utils/test/src/trajectory/test_trajectory.cpp @@ -21,6 +21,7 @@ #include #include +#include #include #include diff --git a/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp b/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp deleted file mode 100644 index 82c387c416436..0000000000000 --- a/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp +++ /dev/null @@ -1,73 +0,0 @@ -// Copyright 2024 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include - -#include - -#include -#include -#include - -template -class TestInterpolator : public ::testing::Test -{ -public: - std::optional interpolator; - std::vector bases; - std::vector values; - - void SetUp() override - { - // generate random values -1 to 1 - std::random_device rd; - std::mt19937 gen(rd()); - std::uniform_real_distribution<> dis(-1, 1); - bases.resize(10); - values.resize(10); - for (size_t i = 0; i < bases.size(); ++i) { - bases[i] = static_cast(i); - values[i] = dis(gen); - } - } -}; - -using Interpolators = testing::Types< - autoware::motion_utils::trajectory_container::interpolator::CubicSpline, - autoware::motion_utils::trajectory_container::interpolator::AkimaSpline, - autoware::motion_utils::trajectory_container::interpolator::Linear, - autoware::motion_utils::trajectory_container::interpolator::NearestNeighbor, - autoware::motion_utils::trajectory_container::interpolator::Stairstep>; - -TYPED_TEST_SUITE(TestInterpolator, Interpolators, ); - -TYPED_TEST(TestInterpolator, compute) -{ - this->interpolator = - typename TypeParam::Builder().set_bases(this->bases).set_values(this->values).build(); - for (size_t i = 0; i < this->bases.size(); ++i) { - EXPECT_NEAR(this->values[i], this->interpolator->compute(this->bases[i]), 1e-6); - } -} - -// Instantiate test cases for all interpolators -template class TestInterpolator< - autoware::motion_utils::trajectory_container::interpolator::CubicSpline>; -template class TestInterpolator< - autoware::motion_utils::trajectory_container::interpolator::AkimaSpline>; -template class TestInterpolator; -template class TestInterpolator< - autoware::motion_utils::trajectory_container::interpolator::NearestNeighbor>; -template class TestInterpolator< - autoware::motion_utils::trajectory_container::interpolator::Stairstep>; diff --git a/common/autoware_object_recognition_utils/CHANGELOG.rst b/common/autoware_object_recognition_utils/CHANGELOG.rst new file mode 100644 index 0000000000000..920106de22082 --- /dev/null +++ b/common/autoware_object_recognition_utils/CHANGELOG.rst @@ -0,0 +1,50 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_object_recognition_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/object_recognition_utils/CMakeLists.txt b/common/autoware_object_recognition_utils/CMakeLists.txt similarity index 79% rename from common/object_recognition_utils/CMakeLists.txt rename to common/autoware_object_recognition_utils/CMakeLists.txt index 4f05298573c18..9e1276db8d635 100644 --- a/common/object_recognition_utils/CMakeLists.txt +++ b/common/autoware_object_recognition_utils/CMakeLists.txt @@ -1,12 +1,12 @@ cmake_minimum_required(VERSION 3.14) -project(object_recognition_utils) +project(autoware_object_recognition_utils) find_package(autoware_cmake REQUIRED) autoware_package() find_package(Boost REQUIRED) -ament_auto_add_library(object_recognition_utils SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/predicted_path_utils.cpp src/conversion.cpp ) @@ -19,7 +19,7 @@ if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_object_recognition_utils ${test_files}) target_link_libraries(test_object_recognition_utils - object_recognition_utils + ${PROJECT_NAME} ) endif() diff --git a/common/object_recognition_utils/README.md b/common/autoware_object_recognition_utils/README.md similarity index 87% rename from common/object_recognition_utils/README.md rename to common/autoware_object_recognition_utils/README.md index 74a585e2dbd44..8d4eabd19c76d 100644 --- a/common/object_recognition_utils/README.md +++ b/common/autoware_object_recognition_utils/README.md @@ -1,4 +1,4 @@ -# object_recognition_utils +# autoware_object_recognition_utils ## Purpose diff --git a/common/object_recognition_utils/include/object_recognition_utils/conversion.hpp b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/conversion.hpp similarity index 80% rename from common/object_recognition_utils/include/object_recognition_utils/conversion.hpp rename to common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/conversion.hpp index 207f76a1c31a8..5b3be48cc2598 100644 --- a/common/object_recognition_utils/include/object_recognition_utils/conversion.hpp +++ b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/conversion.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_ -#define OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_ +#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_ +#define AUTOWARE__OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_ #include #include -namespace object_recognition_utils +namespace autoware::object_recognition_utils { using autoware_perception_msgs::msg::DetectedObject; using autoware_perception_msgs::msg::DetectedObjects; @@ -28,6 +28,6 @@ using autoware_perception_msgs::msg::TrackedObjects; DetectedObject toDetectedObject(const TrackedObject & tracked_object); DetectedObjects toDetectedObjects(const TrackedObjects & tracked_objects); TrackedObject toTrackedObject(const DetectedObject & detected_object); -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils -#endif // OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_ +#endif // AUTOWARE__OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_ diff --git a/common/object_recognition_utils/include/object_recognition_utils/geometry.hpp b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/geometry.hpp similarity index 85% rename from common/object_recognition_utils/include/object_recognition_utils/geometry.hpp rename to common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/geometry.hpp index 28cc9a786ecac..a5acc210d92be 100644 --- a/common/object_recognition_utils/include/object_recognition_utils/geometry.hpp +++ b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/geometry.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_ -#define OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_ +#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_ +#define AUTOWARE__OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_ #include #include #include #include -namespace object_recognition_utils +namespace autoware::object_recognition_utils { template geometry_msgs::msg::Pose getPose([[maybe_unused]] const T & p) @@ -52,6 +52,6 @@ inline geometry_msgs::msg::Pose getPose(const autoware_perception_msgs::msg::Pre { return obj.kinematics.initial_pose_with_covariance.pose; } -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils -#endif // OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_ +#endif // AUTOWARE__OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_ diff --git a/common/object_recognition_utils/include/object_recognition_utils/matching.hpp b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/matching.hpp similarity index 93% rename from common/object_recognition_utils/include/object_recognition_utils/matching.hpp rename to common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/matching.hpp index ae50227df1166..59c01c6d873e7 100644 --- a/common/object_recognition_utils/include/object_recognition_utils/matching.hpp +++ b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/matching.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECT_RECOGNITION_UTILS__MATCHING_HPP_ -#define OBJECT_RECOGNITION_UTILS__MATCHING_HPP_ +#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__MATCHING_HPP_ +#define AUTOWARE__OBJECT_RECOGNITION_UTILS__MATCHING_HPP_ +#include "autoware/object_recognition_utils/geometry.hpp" #include "autoware/universe_utils/geometry/boost_geometry.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" -#include "object_recognition_utils/geometry.hpp" #include @@ -26,7 +26,7 @@ #include #include -namespace object_recognition_utils +namespace autoware::object_recognition_utils { using autoware::universe_utils::Polygon2d; // minimum area to avoid division by zero @@ -126,6 +126,6 @@ double get2dRecall(const T1 source_object, const T2 target_object) return std::min(1.0, intersection_area / target_area); } -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils -#endif // OBJECT_RECOGNITION_UTILS__MATCHING_HPP_ +#endif // AUTOWARE__OBJECT_RECOGNITION_UTILS__MATCHING_HPP_ diff --git a/common/object_recognition_utils/include/object_recognition_utils/object_classification.hpp b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_classification.hpp similarity index 94% rename from common/object_recognition_utils/include/object_recognition_utils/object_classification.hpp rename to common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_classification.hpp index 4ffafc22339d6..432abcbe10c55 100644 --- a/common/object_recognition_utils/include/object_recognition_utils/object_classification.hpp +++ b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_classification.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_ -#define OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_ +#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_ +#define AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_ #include "autoware_perception_msgs/msg/object_classification.hpp" #include #include -namespace object_recognition_utils +namespace autoware::object_recognition_utils { using autoware_perception_msgs::msg::ObjectClassification; @@ -169,6 +169,6 @@ inline std::string convertLabelToString( return convertLabelToString(highest_prob_label); } -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils -#endif // OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_ +#endif // AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_ diff --git a/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_recognition_utils.hpp b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_recognition_utils.hpp new file mode 100644 index 0000000000000..d73e2e4dc67db --- /dev/null +++ b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_recognition_utils.hpp @@ -0,0 +1,25 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_ +#define AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_ + +#include "autoware/object_recognition_utils/conversion.hpp" +#include "autoware/object_recognition_utils/geometry.hpp" +#include "autoware/object_recognition_utils/matching.hpp" +#include "autoware/object_recognition_utils/object_classification.hpp" +#include "autoware/object_recognition_utils/predicted_path_utils.hpp" +#include "autoware/object_recognition_utils/transform.hpp" + +#endif // AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_ diff --git a/common/object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/predicted_path_utils.hpp similarity index 88% rename from common/object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp rename to common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/predicted_path_utils.hpp index 72e70185d553b..836b5296497e8 100644 --- a/common/object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp +++ b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/predicted_path_utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_ -#define OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_ +#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_ +#define AUTOWARE__OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_ #include "autoware/universe_utils/geometry/geometry.hpp" @@ -24,7 +24,7 @@ #include -namespace object_recognition_utils +namespace autoware::object_recognition_utils { /** * @brief Calculate Interpolated Pose from predicted path by time @@ -61,6 +61,6 @@ autoware_perception_msgs::msg::PredictedPath resamplePredictedPath( const autoware_perception_msgs::msg::PredictedPath & path, const double sampling_time_interval, const double sampling_horizon, const bool use_spline_for_xy = true, const bool use_spline_for_z = false); -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils -#endif // OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_ +#endif // AUTOWARE__OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_ diff --git a/common/object_recognition_utils/include/object_recognition_utils/transform.hpp b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/transform.hpp similarity index 95% rename from common/object_recognition_utils/include/object_recognition_utils/transform.hpp rename to common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/transform.hpp index b03270133a52c..ced5956e079e6 100644 --- a/common/object_recognition_utils/include/object_recognition_utils/transform.hpp +++ b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/transform.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_ -#define OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_ +#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_ +#define AUTOWARE__OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_ #include @@ -71,7 +71,7 @@ namespace detail } } // namespace detail -namespace object_recognition_utils +namespace autoware::object_recognition_utils { template bool transformObjects( @@ -147,6 +147,6 @@ bool transformObjectsWithFeature( } return true; } -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils -#endif // OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_ +#endif // AUTOWARE__OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_ diff --git a/common/object_recognition_utils/package.xml b/common/autoware_object_recognition_utils/package.xml similarity index 88% rename from common/object_recognition_utils/package.xml rename to common/autoware_object_recognition_utils/package.xml index a3f4a99300716..05327766008f2 100644 --- a/common/object_recognition_utils/package.xml +++ b/common/autoware_object_recognition_utils/package.xml @@ -1,9 +1,9 @@ - object_recognition_utils - 0.1.0 - The object_recognition_utils package + autoware_object_recognition_utils + 0.40.0 + The autoware_object_recognition_utils package Takayuki Murooka Shunsuke Miura Yoshi Ri diff --git a/common/object_recognition_utils/src/conversion.cpp b/common/autoware_object_recognition_utils/src/conversion.cpp similarity index 94% rename from common/object_recognition_utils/src/conversion.cpp rename to common/autoware_object_recognition_utils/src/conversion.cpp index c9c057ad93644..6f8e6aa27cfb4 100644 --- a/common/object_recognition_utils/src/conversion.cpp +++ b/common/autoware_object_recognition_utils/src/conversion.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "object_recognition_utils/conversion.hpp" +#include "autoware/object_recognition_utils/conversion.hpp" -namespace object_recognition_utils +namespace autoware::object_recognition_utils { using autoware_perception_msgs::msg::DetectedObject; using autoware_perception_msgs::msg::DetectedObjects; @@ -68,4 +68,4 @@ TrackedObject toTrackedObject(const DetectedObject & detected_object) tracked_object.shape = detected_object.shape; return tracked_object; } -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils diff --git a/common/object_recognition_utils/src/predicted_path_utils.cpp b/common/autoware_object_recognition_utils/src/predicted_path_utils.cpp similarity index 96% rename from common/object_recognition_utils/src/predicted_path_utils.cpp rename to common/autoware_object_recognition_utils/src/predicted_path_utils.cpp index 96c62d9f50323..55ac4e2a370c3 100644 --- a/common/object_recognition_utils/src/predicted_path_utils.cpp +++ b/common/autoware_object_recognition_utils/src/predicted_path_utils.cpp @@ -12,15 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "object_recognition_utils/predicted_path_utils.hpp" +#include "autoware/object_recognition_utils/predicted_path_utils.hpp" #include "autoware/interpolation/linear_interpolation.hpp" #include "autoware/interpolation/spherical_linear_interpolation.hpp" #include "autoware/interpolation/spline_interpolation.hpp" #include +#include -namespace object_recognition_utils +namespace autoware::object_recognition_utils { boost::optional calcInterpolatedPose( const autoware_perception_msgs::msg::PredictedPath & path, const double relative_time) @@ -129,4 +130,4 @@ autoware_perception_msgs::msg::PredictedPath resamplePredictedPath( resampled_path.time_step = rclcpp::Duration::from_seconds(sampling_time_interval); return resampled_path; } -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils diff --git a/common/object_recognition_utils/test/src/test_conversion.cpp b/common/autoware_object_recognition_utils/test/src/test_conversion.cpp similarity index 98% rename from common/object_recognition_utils/test/src/test_conversion.cpp rename to common/autoware_object_recognition_utils/test/src/test_conversion.cpp index a9b462f9ec4c4..6a05771149ad2 100644 --- a/common/object_recognition_utils/test/src/test_conversion.cpp +++ b/common/autoware_object_recognition_utils/test/src/test_conversion.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/object_recognition_utils/conversion.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "object_recognition_utils/conversion.hpp" #include @@ -42,8 +42,8 @@ autoware_perception_msgs::msg::ObjectClassification createObjectClassification( // NOTE: covariance is not checked TEST(conversion, test_toDetectedObject) { + using autoware::object_recognition_utils::toDetectedObject; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::toDetectedObject; autoware_perception_msgs::msg::TrackedObject tracked_obj; // existence probability @@ -160,8 +160,8 @@ TEST(conversion, test_toDetectedObject) // NOTE: covariance is not checked TEST(conversion, test_toTrackedObject) { + using autoware::object_recognition_utils::toTrackedObject; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::toTrackedObject; autoware_perception_msgs::msg::DetectedObject detected_obj; // existence probability diff --git a/common/object_recognition_utils/test/src/test_geometry.cpp b/common/autoware_object_recognition_utils/test/src/test_geometry.cpp similarity index 97% rename from common/object_recognition_utils/test/src/test_geometry.cpp rename to common/autoware_object_recognition_utils/test/src/test_geometry.cpp index ab3ba8fcec7d4..f5165482a23bf 100644 --- a/common/object_recognition_utils/test/src/test_geometry.cpp +++ b/common/autoware_object_recognition_utils/test/src/test_geometry.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "object_recognition_utils/geometry.hpp" +#include "autoware/object_recognition_utils/geometry.hpp" #include @@ -20,7 +20,7 @@ TEST(geometry, getPose) { - using object_recognition_utils::getPose; + using autoware::object_recognition_utils::getPose; const double x_ans = 1.0; const double y_ans = 2.0; diff --git a/common/object_recognition_utils/test/src/test_matching.cpp b/common/autoware_object_recognition_utils/test/src/test_matching.cpp similarity index 97% rename from common/object_recognition_utils/test/src/test_matching.cpp rename to common/autoware_object_recognition_utils/test/src/test_matching.cpp index 6005ac8d1efbc..aefc6251c6276 100644 --- a/common/object_recognition_utils/test/src/test_matching.cpp +++ b/common/autoware_object_recognition_utils/test/src/test_matching.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/object_recognition_utils/matching.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "object_recognition_utils/matching.hpp" #include @@ -37,8 +37,8 @@ geometry_msgs::msg::Pose createPose(const double x, const double y, const double TEST(matching, test_get2dIoU) { + using autoware::object_recognition_utils::get2dIoU; using autoware_perception_msgs::msg::DetectedObject; - using object_recognition_utils::get2dIoU; const double quart_circle = 0.16237976320958225; @@ -93,7 +93,7 @@ TEST(matching, test_get2dIoU) TEST(object_recognition_utils, test_get2dGeneralizedIoU) { - using object_recognition_utils::get2dGeneralizedIoU; + using autoware::object_recognition_utils::get2dGeneralizedIoU; // TODO(Shin-kyoto): // get2dGeneralizedIoU uses outer points of each polygon. // But these points contain an sampling error of outer line, @@ -153,8 +153,8 @@ TEST(object_recognition_utils, test_get2dGeneralizedIoU) TEST(matching, test_get2dPrecision) { + using autoware::object_recognition_utils::get2dPrecision; using autoware_perception_msgs::msg::DetectedObject; - using object_recognition_utils::get2dPrecision; const double quart_circle = 0.16237976320958225; { // non overlapped @@ -220,8 +220,8 @@ TEST(matching, test_get2dPrecision) TEST(matching, test_get2dRecall) { + using autoware::object_recognition_utils::get2dRecall; using autoware_perception_msgs::msg::DetectedObject; - using object_recognition_utils::get2dRecall; const double quart_circle = 0.16237976320958225; { // non overlapped diff --git a/common/object_recognition_utils/test/src/test_object_classification.cpp b/common/autoware_object_recognition_utils/test/src/test_object_classification.cpp similarity index 94% rename from common/object_recognition_utils/test/src/test_object_classification.cpp rename to common/autoware_object_recognition_utils/test/src/test_object_classification.cpp index 697a7e8447732..31d2a90f2e4a5 100644 --- a/common/object_recognition_utils/test/src/test_object_classification.cpp +++ b/common/autoware_object_recognition_utils/test/src/test_object_classification.cpp @@ -12,10 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "object_recognition_utils/object_classification.hpp" +#include "autoware/object_recognition_utils/object_classification.hpp" #include +#include + constexpr double epsilon = 1e-06; namespace @@ -34,8 +36,8 @@ autoware_perception_msgs::msg::ObjectClassification createObjectClassification( TEST(object_classification, test_getHighestProbLabel) { + using autoware::object_recognition_utils::getHighestProbLabel; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::getHighestProbLabel; { // empty std::vector classifications; @@ -67,8 +69,8 @@ TEST(object_classification, test_getHighestProbLabel) // Test isVehicle TEST(object_classification, test_isVehicle) { + using autoware::object_recognition_utils::isVehicle; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::isVehicle; { // True Case with uint8_t EXPECT_TRUE(isVehicle(ObjectClassification::BICYCLE)); @@ -106,8 +108,8 @@ TEST(object_classification, test_isVehicle) // TEST isCarLikeVehicle TEST(object_classification, test_isCarLikeVehicle) { + using autoware::object_recognition_utils::isCarLikeVehicle; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::isCarLikeVehicle; { // True Case with uint8_t EXPECT_TRUE(isCarLikeVehicle(ObjectClassification::BUS)); @@ -157,8 +159,8 @@ TEST(object_classification, test_isCarLikeVehicle) // TEST isLargeVehicle TEST(object_classification, test_isLargeVehicle) { + using autoware::object_recognition_utils::isLargeVehicle; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::isLargeVehicle; { // True Case with uint8_t EXPECT_TRUE(isLargeVehicle(ObjectClassification::BUS)); @@ -197,8 +199,8 @@ TEST(object_classification, test_isLargeVehicle) TEST(object_classification, test_getHighestProbClassification) { + using autoware::object_recognition_utils::getHighestProbClassification; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::getHighestProbClassification; { // empty std::vector classifications; @@ -232,10 +234,10 @@ TEST(object_classification, test_getHighestProbClassification) TEST(object_classification, test_fromString) { + using autoware::object_recognition_utils::toLabel; + using autoware::object_recognition_utils::toObjectClassification; + using autoware::object_recognition_utils::toObjectClassifications; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::toLabel; - using object_recognition_utils::toObjectClassification; - using object_recognition_utils::toObjectClassifications; // toLabel { @@ -266,8 +268,8 @@ TEST(object_classification, test_fromString) TEST(object_classification, test_convertLabelToString) { + using autoware::object_recognition_utils::convertLabelToString; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::convertLabelToString; // from label { diff --git a/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp b/common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp similarity index 96% rename from common/object_recognition_utils/test/src/test_predicted_path_utils.cpp rename to common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp index 305a1173acf12..1f434d3362b86 100644 --- a/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp +++ b/common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp @@ -12,12 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/object_recognition_utils/predicted_path_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" -#include "object_recognition_utils/predicted_path_utils.hpp" + +#include #include +#include + using autoware::universe_utils::Point2d; using autoware::universe_utils::Point3d; @@ -62,10 +66,10 @@ PredictedPath createTestPredictedPath( TEST(predicted_path_utils, testCalcInterpolatedPose) { + using autoware::object_recognition_utils::calcInterpolatedPose; using autoware::universe_utils::createQuaternionFromRPY; using autoware::universe_utils::createQuaternionFromYaw; using autoware::universe_utils::deg2rad; - using object_recognition_utils::calcInterpolatedPose; const auto path = createTestPredictedPath(100, 0.1, 1.0); @@ -75,7 +79,7 @@ TEST(predicted_path_utils, testCalcInterpolatedPose) for (double t = 0.0; t < 9.0 + 1e-6; t += 1.0) { const auto p = calcInterpolatedPose(path, t); - EXPECT_NE(p, boost::none); + EXPECT_TRUE(p); EXPECT_NEAR(p->position.x, t * 1.0, epsilon); EXPECT_NEAR(p->position.y, 0.0, epsilon); EXPECT_NEAR(p->position.z, 0.0, epsilon); @@ -92,7 +96,7 @@ TEST(predicted_path_utils, testCalcInterpolatedPose) for (double t = 0.0; t < 9.0; t += 0.3) { const auto p = calcInterpolatedPose(path, t); - EXPECT_NE(p, boost::none); + EXPECT_TRUE(p); EXPECT_NEAR(p->position.x, t * 1.0, epsilon); EXPECT_NEAR(p->position.y, 0.0, epsilon); EXPECT_NEAR(p->position.z, 0.0, epsilon); @@ -108,30 +112,30 @@ TEST(predicted_path_utils, testCalcInterpolatedPose) // Negative time { const auto p = calcInterpolatedPose(path, -1.0); - EXPECT_EQ(p, boost::none); + EXPECT_FALSE(p); } // Over the time horizon { const auto p = calcInterpolatedPose(path, 11.0); - EXPECT_EQ(p, boost::none); + EXPECT_FALSE(p); } // Empty Path { PredictedPath empty_path; const auto p = calcInterpolatedPose(empty_path, 5.0); - EXPECT_EQ(p, boost::none); + EXPECT_FALSE(p); } } } TEST(predicted_path_utils, resamplePredictedPath_by_vector) { + using autoware::object_recognition_utils::resamplePredictedPath; using autoware::universe_utils::createQuaternionFromRPY; using autoware::universe_utils::createQuaternionFromYaw; using autoware::universe_utils::deg2rad; - using object_recognition_utils::resamplePredictedPath; const auto path = createTestPredictedPath(10, 1.0, 1.0); @@ -205,10 +209,10 @@ TEST(predicted_path_utils, resamplePredictedPath_by_vector) TEST(predicted_path_utils, resamplePredictedPath_by_sampling_time) { + using autoware::object_recognition_utils::resamplePredictedPath; using autoware::universe_utils::createQuaternionFromRPY; using autoware::universe_utils::createQuaternionFromYaw; using autoware::universe_utils::deg2rad; - using object_recognition_utils::resamplePredictedPath; const auto path = createTestPredictedPath(10, 1.0, 1.0); diff --git a/common/autoware_osqp_interface/CHANGELOG.rst b/common/autoware_osqp_interface/CHANGELOG.rst new file mode 100644 index 0000000000000..d400b77f4bf61 --- /dev/null +++ b/common/autoware_osqp_interface/CHANGELOG.rst @@ -0,0 +1,51 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_osqp_interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* fix(autoware_osqp_interface): fix clang-tidy errors (`#9440 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/osqp_interface/CMakeLists.txt b/common/autoware_osqp_interface/CMakeLists.txt similarity index 77% rename from common/osqp_interface/CMakeLists.txt rename to common/autoware_osqp_interface/CMakeLists.txt index 5a4231c15e8fd..b770af659e52a 100644 --- a/common/osqp_interface/CMakeLists.txt +++ b/common/autoware_osqp_interface/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(osqp_interface) +project(autoware_osqp_interface) find_package(autoware_cmake REQUIRED) autoware_package() @@ -17,29 +17,29 @@ set(OSQP_INTERFACE_LIB_SRC ) set(OSQP_INTERFACE_LIB_HEADERS - include/osqp_interface/csc_matrix_conv.hpp - include/osqp_interface/osqp_interface.hpp - include/osqp_interface/visibility_control.hpp + include/autoware/osqp_interface/csc_matrix_conv.hpp + include/autoware/osqp_interface/osqp_interface.hpp + include/autoware/osqp_interface/visibility_control.hpp ) ament_auto_add_library(${PROJECT_NAME} SHARED ${OSQP_INTERFACE_LIB_SRC} ${OSQP_INTERFACE_LIB_HEADERS} ) -target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast -Wno-error=useless-cast) +target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast) -target_include_directories(osqp_interface +target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${OSQP_INCLUDE_DIR}" "${EIGEN3_INCLUDE_DIR}" ) -ament_target_dependencies(osqp_interface +ament_target_dependencies(${PROJECT_NAME} Eigen3 osqp_vendor ) -# crucial so downstream package builds because osqp_interface exposes osqp.hpp +# crucial so downstream package builds because autoware_osqp_interface exposes osqp.hpp ament_export_include_directories("${OSQP_INCLUDE_DIR}") # crucial so the linking order is correct in a downstream package: libosqp_interface.a should come before libosqp.a ament_export_libraries(osqp::osqp) diff --git a/common/osqp_interface/design/osqp_interface-design.md b/common/autoware_osqp_interface/design/osqp_interface-design.md similarity index 96% rename from common/osqp_interface/design/osqp_interface-design.md rename to common/autoware_osqp_interface/design/osqp_interface-design.md index e9ff4a2a3bc3a..887a4b4d9af3f 100644 --- a/common/osqp_interface/design/osqp_interface-design.md +++ b/common/autoware_osqp_interface/design/osqp_interface-design.md @@ -1,6 +1,6 @@ # Interface for the OSQP library -This is the design document for the `osqp_interface` package. +This is the design document for the `autoware_osqp_interface` package. ## Purpose / Use cases diff --git a/common/osqp_interface/include/osqp_interface/csc_matrix_conv.hpp b/common/autoware_osqp_interface/include/autoware/osqp_interface/csc_matrix_conv.hpp similarity index 83% rename from common/osqp_interface/include/osqp_interface/csc_matrix_conv.hpp rename to common/autoware_osqp_interface/include/autoware/osqp_interface/csc_matrix_conv.hpp index a919bc1f1c038..8c21553152d70 100644 --- a/common/osqp_interface/include/osqp_interface/csc_matrix_conv.hpp +++ b/common/autoware_osqp_interface/include/autoware/osqp_interface/csc_matrix_conv.hpp @@ -12,21 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ -#define OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ +#ifndef AUTOWARE__OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ +#define AUTOWARE__OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ +#include "autoware/osqp_interface/visibility_control.hpp" #include "osqp/glob_opts.h" // for 'c_int' type ('long' or 'long long') -#include "osqp_interface/visibility_control.hpp" #include #include -namespace autoware -{ -namespace common -{ -namespace osqp +namespace autoware::osqp_interface { /// \brief Compressed-Column-Sparse Matrix struct OSQP_INTERFACE_PUBLIC CSC_Matrix @@ -46,8 +42,6 @@ OSQP_INTERFACE_PUBLIC CSC_Matrix calCSCMatrixTrapezoidal(const Eigen::MatrixXd & /// \brief Print the given CSC matrix to the standard output OSQP_INTERFACE_PUBLIC void printCSCMatrix(const CSC_Matrix & csc_mat); -} // namespace osqp -} // namespace common -} // namespace autoware +} // namespace autoware::osqp_interface -#endif // OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ +#endif // AUTOWARE__OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ diff --git a/common/osqp_interface/include/osqp_interface/osqp_interface.hpp b/common/autoware_osqp_interface/include/autoware/osqp_interface/osqp_interface.hpp similarity index 96% rename from common/osqp_interface/include/osqp_interface/osqp_interface.hpp rename to common/autoware_osqp_interface/include/autoware/osqp_interface/osqp_interface.hpp index f126ba9329d3e..ff3013bd61514 100644 --- a/common/osqp_interface/include/osqp_interface/osqp_interface.hpp +++ b/common/autoware_osqp_interface/include/autoware/osqp_interface/osqp_interface.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OSQP_INTERFACE__OSQP_INTERFACE_HPP_ -#define OSQP_INTERFACE__OSQP_INTERFACE_HPP_ +#ifndef AUTOWARE__OSQP_INTERFACE__OSQP_INTERFACE_HPP_ +#define AUTOWARE__OSQP_INTERFACE__OSQP_INTERFACE_HPP_ +#include "autoware/osqp_interface/csc_matrix_conv.hpp" +#include "autoware/osqp_interface/visibility_control.hpp" #include "osqp/osqp.h" -#include "osqp_interface/csc_matrix_conv.hpp" -#include "osqp_interface/visibility_control.hpp" #include #include @@ -28,11 +28,7 @@ #include #include -namespace autoware -{ -namespace common -{ -namespace osqp +namespace autoware::osqp_interface { constexpr c_float INF = 1e30; @@ -193,8 +189,6 @@ class OSQP_INTERFACE_PUBLIC OSQPInterface void logUnsolvedStatus(const std::string & prefix_message = "") const; }; -} // namespace osqp -} // namespace common -} // namespace autoware +} // namespace autoware::osqp_interface -#endif // OSQP_INTERFACE__OSQP_INTERFACE_HPP_ +#endif // AUTOWARE__OSQP_INTERFACE__OSQP_INTERFACE_HPP_ diff --git a/common/osqp_interface/include/osqp_interface/visibility_control.hpp b/common/autoware_osqp_interface/include/autoware/osqp_interface/visibility_control.hpp similarity index 89% rename from common/osqp_interface/include/osqp_interface/visibility_control.hpp rename to common/autoware_osqp_interface/include/autoware/osqp_interface/visibility_control.hpp index 070a5c5f1542c..a6cdaa8a0a74e 100644 --- a/common/osqp_interface/include/osqp_interface/visibility_control.hpp +++ b/common/autoware_osqp_interface/include/autoware/osqp_interface/visibility_control.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OSQP_INTERFACE__VISIBILITY_CONTROL_HPP_ -#define OSQP_INTERFACE__VISIBILITY_CONTROL_HPP_ +#ifndef AUTOWARE__OSQP_INTERFACE__VISIBILITY_CONTROL_HPP_ +#define AUTOWARE__OSQP_INTERFACE__VISIBILITY_CONTROL_HPP_ //////////////////////////////////////////////////////////////////////////////// #if defined(__WIN32) @@ -34,4 +34,4 @@ #error "Unsupported Build Configuration" #endif -#endif // OSQP_INTERFACE__VISIBILITY_CONTROL_HPP_ +#endif // AUTOWARE__OSQP_INTERFACE__VISIBILITY_CONTROL_HPP_ diff --git a/common/osqp_interface/package.xml b/common/autoware_osqp_interface/package.xml similarity index 93% rename from common/osqp_interface/package.xml rename to common/autoware_osqp_interface/package.xml index 41ee5bb9055a6..92a2afeccc4e0 100644 --- a/common/osqp_interface/package.xml +++ b/common/autoware_osqp_interface/package.xml @@ -1,8 +1,8 @@ - osqp_interface - 1.0.0 + autoware_osqp_interface + 0.40.0 Interface for the OSQP solver Maxime CLEMENT Takayuki Murooka diff --git a/common/osqp_interface/src/csc_matrix_conv.cpp b/common/autoware_osqp_interface/src/csc_matrix_conv.cpp similarity index 94% rename from common/osqp_interface/src/csc_matrix_conv.cpp rename to common/autoware_osqp_interface/src/csc_matrix_conv.cpp index 1944face4516b..c6e1a0a42d938 100644 --- a/common/osqp_interface/src/csc_matrix_conv.cpp +++ b/common/autoware_osqp_interface/src/csc_matrix_conv.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "osqp_interface/csc_matrix_conv.hpp" +#include "autoware/osqp_interface/csc_matrix_conv.hpp" #include #include @@ -21,11 +21,7 @@ #include #include -namespace autoware -{ -namespace common -{ -namespace osqp +namespace autoware::osqp_interface { CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat) { @@ -136,6 +132,4 @@ void printCSCMatrix(const CSC_Matrix & csc_mat) std::cout << "]\n"; } -} // namespace osqp -} // namespace common -} // namespace autoware +} // namespace autoware::osqp_interface diff --git a/common/osqp_interface/src/osqp_interface.cpp b/common/autoware_osqp_interface/src/osqp_interface.cpp similarity index 97% rename from common/osqp_interface/src/osqp_interface.cpp rename to common/autoware_osqp_interface/src/osqp_interface.cpp index f0dbc3ab22e4a..ceeae626222ca 100644 --- a/common/osqp_interface/src/osqp_interface.cpp +++ b/common/autoware_osqp_interface/src/osqp_interface.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "osqp_interface/osqp_interface.hpp" +#include "autoware/osqp_interface/osqp_interface.hpp" +#include "autoware/osqp_interface/csc_matrix_conv.hpp" #include "osqp/osqp.h" -#include "osqp_interface/csc_matrix_conv.hpp" #include #include @@ -25,11 +25,7 @@ #include #include -namespace autoware -{ -namespace common -{ -namespace osqp +namespace autoware::osqp_interface { OSQPInterface::OSQPInterface(const c_float eps_abs, const bool polish) : m_work{nullptr, OSQPWorkspaceDeleter} @@ -434,8 +430,6 @@ void OSQPInterface::logUnsolvedStatus(const std::string & prefix_message) const output_message += "Optimization failed due to " + status_message; // log with warning - RCLCPP_WARN(rclcpp::get_logger("osqp_interface"), output_message.c_str()); + RCLCPP_WARN(rclcpp::get_logger("osqp_interface"), "%s", output_message.c_str()); } -} // namespace osqp -} // namespace common -} // namespace autoware +} // namespace autoware::osqp_interface diff --git a/common/osqp_interface/test/test_csc_matrix_conv.cpp b/common/autoware_osqp_interface/test/test_csc_matrix_conv.cpp similarity index 93% rename from common/osqp_interface/test/test_csc_matrix_conv.cpp rename to common/autoware_osqp_interface/test/test_csc_matrix_conv.cpp index 765f1a1afed3b..a63f979a966bf 100644 --- a/common/osqp_interface/test/test_csc_matrix_conv.cpp +++ b/common/autoware_osqp_interface/test/test_csc_matrix_conv.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/osqp_interface/csc_matrix_conv.hpp" #include "gtest/gtest.h" -#include "osqp_interface/csc_matrix_conv.hpp" #include @@ -23,8 +23,8 @@ TEST(TestCscMatrixConv, Nominal) { - using autoware::common::osqp::calCSCMatrix; - using autoware::common::osqp::CSC_Matrix; + using autoware::osqp_interface::calCSCMatrix; + using autoware::osqp_interface::CSC_Matrix; Eigen::MatrixXd rect1(1, 2); rect1 << 0.0, 1.0; @@ -117,8 +117,8 @@ TEST(TestCscMatrixConv, Nominal) } TEST(TestCscMatrixConv, Trapezoidal) { - using autoware::common::osqp::calCSCMatrixTrapezoidal; - using autoware::common::osqp::CSC_Matrix; + using autoware::osqp_interface::calCSCMatrixTrapezoidal; + using autoware::osqp_interface::CSC_Matrix; Eigen::MatrixXd square1(2, 2); Eigen::MatrixXd square2(3, 3); @@ -166,10 +166,10 @@ TEST(TestCscMatrixConv, Trapezoidal) } TEST(TestCscMatrixConv, Print) { - using autoware::common::osqp::calCSCMatrix; - using autoware::common::osqp::calCSCMatrixTrapezoidal; - using autoware::common::osqp::CSC_Matrix; - using autoware::common::osqp::printCSCMatrix; + using autoware::osqp_interface::calCSCMatrix; + using autoware::osqp_interface::calCSCMatrixTrapezoidal; + using autoware::osqp_interface::CSC_Matrix; + using autoware::osqp_interface::printCSCMatrix; Eigen::MatrixXd square1(2, 2); Eigen::MatrixXd rect1(1, 2); square1 << 1.0, 2.0, 2.0, 4.0; diff --git a/common/osqp_interface/test/test_osqp_interface.cpp b/common/autoware_osqp_interface/test/test_osqp_interface.cpp similarity index 85% rename from common/osqp_interface/test/test_osqp_interface.cpp rename to common/autoware_osqp_interface/test/test_osqp_interface.cpp index 4644ec6c3e019..f65b07e6d792d 100644 --- a/common/osqp_interface/test/test_osqp_interface.cpp +++ b/common/autoware_osqp_interface/test/test_osqp_interface.cpp @@ -12,11 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/osqp_interface/osqp_interface.hpp" #include "gtest/gtest.h" -#include "osqp_interface/osqp_interface.hpp" #include +#include #include #include @@ -39,9 +40,9 @@ namespace TEST(TestOsqpInterface, BasicQp) { - using autoware::common::osqp::calCSCMatrix; - using autoware::common::osqp::calCSCMatrixTrapezoidal; - using autoware::common::osqp::CSC_Matrix; + using autoware::osqp_interface::calCSCMatrix; + using autoware::osqp_interface::calCSCMatrixTrapezoidal; + using autoware::osqp_interface::CSC_Matrix; auto check_result = [](const std::tuple, std::vector, int, int, int> & result) { @@ -66,12 +67,12 @@ TEST(TestOsqpInterface, BasicQp) const Eigen::MatrixXd P = (Eigen::MatrixXd(2, 2) << 4, 1, 1, 2).finished(); const Eigen::MatrixXd A = (Eigen::MatrixXd(4, 2) << 1, 1, 1, 0, 0, 1, 0, 1).finished(); const std::vector q = {1.0, 1.0}; - const std::vector l = {1.0, 0.0, 0.0, -autoware::common::osqp::INF}; - const std::vector u = {1.0, 0.7, 0.7, autoware::common::osqp::INF}; + const std::vector l = {1.0, 0.0, 0.0, -autoware::osqp_interface::INF}; + const std::vector u = {1.0, 0.7, 0.7, autoware::osqp_interface::INF}; { // Define problem during optimization - autoware::common::osqp::OSQPInterface osqp; + autoware::osqp_interface::OSQPInterface osqp; std::tuple, std::vector, int, int, int> result = osqp.optimize(P, A, q, l, u); check_result(result); @@ -79,7 +80,7 @@ TEST(TestOsqpInterface, BasicQp) { // Define problem during initialization - autoware::common::osqp::OSQPInterface osqp(P, A, q, l, u, 1e-6); + autoware::osqp_interface::OSQPInterface osqp(P, A, q, l, u, 1e-6); std::tuple, std::vector, int, int, int> result = osqp.optimize(); check_result(result); } @@ -92,7 +93,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - autoware::common::osqp::OSQPInterface osqp(P_ini, A_ini, q_ini, l_ini, u_ini, 1e-6); + autoware::osqp_interface::OSQPInterface osqp(P_ini, A_ini, q_ini, l_ini, u_ini, 1e-6); osqp.optimize(); // Redefine problem before optimization @@ -105,7 +106,7 @@ TEST(TestOsqpInterface, BasicQp) // Define problem during initialization with csc matrix CSC_Matrix P_csc = calCSCMatrixTrapezoidal(P); CSC_Matrix A_csc = calCSCMatrix(A); - autoware::common::osqp::OSQPInterface osqp(P_csc, A_csc, q, l, u, 1e-6); + autoware::osqp_interface::OSQPInterface osqp(P_csc, A_csc, q, l, u, 1e-6); std::tuple, std::vector, int, int, int> result = osqp.optimize(); check_result(result); } @@ -118,7 +119,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - autoware::common::osqp::OSQPInterface osqp(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini, 1e-6); + autoware::osqp_interface::OSQPInterface osqp(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini, 1e-6); osqp.optimize(); // Redefine problem before optimization @@ -138,7 +139,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - autoware::common::osqp::OSQPInterface osqp(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini, 1e-6); + autoware::osqp_interface::OSQPInterface osqp(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini, 1e-6); osqp.optimize(); // Redefine problem before optimization diff --git a/common/autoware_path_distance_calculator/CHANGELOG.rst b/common/autoware_path_distance_calculator/CHANGELOG.rst new file mode 100644 index 0000000000000..cd4c6ae5ce49b --- /dev/null +++ b/common/autoware_path_distance_calculator/CHANGELOG.rst @@ -0,0 +1,49 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_path_distance_calculator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix: add autoware prefix (`#8385 `_) +* refactor(autoware_path_distance_calculator): prefix package and namespace with autoware (`#8085 `_) +* Contributors: Esteve Fernandez, Kotaro Uetake, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_path_distance_calculator/package.xml b/common/autoware_path_distance_calculator/package.xml index f6410ffb24dc5..6d207f6ed795d 100644 --- a/common/autoware_path_distance_calculator/package.xml +++ b/common/autoware_path_distance_calculator/package.xml @@ -2,7 +2,7 @@ autoware_path_distance_calculator - 0.0.0 + 0.40.0 The autoware_path_distance_calculator package Takagi, Isamu Apache License 2.0 diff --git a/common/autoware_point_types/CHANGELOG.rst b/common/autoware_point_types/CHANGELOG.rst new file mode 100644 index 0000000000000..5e26002677a36 --- /dev/null +++ b/common/autoware_point_types/CHANGELOG.rst @@ -0,0 +1,150 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_point_types +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* feat: migrating pointcloud types (`#6996 `_) + * feat: changed most of sensing to the new type + * chore: started applying changes to the perception stack + * feat: confirmed operation until centerpoint + * feat: reverted to the original implementation of pointpainting + * chore: forgot to push a header + * feat: also implemented the changes for the subsample filters that were out of scope before + * fix: some point type changes were missing from the latest merge from main + * chore: removed unused code, added comments, and brought back a removed publish + * chore: replaced pointcloud_raw for pointcloud_raw_ex to avoid extra processing time in the drivers + * feat: added memory layout checks + * chore: updated documentation regarding the point types + * chore: added hyperlinks to the point definitions. will be valid only once the PR is merged + * fix: fixed compilation due to moving the utilities files to the base library + * chore: separated the utilities functions due to a dependency issue + * chore: forgot that perception also uses the filter class + * feature: adapted the undistortion tests to the new point type + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> +* chore: updated maintainers for the autoware_point_types package (`#7797 `_) +* docs(common): adding .pages file (`#7148 `_) + * docs(common): adding .pages file + * fix naming + * fix naming + * fix naming + * include main page plus explanation to autoware tools + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Kenzo Lobos Tsunekawa, Yutaka Kondo, Zulfaqar Azmi + +0.26.0 (2024-04-03) +------------------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* feat: add blockage diagnostics (`#461 `_) + * feat!: add blockage diagnostic + * fix: typo + * docs: add documentation + * ci(pre-commit): autofix + * fix: typo + * ci(pre-commit): autofix + * fix: typo + * chore: add adjustable param + * ci(pre-commit): autofix + * feat!: add blockage diagnostic + * fix: typo + * docs: add documentation + * ci(pre-commit): autofix + * fix: typo + * ci(pre-commit): autofix + * fix: typo + * chore: add adjustable param + * ci(pre-commit): autofix + * chore: rearrange header file + * chore: fix typo + * chore: rearrange header + * fix: revert accident change + * chore: fix typo + * docs: add limits + * chore: check overflow + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* ci: check include guard (`#438 `_) + * ci: check include guard + * apply pre-commit + * Update .pre-commit-config.yaml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * fix: pre-commit + Co-authored-by: Kenji Miyake + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat: add point_types for wrapper (`#784 `_) (`#215 `_) + * add point_types + * Revert "add point_types" + This reverts commit 5810000cd1cbd876bc22372e2bb74ccaca06187b. + * create autoware_point_types pkg + * add include + * add cmath + * fix author + * fix bug + * define epsilon as argument + * add test + * remove unnamed namespace + * update test + * fix test name + * use std::max + * change comparison method + * remove unnencessary line + * fix test + * fix comparison method name + Co-authored-by: Taichi Higashide +* Contributors: Daisuke Nishimatsu, Kenji Miyake, Maxime CLEMENT, Takagi, Isamu, Vincent Richard, badai nguyen diff --git a/common/autoware_point_types/include/autoware_point_types/types.hpp b/common/autoware_point_types/include/autoware/point_types/types.hpp similarity index 94% rename from common/autoware_point_types/include/autoware_point_types/types.hpp rename to common/autoware_point_types/include/autoware/point_types/types.hpp index a3b0670280530..0fde62222e276 100644 --- a/common/autoware_point_types/include/autoware_point_types/types.hpp +++ b/common/autoware_point_types/include/autoware/point_types/types.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_POINT_TYPES__TYPES_HPP_ -#define AUTOWARE_POINT_TYPES__TYPES_HPP_ +#ifndef AUTOWARE__POINT_TYPES__TYPES_HPP_ +#define AUTOWARE__POINT_TYPES__TYPES_HPP_ #include @@ -22,7 +22,7 @@ #include #include -namespace autoware_point_types +namespace autoware::point_types { template bool float_eq(const T a, const T b, const T eps = 10e-6) @@ -166,23 +166,23 @@ using PointXYZIRCAEDTGenerator = std::tuple< field_return_type_generator, field_channel_generator, field_azimuth_generator, field_elevation_generator, field_distance_generator, field_time_stamp_generator>; -} // namespace autoware_point_types +} // namespace autoware::point_types POINT_CLOUD_REGISTER_POINT_STRUCT( - autoware_point_types::PointXYZIRC, + autoware::point_types::PointXYZIRC, (float, x, x)(float, y, y)(float, z, z)(std::uint8_t, intensity, intensity)( std::uint8_t, return_type, return_type)(std::uint16_t, channel, channel)) POINT_CLOUD_REGISTER_POINT_STRUCT( - autoware_point_types::PointXYZIRADRT, + autoware::point_types::PointXYZIRADRT, (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(std::uint16_t, ring, ring)( float, azimuth, azimuth)(float, distance, distance)(std::uint8_t, return_type, return_type)( double, time_stamp, time_stamp)) POINT_CLOUD_REGISTER_POINT_STRUCT( - autoware_point_types::PointXYZIRCAEDT, + autoware::point_types::PointXYZIRCAEDT, (float, x, x)(float, y, y)(float, z, z)(std::uint8_t, intensity, intensity)( std::uint8_t, return_type, return_type)(std::uint16_t, channel, channel)(float, azimuth, azimuth)( float, elevation, elevation)(float, distance, distance)(std::uint32_t, time_stamp, time_stamp)) -#endif // AUTOWARE_POINT_TYPES__TYPES_HPP_ +#endif // AUTOWARE__POINT_TYPES__TYPES_HPP_ diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml index ef19431d86514..e35e6a63de648 100644 --- a/common/autoware_point_types/package.xml +++ b/common/autoware_point_types/package.xml @@ -2,7 +2,7 @@ autoware_point_types - 0.1.0 + 0.40.0 The point types definition to use point_cloud_msg_wrapper David Wong Max Schmeller diff --git a/common/autoware_point_types/test/test_point_types.cpp b/common/autoware_point_types/test/test_point_types.cpp index 16887ac2aa498..08696a9948f60 100644 --- a/common/autoware_point_types/test/test_point_types.cpp +++ b/common/autoware_point_types/test/test_point_types.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_point_types/types.hpp" +#include "autoware/point_types/types.hpp" #include @@ -20,7 +20,7 @@ TEST(PointEquality, PointXYZI) { - using autoware_point_types::PointXYZI; + using autoware::point_types::PointXYZI; PointXYZI pt0{0, 1, 2, 3}; PointXYZI pt1{0, 1, 2, 3}; @@ -29,7 +29,7 @@ TEST(PointEquality, PointXYZI) TEST(PointEquality, PointXYZIRADRT) { - using autoware_point_types::PointXYZIRADRT; + using autoware::point_types::PointXYZIRADRT; PointXYZIRADRT pt0{0, 1, 2, 3, 4, 5, 6, 7, 8}; PointXYZIRADRT pt1{0, 1, 2, 3, 4, 5, 6, 7, 8}; @@ -38,7 +38,7 @@ TEST(PointEquality, PointXYZIRADRT) TEST(PointEquality, PointXYZIRCAEDT) { - using autoware_point_types::PointXYZIRCAEDT; + using autoware::point_types::PointXYZIRCAEDT; PointXYZIRCAEDT pt0{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; PointXYZIRCAEDT pt1{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; @@ -48,19 +48,19 @@ TEST(PointEquality, PointXYZIRCAEDT) TEST(PointEquality, FloatEq) { // test template - EXPECT_TRUE(autoware_point_types::float_eq(1, 1)); - EXPECT_TRUE(autoware_point_types::float_eq(1, 1)); + EXPECT_TRUE(autoware::point_types::float_eq(1, 1)); + EXPECT_TRUE(autoware::point_types::float_eq(1, 1)); // test floating point error - EXPECT_TRUE(autoware_point_types::float_eq(1, 1 + std::numeric_limits::epsilon())); + EXPECT_TRUE(autoware::point_types::float_eq(1, 1 + std::numeric_limits::epsilon())); // test difference of sign - EXPECT_FALSE(autoware_point_types::float_eq(2, -2)); - EXPECT_FALSE(autoware_point_types::float_eq(-2, 2)); + EXPECT_FALSE(autoware::point_types::float_eq(2, -2)); + EXPECT_FALSE(autoware::point_types::float_eq(-2, 2)); // small value difference - EXPECT_FALSE(autoware_point_types::float_eq(2, 2 + 10e-6)); + EXPECT_FALSE(autoware::point_types::float_eq(2, 2 + 10e-6)); // expect same value if epsilon is larger than difference - EXPECT_TRUE(autoware_point_types::float_eq(2, 2 + 10e-6, 10e-5)); + EXPECT_TRUE(autoware::point_types::float_eq(2, 2 + 10e-6, 10e-5)); } diff --git a/common/autoware_polar_grid/CHANGELOG.rst b/common/autoware_polar_grid/CHANGELOG.rst new file mode 100644 index 0000000000000..72a53e6cef4b7 --- /dev/null +++ b/common/autoware_polar_grid/CHANGELOG.rst @@ -0,0 +1,48 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_polar_grid +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(polar_grid): add autoware prefix to polar_grid (`#8945 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/polar_grid/CMakeLists.txt b/common/autoware_polar_grid/CMakeLists.txt similarity index 85% rename from common/polar_grid/CMakeLists.txt rename to common/autoware_polar_grid/CMakeLists.txt index 9932dc594d552..efa068a3f64a4 100644 --- a/common/polar_grid/CMakeLists.txt +++ b/common/autoware_polar_grid/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(polar_grid) +project(autoware_polar_grid) find_package(autoware_cmake REQUIRED) autoware_package() @@ -10,12 +10,12 @@ set(CMAKE_AUTOMOC ON) set(CMAKE_INCLUDE_CURRENT_DIR ON) add_definitions(-DQT_NO_KEYWORDS) -ament_auto_add_library(polar_grid SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/polar_grid_display.cpp src/polar_grid_display.hpp ) -target_link_libraries(polar_grid +target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ) diff --git a/common/polar_grid/Readme.md b/common/autoware_polar_grid/Readme.md similarity index 100% rename from common/polar_grid/Readme.md rename to common/autoware_polar_grid/Readme.md diff --git a/common/polar_grid/icons/classes/PolarGridDisplay.png b/common/autoware_polar_grid/icons/classes/PolarGridDisplay.png similarity index 100% rename from common/polar_grid/icons/classes/PolarGridDisplay.png rename to common/autoware_polar_grid/icons/classes/PolarGridDisplay.png diff --git a/common/polar_grid/package.xml b/common/autoware_polar_grid/package.xml similarity index 87% rename from common/polar_grid/package.xml rename to common/autoware_polar_grid/package.xml index ece156669c85b..16d6a72985ec9 100644 --- a/common/polar_grid/package.xml +++ b/common/autoware_polar_grid/package.xml @@ -1,9 +1,9 @@ - polar_grid - 0.1.0 - The polar_grid package + autoware_polar_grid + 0.40.0 + The autoware_polar_grid package Yukihiro Saito Apache License 2.0 diff --git a/common/polar_grid/plugins/plugin_description.xml b/common/autoware_polar_grid/plugins/plugin_description.xml similarity index 81% rename from common/polar_grid/plugins/plugin_description.xml rename to common/autoware_polar_grid/plugins/plugin_description.xml index 1ccaf8725d4de..a09fb5ed6a5d4 100644 --- a/common/polar_grid/plugins/plugin_description.xml +++ b/common/autoware_polar_grid/plugins/plugin_description.xml @@ -1,4 +1,4 @@ - + diff --git a/common/polar_grid/src/polar_grid_display.cpp b/common/autoware_polar_grid/src/polar_grid_display.cpp similarity index 100% rename from common/polar_grid/src/polar_grid_display.cpp rename to common/autoware_polar_grid/src/polar_grid_display.cpp diff --git a/common/polar_grid/src/polar_grid_display.hpp b/common/autoware_polar_grid/src/polar_grid_display.hpp similarity index 100% rename from common/polar_grid/src/polar_grid_display.hpp rename to common/autoware_polar_grid/src/polar_grid_display.hpp diff --git a/common/autoware_pyplot/CHANGELOG.rst b/common/autoware_pyplot/CHANGELOG.rst new file mode 100644 index 0000000000000..c3b1f9c17f7d5 --- /dev/null +++ b/common/autoware_pyplot/CHANGELOG.rst @@ -0,0 +1,39 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_pyplot +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* docs(autoware_pyplot): add missing readme and move the package to common (`#9546 `_) +* fix(autoware_pyplot): fix missing python3-dev dependency (`#9461 `_) +* feat(pyplot): add C++ pyplot (`#9430 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome + +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* docs(autoware_pyplot): add missing readme and move the package to common (`#9546 `_) +* fix(autoware_pyplot): fix missing python3-dev dependency (`#9461 `_) +* feat(pyplot): add C++ pyplot (`#9430 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome + +0.39.0 (2024-11-25) +------------------- + +0.38.0 (2024-11-11) +------------------- diff --git a/common/autoware_pyplot/CMakeLists.txt b/common/autoware_pyplot/CMakeLists.txt new file mode 100644 index 0000000000000..6922d5d9306f7 --- /dev/null +++ b/common/autoware_pyplot/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 3.14) + +project(autoware_pyplot) + +find_package(autoware_cmake REQUIRED) + +find_package( + Python3 + COMPONENTS Interpreter Development + REQUIRED) +find_package(pybind11 REQUIRED) + +autoware_package() + +ament_auto_add_library(${PROJECT_NAME} STATIC + DIRECTORY src +) +target_link_libraries(${PROJECT_NAME} ${Python3_LIBRARIES} pybind11::embed) + +if(BUILD_TESTING) + find_package(ament_cmake_ros REQUIRED) + + file(GLOB_RECURSE test_files test/*.cpp) + + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files}) + + target_link_libraries(test_${PROJECT_NAME} + ${PROJECT_NAME} + ) +endif() + +ament_auto_package() diff --git a/common/autoware_pyplot/README.md b/common/autoware_pyplot/README.md new file mode 100644 index 0000000000000..ded3387fefd99 --- /dev/null +++ b/common/autoware_pyplot/README.md @@ -0,0 +1,43 @@ +# autoware_pyplot + +This package provides C++ interface for the notable `matplotlib` using `pybind11` backend for + +- creating scientific plots and images illustrating the function inputs/outputs +- debugging the output and internal data of a function before unit testing in a more lightweight manner than planning_simulator + +## usage + +In your main function, setup the python context and import `matplotlib` + +```cpp +#include +#include + +// in main... + py::scoped_interpreter guard{}; + auto plt = autoware::pyplot::import(); +``` + +Then you can use major functionalities of `matplotlib` almost in the same way as native python code. + +```cpp +{ + plt.plot(Args(std::vector({1, 3, 2, 4})), Kwargs("color"_a = "blue", "linewidth"_a = 1.0)); + plt.xlabel(Args("x-title")); + plt.ylabel(Args("y-title")); + plt.title(Args("title")); + plt.xlim(Args(0, 5)); + plt.ylim(Args(0, 5)); + plt.grid(Args(true)); + plt.savefig(Args("test_single_plot.png")); +} + +{ + auto [fig, axes] = plt.subplots(1, 2); + auto & ax1 = axes[0]; + auto & ax2 = axes[1]; + + ax1.set_aspect(Args("equal")); + ax2.set_aspect(Args("equal")); +} +``` diff --git a/common/autoware_pyplot/include/autoware/pyplot/axes.hpp b/common/autoware_pyplot/include/autoware/pyplot/axes.hpp new file mode 100644 index 0000000000000..53eb2daf21b8f --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/axes.hpp @@ -0,0 +1,141 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__AXES_HPP_ +#define AUTOWARE__PYPLOT__AXES_HPP_ + +#include +#include +#include + +#include + +namespace autoware::pyplot +{ +inline namespace axes +{ +class DECL_VISIBILITY Axes : public PyObjectWrapper +{ +public: + explicit Axes(const pybind11::object & object); + explicit Axes(pybind11::object && object); + + PyObjectWrapper add_patch( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper bar_label( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper cla( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper contour( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper errorbar( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper fill( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper fill_between( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + std::tuple get_xlim() const; + + std::tuple get_ylim() const; + + PyObjectWrapper grid( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper imshow( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + legend::Legend legend( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper plot( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + quiver::Quiver quiver( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper set_aspect( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper set_title( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper set_xlabel( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper set_xlim( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper set_ylabel( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper set_ylim( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper text( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + +private: + void load_attrs(); + + pybind11::object add_patch_attr; + pybind11::object cla_attr; + pybind11::object contour_attr; + pybind11::object contourf_attr; + pybind11::object fill_attr; + pybind11::object fill_between_attr; + pybind11::object get_xlim_attr; + pybind11::object get_ylim_attr; + pybind11::object grid_attr; + pybind11::object imshow_attr; + pybind11::object legend_attr; + pybind11::object quiver_attr; + pybind11::object plot_attr; + pybind11::object scatter_attr; + pybind11::object set_aspect_attr; + pybind11::object set_title_attr; + pybind11::object set_xlabel_attr; + pybind11::object set_xlim_attr; + pybind11::object set_ylabel_attr; + pybind11::object set_ylim_attr; + pybind11::object text_attr; +}; +} // namespace axes +} // namespace autoware::pyplot +#endif // AUTOWARE__PYPLOT__AXES_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/common.hpp b/common/autoware_pyplot/include/autoware/pyplot/common.hpp new file mode 100644 index 0000000000000..123bd82029e08 --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/common.hpp @@ -0,0 +1,44 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__COMMON_HPP_ +#define AUTOWARE__PYPLOT__COMMON_HPP_ + +#include + +namespace autoware::pyplot +{ + +#ifdef _WIN32 +#define DECL_VISIBILITY __declspec(dllexport) +#else +#define DECL_VISIBILITY __attribute__((visibility("hidden"))) +#endif + +inline namespace common +{ +class DECL_VISIBILITY PyObjectWrapper +{ +public: + explicit PyObjectWrapper(const pybind11::object & object); + explicit PyObjectWrapper(pybind11::object && object); + pybind11::object unwrap() const { return self_; } + +protected: + pybind11::object self_; +}; +} // namespace common +} // namespace autoware::pyplot + +#endif // AUTOWARE__PYPLOT__COMMON_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/figure.hpp b/common/autoware_pyplot/include/autoware/pyplot/figure.hpp new file mode 100644 index 0000000000000..d438682d5b368 --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/figure.hpp @@ -0,0 +1,62 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__FIGURE_HPP_ +#define AUTOWARE__PYPLOT__FIGURE_HPP_ + +#include +#include + +namespace autoware::pyplot +{ +inline namespace figure +{ +class DECL_VISIBILITY Figure : public PyObjectWrapper +{ +public: + explicit Figure(const pybind11::object & object); + explicit Figure(pybind11::object && object); + + axes::Axes add_axes( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + axes::Axes add_subplot( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper colorbar( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper savefig( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper tight_layout( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + +private: + void load_attrs(); + + pybind11::object add_axes_attr; + pybind11::object add_subplot_attr; + pybind11::object colorbar_attr; + pybind11::object savefig_attr; + pybind11::object tight_layout_attr; +}; +} // namespace figure +} // namespace autoware::pyplot +#endif // AUTOWARE__PYPLOT__FIGURE_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/legend.hpp b/common/autoware_pyplot/include/autoware/pyplot/legend.hpp new file mode 100644 index 0000000000000..853f1e288407c --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/legend.hpp @@ -0,0 +1,32 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__LEGEND_HPP_ +#define AUTOWARE__PYPLOT__LEGEND_HPP_ + +#include + +namespace autoware::pyplot +{ +inline namespace legend +{ +class DECL_VISIBILITY Legend : public PyObjectWrapper +{ +public: + explicit Legend(const pybind11::object & object); + explicit Legend(pybind11::object && object); +}; +} // namespace legend +} // namespace autoware::pyplot +#endif // AUTOWARE__PYPLOT__LEGEND_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/loader.hpp b/common/autoware_pyplot/include/autoware/pyplot/loader.hpp new file mode 100644 index 0000000000000..df44c257d5925 --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/loader.hpp @@ -0,0 +1,28 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__LOADER_HPP_ +#define AUTOWARE__PYPLOT__LOADER_HPP_ + +namespace autoware::pyplot +{ + +#define LOAD_FUNC_ATTR(obj, mod) \ + do { \ + obj##_attr = mod.attr(#obj); \ + } while (0) + +} // namespace autoware::pyplot + +#endif // AUTOWARE__PYPLOT__LOADER_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/patches.hpp b/common/autoware_pyplot/include/autoware/pyplot/patches.hpp new file mode 100644 index 0000000000000..0c6c545942c74 --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/patches.hpp @@ -0,0 +1,57 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__PATCHES_HPP_ +#define AUTOWARE__PYPLOT__PATCHES_HPP_ + +#include + +namespace autoware::pyplot +{ +inline namespace patches +{ +class DECL_VISIBILITY Circle : public PyObjectWrapper +{ +public: + explicit Circle( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); +}; + +class DECL_VISIBILITY Ellipse : public PyObjectWrapper +{ +public: + explicit Ellipse( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); +}; + +class DECL_VISIBILITY Rectangle : public PyObjectWrapper +{ +public: + explicit Rectangle( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); +}; + +class DECL_VISIBILITY Polygon : public PyObjectWrapper +{ +public: + explicit Polygon( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); +}; +} // namespace patches +} // namespace autoware::pyplot +#endif // AUTOWARE__PYPLOT__PATCHES_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/pyplot.hpp b/common/autoware_pyplot/include/autoware/pyplot/pyplot.hpp new file mode 100644 index 0000000000000..83e0febeb237f --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/pyplot.hpp @@ -0,0 +1,164 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__PYPLOT_HPP_ +#define AUTOWARE__PYPLOT__PYPLOT_HPP_ + +#include +#include +#include + +#include +#include +#include + +namespace autoware::pyplot +{ +struct DECL_VISIBILITY PyPlot +{ +public: + explicit PyPlot(const pybind11::module & mod_); + + axes::Axes axes(const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper axis( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper cla( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper clf( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + figure::Figure figure( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + axes::Axes gca( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + figure::Figure gcf( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper gci( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper grid( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper imshow( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper legend( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper plot( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper quiver( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper savefig( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper scatter( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper show( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + axes::Axes subplot(const pybind11::dict & kwargs = pybind11::dict()); + axes::Axes subplot(int cri); + + std::tuple subplots(const pybind11::dict & kwargs = pybind11::dict()); + std::tuple> subplots( + int r, int c, const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper title( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper xlabel( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper xlim( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper ylabel( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper ylim( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + +private: + void load_attrs(); + pybind11::module mod; + pybind11::object axes_attr; + pybind11::object cla_attr; + pybind11::object clf_attr; + pybind11::object figure_attr; + pybind11::object gca_attr; + pybind11::object gcf_attr; + pybind11::object gci_attr; + pybind11::object grid_attr; + pybind11::object imshow_attr; + pybind11::object legend_attr; + pybind11::object plot_attr; + pybind11::object quiver_attr; + pybind11::object savefig_attr; + pybind11::object scatter_attr; + pybind11::object show_attr; + pybind11::object subplot_attr; + pybind11::object subplots_attr; + pybind11::object title_attr; + pybind11::object xlabel_attr; + pybind11::object xlim_attr; + pybind11::object ylabel_attr; + pybind11::object ylim_attr; +}; + +PyPlot import(); + +} // namespace autoware::pyplot + +template +pybind11::tuple Args(ArgsT &&... args) +{ + return pybind11::make_tuple(std::forward(args)...); +} + +using Kwargs = pybind11::dict; + +namespace py = pybind11; +using namespace py::literals; + +#endif // AUTOWARE__PYPLOT__PYPLOT_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/quiver.hpp b/common/autoware_pyplot/include/autoware/pyplot/quiver.hpp new file mode 100644 index 0000000000000..443c0540d9308 --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/quiver.hpp @@ -0,0 +1,32 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__QUIVER_HPP_ +#define AUTOWARE__PYPLOT__QUIVER_HPP_ + +#include + +namespace autoware::pyplot +{ +inline namespace quiver +{ +class DECL_VISIBILITY Quiver : public PyObjectWrapper +{ +public: + explicit Quiver(const pybind11::object & object); + explicit Quiver(pybind11::object && object); +}; +} // namespace quiver +} // namespace autoware::pyplot +#endif // AUTOWARE__PYPLOT__QUIVER_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/text.hpp b/common/autoware_pyplot/include/autoware/pyplot/text.hpp new file mode 100644 index 0000000000000..27f892e90488f --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/text.hpp @@ -0,0 +1,40 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__TEXT_HPP_ +#define AUTOWARE__PYPLOT__TEXT_HPP_ + +#include + +namespace autoware::pyplot +{ +inline namespace text +{ +class DECL_VISIBILITY Text : public PyObjectWrapper +{ +public: + explicit Text(const pybind11::object & object); + explicit Text(pybind11::object && object); + + PyObjectWrapper set_rotation( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + +private: + void load_attrs(); + pybind11::object set_rotation_attr; +}; +} // namespace text +} // namespace autoware::pyplot +#endif // AUTOWARE__PYPLOT__TEXT_HPP_ diff --git a/common/autoware_geography_utils/package.xml b/common/autoware_pyplot/package.xml similarity index 56% rename from common/autoware_geography_utils/package.xml rename to common/autoware_pyplot/package.xml index bd3aa79bde8c2..2f3f3014d4907 100644 --- a/common/autoware_geography_utils/package.xml +++ b/common/autoware_pyplot/package.xml @@ -1,21 +1,20 @@ - autoware_geography_utils - 0.1.0 - The autoware_geography_utils package - Koji Minoda + autoware_pyplot + 0.40.0 + C++ interface for matplotlib based on pybind11 + Mamoru Sobue + Yukinari Hisaki Apache License 2.0 + Mamoru Sobue + ament_cmake_auto autoware_cmake - autoware_lanelet2_extension - geographic_msgs - geographiclib - geometry_msgs - lanelet2_io - tier4_map_msgs + pybind11-dev + python3-dev ament_cmake_ros ament_lint_auto diff --git a/common/autoware_pyplot/src/axes.cpp b/common/autoware_pyplot/src/axes.cpp new file mode 100644 index 0000000000000..95f871ea6179f --- /dev/null +++ b/common/autoware_pyplot/src/axes.cpp @@ -0,0 +1,156 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +#include + +namespace autoware::pyplot +{ +inline namespace axes +{ +Axes::Axes(const pybind11::object & object) : PyObjectWrapper(object) +{ + load_attrs(); +} +Axes::Axes(pybind11::object && object) : PyObjectWrapper(object) +{ + load_attrs(); +} + +PyObjectWrapper Axes::add_patch(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{add_patch_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::cla(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{cla_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::contour(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{contour_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::fill(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{fill_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::fill_between( + const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{fill_between_attr(*args, **kwargs)}; +} + +std::tuple Axes::get_xlim() const +{ + const pybind11::list ret = get_xlim_attr(); + return {ret[0].cast(), ret[1].cast()}; +} + +std::tuple Axes::get_ylim() const +{ + const pybind11::list ret = get_ylim_attr(); + return {ret[0].cast(), ret[1].cast()}; +} + +PyObjectWrapper Axes::grid(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{grid_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::imshow(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{imshow_attr(*args, **kwargs)}; +} + +legend::Legend Axes::legend(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return legend::Legend{legend_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::plot(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{plot_attr(*args, **kwargs)}; +} + +quiver::Quiver Axes::quiver(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return Quiver{quiver_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::set_aspect(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{set_aspect_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::set_title(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{set_title_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::set_xlabel(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{set_xlabel_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::set_xlim(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{set_xlim_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::set_ylabel(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{set_ylabel_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::set_ylim(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{set_ylim_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::text(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{text_attr(*args, **kwargs)}; +} + +void Axes::load_attrs() +{ + LOAD_FUNC_ATTR(add_patch, self_); + LOAD_FUNC_ATTR(cla, self_); + LOAD_FUNC_ATTR(contour, self_); + LOAD_FUNC_ATTR(contourf, self_); + LOAD_FUNC_ATTR(fill, self_); + LOAD_FUNC_ATTR(fill_between, self_); + LOAD_FUNC_ATTR(get_xlim, self_); + LOAD_FUNC_ATTR(get_ylim, self_); + LOAD_FUNC_ATTR(grid, self_); + LOAD_FUNC_ATTR(imshow, self_); + LOAD_FUNC_ATTR(legend, self_); + LOAD_FUNC_ATTR(quiver, self_); + LOAD_FUNC_ATTR(plot, self_); + LOAD_FUNC_ATTR(scatter, self_); + LOAD_FUNC_ATTR(set_aspect, self_); + LOAD_FUNC_ATTR(set_title, self_); + LOAD_FUNC_ATTR(set_xlabel, self_); + LOAD_FUNC_ATTR(set_xlim, self_); + LOAD_FUNC_ATTR(set_ylabel, self_); + LOAD_FUNC_ATTR(set_ylim, self_); + LOAD_FUNC_ATTR(text, self_); +} +} // namespace axes +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/src/common.cpp b/common/autoware_pyplot/src/common.cpp new file mode 100644 index 0000000000000..5f1226cb5bae1 --- /dev/null +++ b/common/autoware_pyplot/src/common.cpp @@ -0,0 +1,32 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include + +namespace autoware::pyplot +{ +inline namespace common +{ +PyObjectWrapper::PyObjectWrapper(const pybind11::object & object) +{ + self_ = object; +} +PyObjectWrapper::PyObjectWrapper(pybind11::object && object) +{ + self_ = std::move(object); +} +} // namespace common +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/src/figure.cpp b/common/autoware_pyplot/src/figure.cpp new file mode 100644 index 0000000000000..07aacf8dd516a --- /dev/null +++ b/common/autoware_pyplot/src/figure.cpp @@ -0,0 +1,66 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +namespace autoware::pyplot +{ +inline namespace figure +{ +Figure::Figure(const pybind11::object & object) : PyObjectWrapper(object) +{ + load_attrs(); +} +Figure::Figure(pybind11::object && object) : PyObjectWrapper(object) +{ + load_attrs(); +} + +void Figure::load_attrs() +{ + LOAD_FUNC_ATTR(add_axes, self_); + LOAD_FUNC_ATTR(add_subplot, self_); + LOAD_FUNC_ATTR(colorbar, self_); + LOAD_FUNC_ATTR(savefig, self_); + LOAD_FUNC_ATTR(tight_layout, self_); +} + +axes::Axes Figure::add_axes(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return axes::Axes{add_axes_attr(*args, **kwargs)}; +} + +axes::Axes Figure::add_subplot(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return axes::Axes{add_subplot_attr(*args, **kwargs)}; +} + +PyObjectWrapper Figure::colorbar(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{colorbar_attr(*args, **kwargs)}; +} + +PyObjectWrapper Figure::savefig(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{savefig_attr(*args, **kwargs)}; +} + +PyObjectWrapper Figure::tight_layout( + const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{tight_layout_attr(*args, **kwargs)}; +} +} // namespace figure +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/src/legend.cpp b/common/autoware_pyplot/src/legend.cpp new file mode 100644 index 0000000000000..e5a128725fec7 --- /dev/null +++ b/common/autoware_pyplot/src/legend.cpp @@ -0,0 +1,28 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +namespace autoware::pyplot +{ +inline namespace legend +{ +Legend::Legend(const pybind11::object & object) : PyObjectWrapper(object) +{ +} +Legend::Legend(pybind11::object && object) : PyObjectWrapper(object) +{ +} +} // namespace legend +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/src/patches.cpp b/common/autoware_pyplot/src/patches.cpp new file mode 100644 index 0000000000000..4df4de27e81e3 --- /dev/null +++ b/common/autoware_pyplot/src/patches.cpp @@ -0,0 +1,45 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +namespace autoware::pyplot +{ +inline namespace patches +{ +Circle::Circle(const pybind11::tuple & args, const pybind11::dict & kwargs) +: PyObjectWrapper(pybind11::module::import("matplotlib.patches").attr("Circle")) +{ + self_ = self_(*args, **kwargs); +} + +Ellipse::Ellipse(const pybind11::tuple & args, const pybind11::dict & kwargs) +: PyObjectWrapper(pybind11::module::import("matplotlib.patches").attr("Ellipse")) +{ + self_ = self_(*args, **kwargs); +} + +Rectangle::Rectangle(const pybind11::tuple & args, const pybind11::dict & kwargs) +: PyObjectWrapper(pybind11::module::import("matplotlib.patches").attr("Rectangle")) +{ + self_ = self_(*args, **kwargs); +} + +Polygon::Polygon(const pybind11::tuple & args, const pybind11::dict & kwargs) +: PyObjectWrapper(pybind11::module::import("matplotlib.patches").attr("Polygon")) +{ + self_ = self_(*args, **kwargs); +} +} // namespace patches +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/src/pyplot.cpp b/common/autoware_pyplot/src/pyplot.cpp new file mode 100644 index 0000000000000..624a1b1db07df --- /dev/null +++ b/common/autoware_pyplot/src/pyplot.cpp @@ -0,0 +1,208 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +#include +#include + +namespace autoware::pyplot +{ +PyPlot::PyPlot(const pybind11::module & mod_) : mod(mod_) +{ + load_attrs(); +} + +void PyPlot::load_attrs() +{ + LOAD_FUNC_ATTR(axes, mod); + LOAD_FUNC_ATTR(cla, mod); + LOAD_FUNC_ATTR(clf, mod); + LOAD_FUNC_ATTR(figure, mod); + LOAD_FUNC_ATTR(gca, mod); + LOAD_FUNC_ATTR(gcf, mod); + LOAD_FUNC_ATTR(gci, mod); + LOAD_FUNC_ATTR(grid, mod); + LOAD_FUNC_ATTR(imshow, mod); + LOAD_FUNC_ATTR(legend, mod); + LOAD_FUNC_ATTR(plot, mod); + LOAD_FUNC_ATTR(quiver, mod); + LOAD_FUNC_ATTR(savefig, mod); + LOAD_FUNC_ATTR(scatter, mod); + LOAD_FUNC_ATTR(show, mod); + LOAD_FUNC_ATTR(subplot, mod); + LOAD_FUNC_ATTR(subplots, mod); + LOAD_FUNC_ATTR(title, mod); + LOAD_FUNC_ATTR(xlabel, mod); + LOAD_FUNC_ATTR(xlim, mod); + LOAD_FUNC_ATTR(ylabel, mod); + LOAD_FUNC_ATTR(ylim, mod); +} + +axes::Axes PyPlot::axes(const pybind11::dict & kwargs) +{ + return axes::Axes{axes_attr(**kwargs)}; +} + +PyObjectWrapper PyPlot::cla(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{cla_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::clf(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{clf_attr(*args, **kwargs)}; +} + +figure::Figure PyPlot::figure(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return figure::Figure{figure_attr(*args, **kwargs)}; +} + +axes::Axes PyPlot::gca(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return axes::Axes{gca_attr(*args, **kwargs)}; +} + +figure::Figure PyPlot::gcf(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return figure::Figure{gcf_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::gci(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{gci_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::grid(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{grid_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::imshow(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{imshow_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::legend(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{legend_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::plot(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{plot_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::quiver(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{quiver_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::scatter(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{scatter_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::savefig(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{savefig_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::show(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{show_attr(*args, **kwargs)}; +} + +axes::Axes PyPlot::subplot(const pybind11::dict & kwargs) +{ + return axes::Axes(subplot_attr(**kwargs)); +} + +axes::Axes PyPlot::subplot(int cri) +{ + return axes::Axes(subplot_attr(cri)); +} + +std::tuple PyPlot::subplots(const pybind11::dict & kwargs) +{ + pybind11::list ret = subplots_attr(**kwargs); + pybind11::object fig = ret[0]; + pybind11::object ax = ret[1]; + return {figure::Figure(fig), axes::Axes(ax)}; +} + +std::tuple> PyPlot::subplots( + int r, int c, const pybind11::dict & kwargs) +{ + // subplots() returns [][] (if r > 1 && c > 1) else [] + // return []axes in row-major + // NOTE: equal to Axes.flat + pybind11::tuple args = pybind11::make_tuple(r, c); + pybind11::list ret = subplots_attr(*args, **kwargs); + std::vector axes; + pybind11::object fig = ret[0]; + figure::Figure figure(fig); + if (r == 1 && c == 1) { + // python returns Axes + axes.emplace_back(ret[1]); + } else if (r == 1 || c == 1) { + // python returns []Axes + pybind11::list axs = ret[1]; + for (int i = 0; i < r * c; ++i) axes.emplace_back(axs[i]); + } else { + // python returns [][]Axes + pybind11::list axs = ret[1]; + for (pybind11::size_t i = 0; i < axs.size(); ++i) { + pybind11::list ax_i = axs[i]; + for (unsigned j = 0; j < ax_i.size(); ++j) axes.emplace_back(ax_i[j]); + } + } + return {figure, axes}; +} + +PyObjectWrapper PyPlot::title(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{title_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::xlabel(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{xlabel_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::xlim(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{xlim_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::ylabel(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{ylabel_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::ylim(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{ylim_attr(*args, **kwargs)}; +} + +PyPlot import() +{ + auto mod = pybind11::module::import("matplotlib.pyplot"); + auto g_pyplot = PyPlot(mod); + return g_pyplot; +} + +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/src/quiver.cpp b/common/autoware_pyplot/src/quiver.cpp new file mode 100644 index 0000000000000..72614fb6227a7 --- /dev/null +++ b/common/autoware_pyplot/src/quiver.cpp @@ -0,0 +1,28 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +namespace autoware::pyplot +{ +inline namespace quiver +{ +Quiver::Quiver(const pybind11::object & object) : PyObjectWrapper(object) +{ +} +Quiver::Quiver(pybind11::object && object) : PyObjectWrapper(object) +{ +} +} // namespace quiver +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/src/text.cpp b/common/autoware_pyplot/src/text.cpp new file mode 100644 index 0000000000000..024c7c2daf946 --- /dev/null +++ b/common/autoware_pyplot/src/text.cpp @@ -0,0 +1,35 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +namespace autoware::pyplot +{ +inline namespace text +{ +Text::Text(const pybind11::object & object) : PyObjectWrapper(object) +{ +} + +Text::Text(pybind11::object && object) : PyObjectWrapper(object) +{ +} + +void Text::load_attrs() +{ + LOAD_FUNC_ATTR(set_rotation, self_); +} +} // namespace text +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/test/test_pyplot.cpp b/common/autoware_pyplot/test/test_pyplot.cpp new file mode 100644 index 0000000000000..2055709c61f52 --- /dev/null +++ b/common/autoware_pyplot/test/test_pyplot.cpp @@ -0,0 +1,64 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +#include +#include +/* + very weirdly, you must include to pass vector. Although the code + compiles without it, the executable crashes at runtime + */ +#include + +#include + +TEST(PyPlot, single_plot) +{ + // NOTE: somehow, running multiple tests simultaneously causes the python interpreter to crash + py::scoped_interpreter guard{}; + auto plt = autoware::pyplot::import(); + { + plt.plot(Args(std::vector({1, 3, 2, 4})), Kwargs("color"_a = "blue", "linewidth"_a = 1.0)); + plt.xlabel(Args("x-title")); + plt.ylabel(Args("y-title")); + plt.title(Args("title")); + plt.xlim(Args(0, 5)); + plt.ylim(Args(0, 5)); + plt.grid(Args(true)); + plt.savefig(Args("test_single_plot.png")); + } + { + auto [fig, axes] = plt.subplots(1, 2); + auto & ax1 = axes[0]; + auto & ax2 = axes[1]; + + auto c = + autoware::pyplot::Circle(Args(py::make_tuple(0, 0), 0.5), Kwargs("fc"_a = "g", "ec"_a = "r")); + ax1.add_patch(Args(c.unwrap())); + + auto e = autoware::pyplot::Ellipse( + Args(py::make_tuple(-0.25, 0), 0.5, 0.25), Kwargs("fc"_a = "b", "ec"_a = "y")); + ax1.add_patch(Args(e.unwrap())); + + auto r = autoware::pyplot::Rectangle( + Args(py::make_tuple(0, 0), 0.25, 0.5), Kwargs("ec"_a = "#000000", "fill"_a = false)); + ax2.add_patch(Args(r.unwrap())); + + ax1.set_aspect(Args("equal")); + ax2.set_aspect(Args("equal")); + plt.savefig(Args("test_double_plot.svg")); + } +} diff --git a/common/autoware_qp_interface/CHANGELOG.rst b/common/autoware_qp_interface/CHANGELOG.rst new file mode 100644 index 0000000000000..f76dac861e1e6 --- /dev/null +++ b/common/autoware_qp_interface/CHANGELOG.rst @@ -0,0 +1,81 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_qp_interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* fix: fix package names in changelog files (`#9500 `_) +* fix(autoware_osqp_interface): fix clang-tidy errors (`#9440 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(qp_interface): fix unreadVariable (`#8349 `_) + * fix:unreadVariable + * fix:unreadVariable + * fix:unreadVariable + --------- +* perf(velocity_smoother): use ProxQP for faster optimization (`#8028 `_) + * perf(velocity_smoother): use ProxQP for faster optimization + * consider max_iteration + * disable warm start + * fix test + --------- +* refactor(qp_interface): clean up the code (`#8029 `_) + * refactor qp_interface + * variable names: m_XXX -> XXX\_ + * update + * update + --------- +* fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions (`#7855 `_) + * fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- +* feat(qp_interface): support proxqp (`#3699 `_) + * feat(qp_interface): add proxqp interface + * update + --------- +* feat(qp_interface): add new package which will contain various qp solvers (`#3697 `_) +* Contributors: Takayuki Murooka diff --git a/common/qp_interface/CMakeLists.txt b/common/autoware_qp_interface/CMakeLists.txt similarity index 82% rename from common/qp_interface/CMakeLists.txt rename to common/autoware_qp_interface/CMakeLists.txt index 00b2847309e9e..1df75d2d719a0 100644 --- a/common/qp_interface/CMakeLists.txt +++ b/common/autoware_qp_interface/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(qp_interface) +project(autoware_qp_interface) find_package(autoware_cmake REQUIRED) autoware_package() @@ -20,25 +20,25 @@ set(QP_INTERFACE_LIB_SRC ) set(QP_INTERFACE_LIB_HEADERS - include/qp_interface/qp_interface.hpp - include/qp_interface/osqp_interface.hpp - include/qp_interface/osqp_csc_matrix_conv.hpp - include/qp_interface/proxqp_interface.hpp + include/autoware/qp_interface/qp_interface.hpp + include/autoware/qp_interface/osqp_interface.hpp + include/autoware/qp_interface/osqp_csc_matrix_conv.hpp + include/autoware/qp_interface/proxqp_interface.hpp ) ament_auto_add_library(${PROJECT_NAME} SHARED ${QP_INTERFACE_LIB_SRC} ${QP_INTERFACE_LIB_HEADERS} ) -target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast -Wno-error=useless-cast) +target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast) -target_include_directories(qp_interface +target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${OSQP_INCLUDE_DIR}" "${EIGEN3_INCLUDE_DIR}" ) -ament_target_dependencies(qp_interface +ament_target_dependencies(${PROJECT_NAME} Eigen3 osqp_vendor proxsuite diff --git a/common/qp_interface/design/qp_interface-design.md b/common/autoware_qp_interface/design/qp_interface-design.md similarity index 94% rename from common/qp_interface/design/qp_interface-design.md rename to common/autoware_qp_interface/design/qp_interface-design.md index 3843e5a742d1e..edc7fa9845206 100644 --- a/common/qp_interface/design/qp_interface-design.md +++ b/common/autoware_qp_interface/design/qp_interface-design.md @@ -1,6 +1,6 @@ # Interface for QP solvers -This is the design document for the `qp_interface` package. +This is the design document for the `autoware_qp_interface` package. ## Purpose / Use cases diff --git a/common/qp_interface/include/qp_interface/osqp_csc_matrix_conv.hpp b/common/autoware_qp_interface/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp similarity index 84% rename from common/qp_interface/include/qp_interface/osqp_csc_matrix_conv.hpp rename to common/autoware_qp_interface/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp index 8ec7280cfc100..9575d9d18c69f 100644 --- a/common/qp_interface/include/qp_interface/osqp_csc_matrix_conv.hpp +++ b/common/autoware_qp_interface/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ -#define QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ +#ifndef AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ +#define AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ #include "osqp/glob_opts.h" @@ -21,7 +21,7 @@ #include -namespace autoware::common +namespace autoware::qp_interface { /// \brief Compressed-Column-Sparse Matrix struct CSC_Matrix @@ -41,6 +41,6 @@ CSC_Matrix calCSCMatrixTrapezoidal(const Eigen::MatrixXd & mat); /// \brief Print the given CSC matrix to the standard output void printCSCMatrix(const CSC_Matrix & csc_mat); -} // namespace autoware::common +} // namespace autoware::qp_interface -#endif // QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ +#endif // AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ diff --git a/common/qp_interface/include/qp_interface/osqp_interface.hpp b/common/autoware_qp_interface/include/autoware/qp_interface/osqp_interface.hpp similarity index 94% rename from common/qp_interface/include/qp_interface/osqp_interface.hpp rename to common/autoware_qp_interface/include/autoware/qp_interface/osqp_interface.hpp index 55792beaaff11..a5777dd545e9f 100644 --- a/common/qp_interface/include/qp_interface/osqp_interface.hpp +++ b/common/autoware_qp_interface/include/autoware/qp_interface/osqp_interface.hpp @@ -12,19 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef QP_INTERFACE__OSQP_INTERFACE_HPP_ -#define QP_INTERFACE__OSQP_INTERFACE_HPP_ +#ifndef AUTOWARE__QP_INTERFACE__OSQP_INTERFACE_HPP_ +#define AUTOWARE__QP_INTERFACE__OSQP_INTERFACE_HPP_ +#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp" +#include "autoware/qp_interface/qp_interface.hpp" #include "osqp/osqp.h" -#include "qp_interface/osqp_csc_matrix_conv.hpp" -#include "qp_interface/qp_interface.hpp" #include #include #include #include -namespace autoware::common +namespace autoware::qp_interface { constexpr c_float OSQP_INF = 1e30; @@ -142,6 +142,6 @@ class OSQPInterface : public QPInterface std::vector optimizeImpl() override; }; -} // namespace autoware::common +} // namespace autoware::qp_interface -#endif // QP_INTERFACE__OSQP_INTERFACE_HPP_ +#endif // AUTOWARE__QP_INTERFACE__OSQP_INTERFACE_HPP_ diff --git a/common/qp_interface/include/qp_interface/proxqp_interface.hpp b/common/autoware_qp_interface/include/autoware/qp_interface/proxqp_interface.hpp similarity index 85% rename from common/qp_interface/include/qp_interface/proxqp_interface.hpp rename to common/autoware_qp_interface/include/autoware/qp_interface/proxqp_interface.hpp index 775ba0fcc42b8..324da4b18c6fd 100644 --- a/common/qp_interface/include/qp_interface/proxqp_interface.hpp +++ b/common/autoware_qp_interface/include/autoware/qp_interface/proxqp_interface.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef QP_INTERFACE__PROXQP_INTERFACE_HPP_ -#define QP_INTERFACE__PROXQP_INTERFACE_HPP_ +#ifndef AUTOWARE__QP_INTERFACE__PROXQP_INTERFACE_HPP_ +#define AUTOWARE__QP_INTERFACE__PROXQP_INTERFACE_HPP_ -#include "qp_interface/qp_interface.hpp" +#include "autoware/qp_interface/qp_interface.hpp" #include #include @@ -25,7 +25,7 @@ #include #include -namespace autoware::common +namespace autoware::qp_interface { class ProxQPInterface : public QPInterface { @@ -52,6 +52,6 @@ class ProxQPInterface : public QPInterface std::vector optimizeImpl() override; }; -} // namespace autoware::common +} // namespace autoware::qp_interface -#endif // QP_INTERFACE__PROXQP_INTERFACE_HPP_ +#endif // AUTOWARE__QP_INTERFACE__PROXQP_INTERFACE_HPP_ diff --git a/common/qp_interface/include/qp_interface/qp_interface.hpp b/common/autoware_qp_interface/include/autoware/qp_interface/qp_interface.hpp similarity index 89% rename from common/qp_interface/include/qp_interface/qp_interface.hpp rename to common/autoware_qp_interface/include/autoware/qp_interface/qp_interface.hpp index 85e2d103cde7a..be3c598512bf6 100644 --- a/common/qp_interface/include/qp_interface/qp_interface.hpp +++ b/common/autoware_qp_interface/include/autoware/qp_interface/qp_interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef QP_INTERFACE__QP_INTERFACE_HPP_ -#define QP_INTERFACE__QP_INTERFACE_HPP_ +#ifndef AUTOWARE__QP_INTERFACE__QP_INTERFACE_HPP_ +#define AUTOWARE__QP_INTERFACE__QP_INTERFACE_HPP_ #include @@ -21,7 +21,7 @@ #include #include -namespace autoware::common +namespace autoware::qp_interface { class QPInterface { @@ -56,6 +56,6 @@ class QPInterface std::optional variables_num_{std::nullopt}; std::optional constraints_num_{std::nullopt}; }; -} // namespace autoware::common +} // namespace autoware::qp_interface -#endif // QP_INTERFACE__QP_INTERFACE_HPP_ +#endif // AUTOWARE__QP_INTERFACE__QP_INTERFACE_HPP_ diff --git a/common/qp_interface/package.xml b/common/autoware_qp_interface/package.xml similarity index 94% rename from common/qp_interface/package.xml rename to common/autoware_qp_interface/package.xml index 22cc3665ffaa0..b61d03a36db72 100644 --- a/common/qp_interface/package.xml +++ b/common/autoware_qp_interface/package.xml @@ -1,8 +1,8 @@ - qp_interface - 1.0.0 + autoware_qp_interface + 0.40.0 Interface for the QP solvers Takayuki Murooka Fumiya Watanabe diff --git a/common/qp_interface/src/osqp_csc_matrix_conv.cpp b/common/autoware_qp_interface/src/osqp_csc_matrix_conv.cpp similarity index 96% rename from common/qp_interface/src/osqp_csc_matrix_conv.cpp rename to common/autoware_qp_interface/src/osqp_csc_matrix_conv.cpp index 77a481f442000..15314a9e4a5fa 100644 --- a/common/qp_interface/src/osqp_csc_matrix_conv.cpp +++ b/common/autoware_qp_interface/src/osqp_csc_matrix_conv.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "qp_interface/osqp_csc_matrix_conv.hpp" +#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp" #include #include @@ -21,7 +21,7 @@ #include #include -namespace autoware::common +namespace autoware::qp_interface { CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat) { @@ -131,4 +131,4 @@ void printCSCMatrix(const CSC_Matrix & csc_mat) } std::cout << "]\n"; } -} // namespace autoware::common +} // namespace autoware::qp_interface diff --git a/common/qp_interface/src/osqp_interface.cpp b/common/autoware_qp_interface/src/osqp_interface.cpp similarity index 97% rename from common/qp_interface/src/osqp_interface.cpp rename to common/autoware_qp_interface/src/osqp_interface.cpp index 377de8cf66a7a..fbb8e71f4c251 100644 --- a/common/qp_interface/src/osqp_interface.cpp +++ b/common/autoware_qp_interface/src/osqp_interface.cpp @@ -12,13 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "qp_interface/osqp_interface.hpp" +#include "autoware/qp_interface/osqp_interface.hpp" -#include "qp_interface/osqp_csc_matrix_conv.hpp" +#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp" #include -namespace autoware::common +#include +#include +#include +#include + +namespace autoware::qp_interface { OSQPInterface::OSQPInterface( const bool enable_warm_start, const int max_iteration, const c_float eps_abs, @@ -386,4 +391,4 @@ std::vector OSQPInterface::optimize( return result; } -} // namespace autoware::common +} // namespace autoware::qp_interface diff --git a/common/qp_interface/src/proxqp_interface.cpp b/common/autoware_qp_interface/src/proxqp_interface.cpp similarity index 96% rename from common/qp_interface/src/proxqp_interface.cpp rename to common/autoware_qp_interface/src/proxqp_interface.cpp index d26543f907e62..a0ebbf0db0510 100644 --- a/common/qp_interface/src/proxqp_interface.cpp +++ b/common/autoware_qp_interface/src/proxqp_interface.cpp @@ -12,9 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "qp_interface/proxqp_interface.hpp" +#include "autoware/qp_interface/proxqp_interface.hpp" -namespace autoware::common +#include +#include +#include + +namespace autoware::qp_interface { using proxsuite::proxqp::QPSolverOutput; @@ -150,4 +154,4 @@ std::vector ProxQPInterface::optimizeImpl() } return result; } -} // namespace autoware::common +} // namespace autoware::qp_interface diff --git a/common/qp_interface/src/qp_interface.cpp b/common/autoware_qp_interface/src/qp_interface.cpp similarity index 94% rename from common/qp_interface/src/qp_interface.cpp rename to common/autoware_qp_interface/src/qp_interface.cpp index afd26132d7769..f01e57772dc4f 100644 --- a/common/qp_interface/src/qp_interface.cpp +++ b/common/autoware_qp_interface/src/qp_interface.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "qp_interface/qp_interface.hpp" +#include "autoware/qp_interface/qp_interface.hpp" #include #include #include -namespace autoware::common +namespace autoware::qp_interface { void QPInterface::initializeProblem( const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector & q, @@ -67,4 +67,4 @@ std::vector QPInterface::optimize( return result; } -} // namespace autoware::common +} // namespace autoware::qp_interface diff --git a/common/qp_interface/test/test_csc_matrix_conv.cpp b/common/autoware_qp_interface/test/test_csc_matrix_conv.cpp similarity index 93% rename from common/qp_interface/test/test_csc_matrix_conv.cpp rename to common/autoware_qp_interface/test/test_csc_matrix_conv.cpp index a6bd5e3df0be1..1f377a1a24535 100644 --- a/common/qp_interface/test/test_csc_matrix_conv.cpp +++ b/common/autoware_qp_interface/test/test_csc_matrix_conv.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp" #include "gtest/gtest.h" -#include "qp_interface/osqp_csc_matrix_conv.hpp" #include @@ -23,8 +23,8 @@ TEST(TestCscMatrixConv, Nominal) { - using autoware::common::calCSCMatrix; - using autoware::common::CSC_Matrix; + using autoware::qp_interface::calCSCMatrix; + using autoware::qp_interface::CSC_Matrix; Eigen::MatrixXd rect1(1, 2); rect1 << 0.0, 1.0; @@ -117,8 +117,8 @@ TEST(TestCscMatrixConv, Nominal) } TEST(TestCscMatrixConv, Trapezoidal) { - using autoware::common::calCSCMatrixTrapezoidal; - using autoware::common::CSC_Matrix; + using autoware::qp_interface::calCSCMatrixTrapezoidal; + using autoware::qp_interface::CSC_Matrix; Eigen::MatrixXd square1(2, 2); Eigen::MatrixXd square2(3, 3); @@ -166,10 +166,10 @@ TEST(TestCscMatrixConv, Trapezoidal) } TEST(TestCscMatrixConv, Print) { - using autoware::common::calCSCMatrix; - using autoware::common::calCSCMatrixTrapezoidal; - using autoware::common::CSC_Matrix; - using autoware::common::printCSCMatrix; + using autoware::qp_interface::calCSCMatrix; + using autoware::qp_interface::calCSCMatrixTrapezoidal; + using autoware::qp_interface::CSC_Matrix; + using autoware::qp_interface::printCSCMatrix; Eigen::MatrixXd square1(2, 2); Eigen::MatrixXd rect1(1, 2); square1 << 1.0, 2.0, 2.0, 4.0; diff --git a/common/qp_interface/test/test_osqp_interface.cpp b/common/autoware_qp_interface/test/test_osqp_interface.cpp similarity index 86% rename from common/qp_interface/test/test_osqp_interface.cpp rename to common/autoware_qp_interface/test/test_osqp_interface.cpp index 4d0a88c50475c..f97cc2888afa0 100644 --- a/common/qp_interface/test/test_osqp_interface.cpp +++ b/common/autoware_qp_interface/test/test_osqp_interface.cpp @@ -12,11 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/qp_interface/osqp_interface.hpp" #include "gtest/gtest.h" -#include "qp_interface/osqp_interface.hpp" #include +#include +#include #include #include @@ -39,9 +41,9 @@ namespace TEST(TestOsqpInterface, BasicQp) { - using autoware::common::calCSCMatrix; - using autoware::common::calCSCMatrixTrapezoidal; - using autoware::common::CSC_Matrix; + using autoware::qp_interface::calCSCMatrix; + using autoware::qp_interface::calCSCMatrixTrapezoidal; + using autoware::qp_interface::CSC_Matrix; auto check_result = [](const auto & solution, const std::string & status, const int polish_status) { @@ -58,12 +60,12 @@ TEST(TestOsqpInterface, BasicQp) const Eigen::MatrixXd P = (Eigen::MatrixXd(2, 2) << 4, 1, 1, 2).finished(); const Eigen::MatrixXd A = (Eigen::MatrixXd(4, 2) << 1, 1, 1, 0, 0, 1, 0, 1).finished(); const std::vector q = {1.0, 1.0}; - const std::vector l = {1.0, 0.0, 0.0, -autoware::common::OSQP_INF}; - const std::vector u = {1.0, 0.7, 0.7, autoware::common::OSQP_INF}; + const std::vector l = {1.0, 0.0, 0.0, -autoware::qp_interface::OSQP_INF}; + const std::vector u = {1.0, 0.7, 0.7, autoware::qp_interface::OSQP_INF}; { // Define problem during optimization - autoware::common::OSQPInterface osqp(false, 4000, 1e-6); + autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6); const auto solution = osqp.QPInterface::optimize(P, A, q, l, u); const auto status = osqp.getStatus(); const auto polish_status = osqp.getPolishStatus(); @@ -72,7 +74,7 @@ TEST(TestOsqpInterface, BasicQp) { // Define problem during initialization - autoware::common::OSQPInterface osqp(false, 4000, 1e-6); + autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6); const auto solution = osqp.QPInterface::optimize(P, A, q, l, u); const auto status = osqp.getStatus(); const auto polish_status = osqp.getPolishStatus(); @@ -87,7 +89,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - autoware::common::OSQPInterface osqp(false, 4000, 1e-6); + autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6); osqp.QPInterface::optimize(P_ini, A_ini, q_ini, l_ini, u_ini); } @@ -95,7 +97,7 @@ TEST(TestOsqpInterface, BasicQp) // Define problem during initialization with csc matrix CSC_Matrix P_csc = calCSCMatrixTrapezoidal(P); CSC_Matrix A_csc = calCSCMatrix(A); - autoware::common::OSQPInterface osqp(false, 4000, 1e-6); + autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6); const auto solution = osqp.optimize(P_csc, A_csc, q, l, u); const auto status = osqp.getStatus(); @@ -111,7 +113,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - autoware::common::OSQPInterface osqp(false, 4000, 1e-6); + autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6); osqp.optimize(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini); // Redefine problem before optimization @@ -132,7 +134,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - autoware::common::OSQPInterface osqp(true, 4000, 1e-6); // enable warm start + autoware::qp_interface::OSQPInterface osqp(true, 4000, 1e-6); // enable warm start osqp.optimize(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini); // Redefine problem before optimization diff --git a/common/qp_interface/test/test_proxqp_interface.cpp b/common/autoware_qp_interface/test/test_proxqp_interface.cpp similarity index 91% rename from common/qp_interface/test/test_proxqp_interface.cpp rename to common/autoware_qp_interface/test/test_proxqp_interface.cpp index e9cb90ef5d442..e47af10c7aabd 100644 --- a/common/qp_interface/test/test_proxqp_interface.cpp +++ b/common/autoware_qp_interface/test/test_proxqp_interface.cpp @@ -12,11 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/qp_interface/proxqp_interface.hpp" #include "gtest/gtest.h" -#include "qp_interface/proxqp_interface.hpp" #include +#include +#include #include #include @@ -57,7 +59,7 @@ TEST(TestProxqpInterface, BasicQp) { // Define problem during optimization - autoware::common::ProxQPInterface proxqp(false, 4000, 1e-9, 1e-9, false); + autoware::qp_interface::ProxQPInterface proxqp(false, 4000, 1e-9, 1e-9, false); const auto solution = proxqp.QPInterface::optimize(P, A, q, l, u); const auto status = proxqp.getStatus(); check_result(solution, status); @@ -65,7 +67,7 @@ TEST(TestProxqpInterface, BasicQp) { // Define problem during optimization with warm start - autoware::common::ProxQPInterface proxqp(true, 4000, 1e-9, 1e-9, false); + autoware::qp_interface::ProxQPInterface proxqp(true, 4000, 1e-9, 1e-9, false); { const auto solution = proxqp.QPInterface::optimize(P, A, q, l, u); const auto status = proxqp.getStatus(); diff --git a/common/autoware_signal_processing/CHANGELOG.rst b/common/autoware_signal_processing/CHANGELOG.rst new file mode 100644 index 0000000000000..b5b01e98e23a7 --- /dev/null +++ b/common/autoware_signal_processing/CHANGELOG.rst @@ -0,0 +1,53 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_signal_processing +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix: fix Boost.Optional build error on Jazzy (`#7602 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kotaro Yoshimoto +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_signal_processing/package.xml b/common/autoware_signal_processing/package.xml index 18841347dab9f..b8d7c064112dd 100644 --- a/common/autoware_signal_processing/package.xml +++ b/common/autoware_signal_processing/package.xml @@ -2,7 +2,7 @@ autoware_signal_processing - 0.1.0 + 0.40.0 The signal processing package Takayuki Murooka Takamasa Horibe diff --git a/common/autoware_signal_processing/src/butterworth.cpp b/common/autoware_signal_processing/src/butterworth.cpp index 7f491d443787b..0143b7b4fe273 100644 --- a/common/autoware_signal_processing/src/butterworth.cpp +++ b/common/autoware_signal_processing/src/butterworth.cpp @@ -19,6 +19,7 @@ #include #include #include +#include namespace autoware::signal_processing { diff --git a/common/autoware_signal_processing/test/src/butterworth_filter_test.cpp b/common/autoware_signal_processing/test/src/butterworth_filter_test.cpp index bd5d1dbbf6948..8fa72676b02cc 100644 --- a/common/autoware_signal_processing/test/src/butterworth_filter_test.cpp +++ b/common/autoware_signal_processing/test/src/butterworth_filter_test.cpp @@ -14,6 +14,8 @@ #include "butterworth_filter_test.hpp" +#include + using autoware::signal_processing::ButterworthFilter; TEST_F(ButterWorthTestFixture, butterworthOrderTest) diff --git a/common/autoware_signal_processing/test/src/lowpass_filter_1d_test.cpp b/common/autoware_signal_processing/test/src/lowpass_filter_1d_test.cpp index 44e8a1ffce437..ba43219f325ff 100644 --- a/common/autoware_signal_processing/test/src/lowpass_filter_1d_test.cpp +++ b/common/autoware_signal_processing/test/src/lowpass_filter_1d_test.cpp @@ -14,6 +14,8 @@ #include "autoware/signal_processing/lowpass_filter_1d.hpp" +#include + #include constexpr double epsilon = 1e-6; @@ -25,7 +27,7 @@ TEST(lowpass_filter_1d, filter) LowpassFilter1d lowpass_filter_1d(0.1); // initial state - EXPECT_EQ(lowpass_filter_1d.getValue(), boost::none); + EXPECT_FALSE(lowpass_filter_1d.getValue()); // random filter EXPECT_NEAR(lowpass_filter_1d.filter(0.0), 0.0, epsilon); @@ -35,7 +37,7 @@ TEST(lowpass_filter_1d, filter) // reset without value lowpass_filter_1d.reset(); - EXPECT_EQ(lowpass_filter_1d.getValue(), boost::none); + EXPECT_FALSE(lowpass_filter_1d.getValue()); // reset with value lowpass_filter_1d.reset(-1.1); diff --git a/common/autoware_signal_processing/test/src/lowpass_filter_test.cpp b/common/autoware_signal_processing/test/src/lowpass_filter_test.cpp index 864378719dd5c..83ccc0f5dab03 100644 --- a/common/autoware_signal_processing/test/src/lowpass_filter_test.cpp +++ b/common/autoware_signal_processing/test/src/lowpass_filter_test.cpp @@ -14,6 +14,8 @@ #include "autoware/signal_processing/lowpass_filter.hpp" +#include + #include constexpr double epsilon = 1e-6; @@ -41,7 +43,7 @@ TEST(lowpass_filter_twist, filter) LowpassFilterTwist lowpass_filter_(0.1); { // initial state - EXPECT_EQ(lowpass_filter_.getValue(), boost::none); + EXPECT_FALSE(lowpass_filter_.getValue()); } { // random filter @@ -58,7 +60,7 @@ TEST(lowpass_filter_twist, filter) { // reset without value lowpass_filter_.reset(); - EXPECT_EQ(lowpass_filter_.getValue(), boost::none); + EXPECT_FALSE(lowpass_filter_.getValue()); } { // reset with value diff --git a/common/autoware_test_utils/CHANGELOG.rst b/common/autoware_test_utils/CHANGELOG.rst new file mode 100644 index 0000000000000..950fdb09aa119 --- /dev/null +++ b/common/autoware_test_utils/CHANGELOG.rst @@ -0,0 +1,186 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_test_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* refactor(test_utils): return parser as optional (`#9391 `_) + Co-authored-by: Mamoru Sobue +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(autoware_test_utils): add parser for LaneletRoute, TrackedObject (`#9317 `_) +* test(autoware_test_utils): add TrafficLight to map, fix launcher (`#9318 `_) +* test(bpp_common): add tests for the static drivable area (`#9324 `_) +* test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * modify costmap generator directory structure + * rename class CostmapGenerator to CostmapGeneratorNode + * unit test for object_map_utils + * catch error from lookupTransform + * use polling subscriber in costmap generator node + * add test for costmap generator node + * add test for isActive() + * revert unnecessary changes + * remove commented out line + * minor fix + * Update planning/autoware_costmap_generator/src/costmap_generator.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(autoware_test_utils): add general topic dumper (`#9207 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Maxime CLEMENT, Ryohsuke Mitsudome, Yutaka Kondo, Zulfaqar Azmi, awf-autoware-bot[bot], mkquda + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * modify costmap generator directory structure + * rename class CostmapGenerator to CostmapGeneratorNode + * unit test for object_map_utils + * catch error from lookupTransform + * use polling subscriber in costmap generator node + * add test for costmap generator node + * add test for isActive() + * revert unnecessary changes + * remove commented out line + * minor fix + * Update planning/autoware_costmap_generator/src/costmap_generator.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(autoware_test_utils): add general topic dumper (`#9207 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) +* Contributors: Esteve Fernandez, Mamoru Sobue, Yutaka Kondo, mkquda + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(autoware_test_utils): add parser for PredictedObjects (`#9176 `_) + feat(autoware_test_utils): add parser for predicted objects +* refactor(autoware_test_utils): sanitizer header (`#9174 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* fix(autoware_test_utils): remove unnecessary cppcheck suppression (`#9165 `_) +* feat(autoware_test_utils): add parser for geometry_msgs and others (`#9167 `_) +* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) + * add path with lane id parser + * refactor parse to use template + --------- +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* feat(test_utils): add simple path with lane id generator (`#9113 `_) + * add simple path with lane id generator + * chnage to explicit template + * fix + * add static cast + * remove header file + --------- +* fix(autoware_test_utils): missing ament_index_cpp dependency (`#8618 `_) +* fix(autoware_test_utils): fix unusedFunction (`#8857 `_) + fix:unusedFunction +* fix(autoware_test_utils): fix unusedFunction (`#8816 `_) + fix: unusedFunction +* test(autoware_route_handler): add unit test for autoware route handler function (`#8271 `_) + * remove unused functions in route handler + * add docstring for function getShoulderLaneletsAtPose + * update test map to include shoulder lanelet + * add unit test for function getShoulderLaneletsAtPose + * add test case for getCenterLinePath to improve branch coverage + --------- +* feat(autoware_test_utils): add qos handler in pub/sub (`#7856 `_) + * feat: add qos handler in pub/sub + * style(pre-commit): autofix + * feat: update test_pub_msg function to not use setpublisher function + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(auoware_test_utils): add jump_clock interface (`#7638 `_) + * feat(auoware_test_utils): add jump_clock interface + * add comment + --------- +* feat(route_handler): add unit test for lane change related functions (`#7504 `_) + * RT1-6230 feat(route_handler): add unit test for lane change related functions + * fix spell check + * fix spellcheck + --------- +* feat(autoware_test_utils): add autoware test manager (`#7597 `_) + * feat(detected_object_validation): add test + * move to autoware_test_utils + * remove perception + * update cmake + * style(pre-commit): autofix + * remove perception change + * add include + * refactored + * avoid using void and static_pointer_cast + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(autoware_test_utils): function to load paths from folder (`#7474 `_) +* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) + * add flag to enable/disable loop check in getLaneletSequence functions + * implement function to get closest route lanelet based on previous closest lanelet + * refactor DefaultPlanner::plan function + * modify loop check logic in getLaneletSequenceUpTo function + * improve logic in isEgoOutOfRoute function + * fix format + * check if prev lanelet is a goal lanelet in getLaneletSequenceUpTo function + * separate function to update current route lanelet in planner manager + * rename function and add docstring + * modify functions extendNextLane and extendPrevLane to account for overlap + * refactor function getClosestRouteLaneletFromLanelet + * add route handler unit tests for overlapping route case + * fix function getClosestRouteLaneletFromLanelet + * format fix + * move test map to autoware_test_utils + --------- +* refactor(test_utils): move to common folder (`#7158 `_) + * Move autoware planning test manager to autoware namespace + * fix package share directory for behavior path planner + * renaming files and directory + * rename variables that has planning_test_utils in its name. + * use autoware namespace for test utils + * move folder to common + * update .pages file + * fix test error + * removed obstacle velocity limiter test artifact + * remove namespace from planning validator, it has using keyword + --------- +* Contributors: Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Mamoru Sobue, Nagi70, Ryuta Kambe, Takayuki Murooka, Tim Clephas, Yoshi Ri, Yutaka Kondo, Zulfaqar Azmi, kminoda, kobayu858, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_test_utils/CMakeLists.txt b/common/autoware_test_utils/CMakeLists.txt index 6a12539d06cbf..8bfa44f7bf0ba 100644 --- a/common/autoware_test_utils/CMakeLists.txt +++ b/common/autoware_test_utils/CMakeLists.txt @@ -5,14 +5,13 @@ find_package(autoware_cmake REQUIRED) autoware_package() ament_auto_add_library(autoware_test_utils SHARED - src/autoware_test_utils.cpp) + src/autoware_test_utils.cpp + src/mock_data_parser.cpp +) -ament_auto_add_library(mock_data_parser SHARED - src/mock_data_parser.cpp) +ament_auto_add_executable(topic_snapshot_saver src/topic_snapshot_saver.cpp) -target_link_libraries(mock_data_parser - yaml-cpp -) +target_link_libraries(topic_snapshot_saver autoware_test_utils) if(BUILD_TESTING) ament_auto_add_gtest(test_autoware_test_utils @@ -25,4 +24,6 @@ ament_auto_package(INSTALL_TO_SHARE config test_map test_data + launch + rviz ) diff --git a/common/autoware_test_utils/README.md b/common/autoware_test_utils/README.md index a656f35a90ce4..54b67d279eaac 100644 --- a/common/autoware_test_utils/README.md +++ b/common/autoware_test_utils/README.md @@ -15,7 +15,7 @@ The objective of the `test_utils` is to develop a unit testing library for the A ## Available Maps -The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/autoware_test_utils/test_map) +The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/common/autoware_test_utils/test_map) ### Common @@ -33,8 +33,74 @@ The following illustrates the design of the map. ![straight_diagram](./images/2km-test.svg) +### road_shoulders + +The road_shoulders lanelet map consist of a variety of pick-up/drop-off site maps with road_shoulder tags including: + +- pick-up/drop-off sites on the side of street lanes +- pick-up/drop-off sites on the side of curved lanes +- pick-up/drop-off sites inside a private area + +![road_shoulder_test](./images/road_shoulder_test_map.png) + +You can easily launch planning_simulator by + +```bash +ros2 launch autoware_test_utils psim_road_shoulder.launch.xml vehicle_model:=<> sensor_model:=<> use_sim_time:=true +``` + +### intersection + +The intersections lanelet map consist of a variety of intersections including: + +- 4-way crossing with traffic light +- 4-way crossing without traffic light +- T-shape crossing without traffic light +- intersection with a loop +- complicated intersection + +![intersection_test](./images/intersection_test_map.png) + +You can easily launch planning_simulator by + +```bash +ros2 launch autoware_test_utils psim_intersection.launch.xml vehicle_model:=<> sensor_model:=<> use_sim_time:=true +``` + ## Example use cases ### Autoware Planning Test Manager The goal of the [Autoware Planning Test Manager](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_planning_test_manager/) is to test planning module nodes. The `PlanningInterfaceTestManager` class ([source code](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp)) creates wrapper functions based on the `test_utils` functions. + +### Generate test data for unit testing + +As presented in this [PR description](https://github.com/autowarefoundation/autoware.universe/pull/9207), the user can save a snapshot of the scene to a yaml file while running Planning Simulation on the test map. + +```bash +ros2 launch autoware_test_utils psim_road_shoulder.launch.xml +ros2 launch autoware_test_utils psim_intersection.launch.xml +``` + +It uses the autoware `sample_vehicle_description` and `sample_sensor_kit` by default, and `autoware_test_utils/config/test_vehicle_info.param.yaml` is exactly the same as that of `sample_vehicle_description`. If specified, `vehicle_model`/`sensor_model` argument is available. + +```bash +ros2 service call /autoware_test_utils/topic_snapshot_saver std_srvs/srv/Empty \{\} +``` + +The list and field names of the topics to be saved are specified in `config/sample_topic_snapshot.yaml`. + +```yaml +# setting +fields: + - name: self_odometry # this is the field name for this topic + type: Odometry # the abbreviated type name of this topic + topic: /localization/kinematic_state # the name of this topic + +# output +self_odometry: + - header: ... + ... +``` + +Each field can be parsed to ROS message type using the functions defined in `autoware_test_utils/mock_data_parser.hpp` diff --git a/common/autoware_test_utils/config/sample_topic_snapshot.yaml b/common/autoware_test_utils/config/sample_topic_snapshot.yaml new file mode 100644 index 0000000000000..d9eff5d579540 --- /dev/null +++ b/common/autoware_test_utils/config/sample_topic_snapshot.yaml @@ -0,0 +1,29 @@ +format_version: 1 + +fields: + - name: self_odometry + type: Odometry # nav_msgs::msg::Odometry + topic: /localization/kinematic_state + + - name: self_acceleration + type: AccelWithCovarianceStamped # geometry_msgs::msg::AccelWithCovarianceStamped + topic: /localization/acceleration + + - name: operation_mode + type: OperationModeState # autoware_adapi_v1_msgs::msg::OperationModeState + topic: /system/operation_mode/state + + - name: route + type: LaneletRoute # autoware_planning_msgs::msg::LaneletRoute + topic: /planning/mission_planning/route + + - name: traffic_signal + type: TrafficLightGroupArray # autoware_perception_msgs::msg::TrafficLightGroupArray + topic: /perception/traffic_light_recognition/traffic_signals + + - name: dynamic_object + type: PredictedObjects # autoware_perception_msgs::msg::PredictedObjects + topic: /perception/object_recognition/objects +# - name: tracked_object +# type: TrackedObjects # autoware_perception_msgs::msg::TrackedObjects +# topic: /perception/object_recognition/tracking/objects diff --git a/common/autoware_test_utils/config/test_vehicle_info.param.yaml b/common/autoware_test_utils/config/test_vehicle_info.param.yaml index 8941b92b4e78e..185ecb9e50a7e 100644 --- a/common/autoware_test_utils/config/test_vehicle_info.param.yaml +++ b/common/autoware_test_utils/config/test_vehicle_info.param.yaml @@ -1,12 +1,13 @@ +# NOTE: this configuration is exactly the same as that of sample_vehicle_description /**: ros__parameters: - wheel_radius: 0.39 - wheel_width: 0.42 - wheel_base: 2.74 # between front wheel center and rear wheel center - wheel_tread: 1.63 # between left wheel center and right wheel center + wheel_radius: 0.383 # The radius of the wheel, primarily used for dead reckoning. + wheel_width: 0.235 # The lateral width of a wheel tire, primarily used for dead reckoning. + wheel_base: 2.79 # between front wheel center and rear wheel center + wheel_tread: 1.64 # between left wheel center and right wheel center front_overhang: 1.0 # between front wheel center and vehicle front - rear_overhang: 1.03 # between rear wheel center and vehicle rear - left_overhang: 0.1 # between left wheel center and vehicle left - right_overhang: 0.1 # between right wheel center and vehicle right + rear_overhang: 1.1 # between rear wheel center and vehicle rear + left_overhang: 0.128 # between left wheel center and vehicle left + right_overhang: 0.128 # between right wheel center and vehicle right vehicle_height: 2.5 max_steer_angle: 0.70 # [rad] diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/docs/intersection_test_map.png b/common/autoware_test_utils/images/intersection_test_map.png similarity index 100% rename from planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/docs/intersection_test_map.png rename to common/autoware_test_utils/images/intersection_test_map.png diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/road_shoulder_test_map.png b/common/autoware_test_utils/images/road_shoulder_test_map.png similarity index 100% rename from planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/road_shoulder_test_map.png rename to common/autoware_test_utils/images/road_shoulder_test_map.png diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp index fd18d5c620832..3721dc67526b5 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp @@ -15,40 +15,32 @@ #ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ -#include -#include -#include -#include -#include -#include +#include +#include #include #include #include #include #include +#include #include #include #include #include #include -#include -#include #include #include #include #include -#include -#include #include -#include -#include -#include +#include #include #include #include +#include #include #include #include @@ -65,18 +57,13 @@ using autoware_planning_msgs::msg::Trajectory; using tier4_planning_msgs::msg::PathPointWithLaneId; using tier4_planning_msgs::msg::PathWithLaneId; using RouteSections = std::vector; -using autoware::universe_utils::createPoint; -using autoware::universe_utils::createQuaternionFromRPY; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using geometry_msgs::msg::PoseStamped; -using geometry_msgs::msg::TransformStamped; using nav_msgs::msg::OccupancyGrid; using nav_msgs::msg::Odometry; -using sensor_msgs::msg::PointCloud2; using tf2_msgs::msg::TFMessage; using tier4_planning_msgs::msg::Scenario; -using unique_identifier_msgs::msg::UUID; /** * @brief Creates a Pose message with the specified position and orientation. @@ -343,6 +330,19 @@ void updateNodeOptions( */ PathWithLaneId loadPathWithLaneIdInYaml(); +/** + * @brief create a straight lanelet from 2 segments defined by 4 points + * @param [in] left0 start of the left segment + * @param [in] left1 end of the left segment + * @param [in] right0 start of the right segment + * @param [in] right1 end of the right segment + * @return a ConstLanelet with the given left and right bounds and a unique lanelet id + * + */ +lanelet::ConstLanelet make_lanelet( + const lanelet::BasicPoint2d & left0, const lanelet::BasicPoint2d & left1, + const lanelet::BasicPoint2d & right0, const lanelet::BasicPoint2d & right1); + /** * @brief Generates a trajectory with specified parameters. * @@ -369,9 +369,9 @@ T generateTrajectory( T traj; for (size_t i = 0; i < num_points; ++i) { - const double theta = init_theta + i * delta_theta; - const double x = i * point_interval * std::cos(theta); - const double y = i * point_interval * std::sin(theta); + const double theta = init_theta + static_cast(i) * delta_theta; + const double x = static_cast(i) * point_interval * std::cos(theta); + const double y = static_cast(i) * point_interval * std::sin(theta); Point p; p.pose = createPose(x, y, 0.0, 0.0, 0.0, theta); @@ -387,6 +387,33 @@ T generateTrajectory( return traj; } +template <> +inline PathWithLaneId generateTrajectory( + const size_t num_points, const double point_interval, const double velocity, + const double init_theta, const double delta_theta, const size_t overlapping_point_index) +{ + PathWithLaneId traj; + + for (size_t i = 0; i < num_points; i++) { + const double theta = init_theta + static_cast(i) * delta_theta; + const double x = static_cast(i) * point_interval * std::cos(theta); + const double y = static_cast(i) * point_interval * std::sin(theta); + + PathPointWithLaneId p; + p.point.pose = createPose(x, y, 0.0, 0.0, 0.0, theta); + p.point.longitudinal_velocity_mps = static_cast(velocity); + p.lane_ids.push_back(static_cast(i)); + traj.points.push_back(p); + + if (i == overlapping_point_index) { + auto value_to_insert = traj.points.at(overlapping_point_index); + traj.points.insert( + traj.points.begin() + static_cast(overlapping_point_index) + 1, value_to_insert); + } + } + return traj; +} + /** * @brief Creates a publisher with appropriate QoS settings. * @@ -611,6 +638,8 @@ class AutowareTestManager rclcpp::Node::SharedPtr test_node_; }; // class AutowareTestManager +std::optional resolve_pkg_share_uri(const std::string & uri_path); + } // namespace autoware::test_utils #endif // AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ diff --git a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp index 47284da447133..5e07237e2c495 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp @@ -15,32 +15,201 @@ #ifndef AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_ #define AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_ +#include +#include + +#include +#include +#include +#include #include #include #include -#include +#include +#include +#include +#include +#include #include +#include +#include +#include #include +#include #include namespace autoware::test_utils { +using autoware_adapi_v1_msgs::msg::OperationModeState; +using autoware_perception_msgs::msg::ObjectClassification; +using autoware_perception_msgs::msg::PredictedObject; +using autoware_perception_msgs::msg::PredictedObjectKinematics; +using autoware_perception_msgs::msg::PredictedObjects; +using autoware_perception_msgs::msg::PredictedPath; +using autoware_perception_msgs::msg::Shape; +using autoware_perception_msgs::msg::TrackedObject; +using autoware_perception_msgs::msg::TrackedObjectKinematics; +using autoware_perception_msgs::msg::TrackedObjects; +using autoware_perception_msgs::msg::TrafficLightElement; +using autoware_perception_msgs::msg::TrafficLightGroup; +using autoware_perception_msgs::msg::TrafficLightGroupArray; + using autoware_planning_msgs::msg::LaneletPrimitive; using autoware_planning_msgs::msg::LaneletRoute; using autoware_planning_msgs::msg::LaneletSegment; +using builtin_interfaces::msg::Duration; +using builtin_interfaces::msg::Time; +using geometry_msgs::msg::Accel; +using geometry_msgs::msg::AccelWithCovariance; +using geometry_msgs::msg::AccelWithCovarianceStamped; +using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; +using geometry_msgs::msg::PoseWithCovariance; +using geometry_msgs::msg::Twist; +using geometry_msgs::msg::TwistWithCovariance; +using nav_msgs::msg::Odometry; +using std_msgs::msg::Header; +using tier4_planning_msgs::msg::PathPointWithLaneId; +using tier4_planning_msgs::msg::PathWithLaneId; +using unique_identifier_msgs::msg::UUID; + +/** + * @brief Parses a YAML node and converts it into an object of type T. + * + * This function extracts data from the given YAML node and converts it into an object of type T. + * If no specialization exists for T, it will result in a compile-time error. + * + * @tparam T The type of object to parse the node contents into. + * @param node The YAML node to be parsed. + * @return T An object of type T containing the parsed data. + */ +template +T parse(const YAML::Node & node); + +template <> +Header parse(const YAML::Node & node); + +template <> +Duration parse(const YAML::Node & node); + +template <> +Time parse(const YAML::Node & node); + +template <> +std::vector parse(const YAML::Node & node); + +template <> +std::array parse(const YAML::Node & node); + +template <> +Pose parse(const YAML::Node & node); + +template <> +PoseWithCovariance parse(const YAML::Node & node); + +template <> +Twist parse(const YAML::Node & node); + +template <> +TwistWithCovariance parse(const YAML::Node & node); + +template <> +Odometry parse(const YAML::Node & node); + +template <> +Accel parse(const YAML::Node & node); + +template <> +AccelWithCovariance parse(const YAML::Node & node); + +template <> +AccelWithCovarianceStamped parse(const YAML::Node & node); + +template <> +LaneletPrimitive parse(const YAML::Node & node); + +template <> +std::vector parse(const YAML::Node & node); -Pose parse_pose(const YAML::Node & node); +template <> +std::vector parse(const YAML::Node & node); -LaneletPrimitive parse_lanelet_primitive(const YAML::Node & node); +template <> +LaneletRoute parse(const YAML::Node & node); -std::vector parse_lanelet_primitives(const YAML::Node & node); +template <> +std::vector parse(const YAML::Node & node); -std::vector parse_segments(const YAML::Node & node); +template <> +UUID parse(const YAML::Node & node); + +template <> +PredictedPath parse(const YAML::Node & node); + +template <> +ObjectClassification parse(const YAML::Node & node); + +template <> +Shape parse(const YAML::Node & node); + +template <> +PredictedObjectKinematics parse(const YAML::Node & node); + +template <> +PredictedObject parse(const YAML::Node & node); + +template <> +PredictedObjects parse(const YAML::Node & node); + +template <> +TrackedObjectKinematics parse(const YAML::Node & node); + +template <> +TrackedObject parse(const YAML::Node & node); + +template <> +TrackedObjects parse(const YAML::Node & node); + +template <> +TrafficLightGroupArray parse(const YAML::Node & node); + +template <> +TrafficLightGroup parse(const YAML::Node & node); + +template <> +TrafficLightElement parse(const YAML::Node & node); + +template <> +OperationModeState parse(const YAML::Node & node); + +/** + * @brief Parses a YAML file and converts it into an object of type T. + * + * This function reads the specified YAML file and converts its contents into an object of the given + * type T. If no specialization exists for T, it will result in a compile-time error. + * + * @tparam T The type of object to parse the file contents into. + * @param filename The path to the YAML file to be parsed. + * @return T An object of type T containing the parsed data. + */ +template +T parse(const std::string & filename); + +template <> +std::optional parse(const std::string & filename); + +template <> +std::optional parse(const std::string & filename); + +template +auto create_const_shared_ptr(MessageType && payload) +{ + using UnqualifiedType = typename std::decay_t; + return std::make_shared(std::forward(payload)); +} -LaneletRoute parse_lanelet_route_file(const std::string & filename); } // namespace autoware::test_utils #endif // AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_ diff --git a/common/autoware_test_utils/launch/psim_intersection.launch.xml b/common/autoware_test_utils/launch/psim_intersection.launch.xml new file mode 100644 index 0000000000000..723dd7352219d --- /dev/null +++ b/common/autoware_test_utils/launch/psim_intersection.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml b/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml new file mode 100644 index 0000000000000..7dd888a036f9d --- /dev/null +++ b/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml index 0a4152404ab44..22572abb72b69 100644 --- a/common/autoware_test_utils/package.xml +++ b/common/autoware_test_utils/package.xml @@ -2,7 +2,7 @@ autoware_test_utils - 0.1.0 + 0.40.0 ROS 2 node for testing interface of the nodes in planning module Kyoichi Sugahara Takamasa Horibe @@ -16,6 +16,8 @@ autoware_cmake ament_index_cpp + autoware_component_interface_specs + autoware_component_interface_utils autoware_control_msgs autoware_lanelet2_extension autoware_map_msgs @@ -23,11 +25,10 @@ autoware_planning_msgs autoware_universe_utils autoware_vehicle_msgs - component_interface_specs - component_interface_utils lanelet2_io nav_msgs rclcpp + std_srvs tf2_msgs tf2_ros tier4_api_msgs diff --git a/common/autoware_test_utils/rviz/psim_test_map.rviz b/common/autoware_test_utils/rviz/psim_test_map.rviz new file mode 100644 index 0000000000000..8475c94b86bb4 --- /dev/null +++ b/common/autoware_test_utils/rviz/psim_test_map.rviz @@ -0,0 +1,4569 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + Splitter Ratio: 0.557669460773468 + Tree Height: 225 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: ~ + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: AutowareDateTimePanel + Name: AutowareDateTimePanel + - Class: rviz_plugins::AutowareStatePanel + Name: AutowareStatePanel + - Class: rviz_plugins::SimulatedClockPanel + Name: SimulatedClockPanel + - Class: rviz_plugins::TrafficLightPublishPanel + Name: TrafficLightPublishPanel +Visualization Manager: + Class: "" + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + ars408_front_center: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera1/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera1/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera2/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera2/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera3/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera3/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera4/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera4/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera5/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera5/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera6/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera6/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera7/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera7/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gnss_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + livox_front_left: + Alpha: 1 + Show Axes: false + Show Trail: false + livox_front_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + livox_front_right: + Alpha: 1 + Show Axes: false + Show Trail: false + livox_front_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_kit_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + tamagawa/imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: VehicleModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_plugins/PolarGridDisplay + Color: 255; 255; 255 + Delta Range: 10 + Enabled: true + Max Alpha: 0.5 + Max Range: 100 + Max Wave Alpha: 0.5 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 + Name: PolarGridDisplay + Reference Frame: base_link + Value: true + Wave Color: 255; 255; 255 + Wave Velocity: 40 + - Background Alpha: 0.5 + Background Color: 23; 28; 31 + Class: autoware_overlay_rviz_plugin/SignalDisplay + Dark Traffic Color: 255; 51; 51 + Enabled: true + Gear Topic Test: /vehicle/status/gear_status + Handle Angle Scale: 17 + Hazard Lights Topic: /vehicle/status/hazard_lights_status + Height: 100 + Left: 0 + Light Traffic Color: 255; 153; 153 + Name: SignalDisplay + Primary Color: 174; 174; 174 + Signal Color: 0; 230; 120 + Speed Limit Topic: /planning/scenario_planning/current_max_velocity + Speed Topic: /vehicle/status/velocity_status + Steering Topic: /vehicle/status/steering_status + Top: 10 + Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal + Turn Signals Topic: /vehicle/status/turn_indicators_status + Value: true + Width: 550 + Enabled: true + Name: Vehicle + - Class: rviz_plugins/MrmSummaryOverlayDisplay + Enabled: false + Font Size: 10 + Left: 512 + Max Letter Num: 100 + Name: MRM Summary + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /system/emergency/hazard_status + Value: false + Value height offset: 0 + Enabled: true + Name: System + - Class: rviz_common/Group + Displays: + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 28.71826171875 + Min Value: -7.4224700927734375 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 237 + Min Color: 211; 215; 207 + Min Intensity: 0 + Name: PointCloudMap + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/pointcloud_map + Use Fixed Frame: true + Use rainbow: false + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Lanelet2VectorMap + Namespaces: + bus_stop_area: true + center_lane_line: false + center_line_arrows: false + curbstone: true + lane_start_bound: false + lanelet direction: true + lanelet_id: false + left_lane_bound: true + no_parking_area: true + parking_lots: true + parking_space: true + partitions: true + right_lane_bound: true + road_lanelets: false + shoulder_center_lane_line: false + shoulder_center_line_arrows: true + shoulder_lane_start_bound: true + shoulder_left_lane_bound: true + shoulder_right_lane_bound: true + shoulder_road_lanelets: false + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/vector_map_marker + Value: true + Enabled: true + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.4000000059604645 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/concatenated/pointcloud + Use Fixed Frame: false + Use rainbow: true + Value: true + - Alpha: 0.9990000128746033 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: MeasurementRange + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/lidar/crop_box_filter/crop_box_polygon + Value: false + Enabled: true + Name: LiDAR + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 233; 185; 110 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: false + Position: + Alpha: 0.20000000298023224 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.699999988079071 + Head Radius: 1.2000000476837158 + Name: PoseWithCovariance + Shaft Length: 1 + Shaft Radius: 0.5 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/gnss/pose_with_covariance + Value: true + Enabled: false + Name: GNSS + Enabled: true + Name: Sensing + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 170; 255 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovInitial + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/initial_pose_with_covariance + Value: false + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 255; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovAligned + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose_with_covariance + Value: false + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: false + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: PoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose + Value: false + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 0; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /localization/util/downsample/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Aligned + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MonteCarloInitialPose + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/monte_carlo_initial_pose_marker + Value: true + Enabled: true + Name: NDT + - Class: rviz_common/Group + Displays: + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: PoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_twist_fusion_filter/pose + Value: true + Enabled: true + Name: EKF + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 15 + Min Value: -2 + Value: false + Axis: Z + Channel Name: z + Class: rviz_default_plugins/PointCloud2 + Color: 200; 200; 200 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 15 + Min Color: 0; 0; 0 + Min Intensity: -5 + Name: NoGroundPointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/obstacle_segmentation/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Segmentation + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: DetectedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Detection + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/TrackedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Dynamic Status: All + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: TrackedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Tracking + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/PredictedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: PredictedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Maneuver + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/prediction/maneuver + Value: false + Enabled: true + Name: Prediction + Enabled: true + Name: ObjectRecognition + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RecognitionResultOnImage + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/traffic_light/debug/rois + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MapBasedDetectionResult + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers + Value: true + Enabled: true + Name: TrafficLight + - Class: rviz_common/Group + Displays: + - Alpha: 0.5 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map_updates + Use Timestamp: false + Value: true + Enabled: false + Name: OccupancyGrid + Enabled: true + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: RouteArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/route_marker + Value: true + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.30000001192092896 + Class: rviz_default_plugins/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.5 + Name: GoalPose + Shaft Length: 3 + Shaft Radius: 0.20000000298023224 + Shape: Axes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/echo_back_goal_pose + Value: true + - Background Alpha: 0.5 + Background Color: 23; 28; 31 + Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay + Enabled: true + Height: 100 + Name: MissionDetailsDisplay + Remaining Distance and Time Topic: /planning/mission_remaining_distance_time + Right: 10 + Text Color: 194; 194; 194 + Top: 10 + Value: true + Width: 170 + Enabled: true + Name: MissionPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: ScenarioTrajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/trajectory + Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.9990000128746033 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: Path + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/path + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.4000000059604645 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.4000000059604645 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_AvoidanceByLC + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/avoidance_by_lane_change + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/static_obstacle_avoidance + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_LaneChangeRight + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/lane_change_right + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_LaneChangeLeft + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/lane_change_left + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_GoalPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/goal_planner + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_StartPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/start_planner + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_AvoidanceByLC + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/avoidance_by_lane_change + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: (old)PathChangeCandidate_LaneChange + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/lane_change + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_LaneChangeRight + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/lane_change_right + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_LaneChangeLeft + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/lane_change_left + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_ExternalRequestLaneChangeRight + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/external_request_lane_change_right + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_ExternalRequestLaneChangeLeft + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/external_request_lane_change_left + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/static_obstacle_avoidance + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_StartPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/start_planner + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_GoalPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/goal_planner + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Bound + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StaticObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/static_obstacle_avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AvoidanceByLC) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance_by_lane_change + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/external_request_lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/external_request_lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (GoalPlanner) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StartPlanner) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (BlindSpot) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Crosswalk) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Walkway) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/walkway + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DetectionArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Intersection) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MergeFromPrivateArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/merge_from_private + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoStoppingArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OcclusionSpot) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/occlusion_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StopLine) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/stop_line + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (TrafficLight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (VirtualTrafficLight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/virtual_traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (RunOut) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/run_out + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SpeedBump) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoDrivableLane) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Arrow + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Blind Spot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: VirtualTrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/virtual_traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StopLine + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: OcclusionSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: RunOut + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StaticObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/static_obstacle_avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LeftLaneChange + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: RightLaneChange + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LaneFollowing + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_following + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: GoalPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StartPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SideShift + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SpeedBump + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DynamicObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoDrivableLane + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane + Value: false + Enabled: false + Name: DebugMarker + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (StaticObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/static_obstacle_avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (AvoidanceByLC) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance_by_lane_change + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (LaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (LaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (ExtLaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (ExtLaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (GoalPlanner) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/goal_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (StartPlanner) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/start_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (DynamicObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_obstacle_avoidance + Value: false + Enabled: false + Name: InfoMarker + Enabled: true + Name: BehaviorPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/trajectory + Value: false + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.9990000128746033 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleStop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SurroundObstacle) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MotionVelocitySmoother) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/velocity_smoother/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OutOfLane) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleVelocityLimiter) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DynamicObstacleStop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SurroundObstacleCheck + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Footprint + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 239; 41; 41 + Enabled: false + Name: FootprintOffset + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_offset + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 10; 21; 255 + Enabled: false + Name: FootprintRecoverOffset + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_recover_offset + Value: false + Enabled: false + Name: SurroundObstacleChecker + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: CruiseVirtualWall + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SlowDownVirtualWall + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DebugMarker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker + Value: true + Enabled: false + Name: ObstacleCruise + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: OutOfLane + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleVelocityLimiter + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DynamicObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers + Value: true + Enabled: false + Name: MotionVelocityPlanner + Enabled: false + Name: DebugMarker + Enabled: true + Name: MotionPlanning + Enabled: true + Name: LaneDriving + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Costmap + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates + Use Timestamp: false + Value: false + - Alpha: 0.9990000128746033 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PartialPoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (3D) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array + Value: true + - Alpha: 0.9990000128746033 + Arrow Length: 0.5 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 0; 0; 255 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (Flat) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/freespace_planner/debug/pose_array + Value: true + Enabled: true + Name: Parking + - Class: rviz_plugins/PoseWithUuidStamped + Enabled: true + Length: 1.5 + Name: ModifiedGoal + Radius: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/modified_goal + UUID: + Scale: 0.30000001192092896 + Value: false + Value: true + Enabled: true + Name: ScenarioPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: PlanningErrorMarker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /planning/planning_diagnostics/planning_error_monitor/debug/marker + Value: true + Enabled: false + Name: Diagnostic + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: Predicted Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_in_frenet_coordinate + Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Constant Width: true + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 0.05000000074505806 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: Resampled Reference Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory + Value: false + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Constant Width: true + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: false + Width: 0.20000000298023224 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: true + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AEB) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/virtual_wall + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Stop Reason + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/longitudinal/stop_reason + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/MPC + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/mpc_follower/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/PurePursuit + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/AEB + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/debug/markers + Value: false + Enabled: true + Name: Control + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Camera + Enabled: true + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: PointcloudOnCamera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/camera6/image_raw + Value: true + Visibility: + Control: + Debug/AEB: true + Debug/MPC: true + Debug/PurePursuit: true + Predicted Trajectory: true + Resampled Reference Trajectory: true + Stop Reason: true + Value: false + VirtualWall: + Value: true + VirtualWall (AEB): true + Debug: + Control: true + Localization: + "": true + Value: true + Map: true + Perception: + "": true + Value: true + Planning: + "": + "": true + Value: true + Value: true + Sensing: + ConcatenatePointCloud: true + RadarRawObjects(white): true + Value: true + Value: true + Localization: + EKF: + PoseHistory: true + Value: true + NDT: + Aligned: true + Initial: true + MonteCarloInitialPose: true + PoseHistory: true + PoseWithCovAligned: true + PoseWithCovInitial: true + Value: true + Value: false + Map: + Lanelet2VectorMap: true + PointCloudMap: true + Value: false + Perception: + ObjectRecognition: + Detection: + DetectedObjects: true + Value: true + Prediction: + Maneuver: true + PredictedObjects: true + Value: true + Tracking: + TrackedObjects: true + Value: true + Value: true + OccupancyGrid: + Map: true + Value: true + Segmentation: + NoGroundPointCloud: true + Value: true + TrafficLight: + MapBasedDetectionResult: true + RecognitionResultOnImage: true + Value: true + Value: false + Planning: + Diagnostic: + PlanningErrorMarker: true + Value: true + MissionPlanning: + GoalPose: true + MissionDetailsDisplay: true + RouteArea: true + Value: true + ScenarioPlanning: + LaneDriving: + BehaviorPlanning: + (old)PathChangeCandidate_LaneChange: true + Bound: true + DebugMarker: + Arrow: true + Blind Spot: true + Crosswalk: true + DetectionArea: true + DynamicObstacleAvoidance: true + GoalPlanner: true + Intersection: true + LaneFollowing: true + LeftLaneChange: true + NoDrivableLane: true + NoStoppingArea: true + OcclusionSpot: true + RightLaneChange: true + RunOut: true + SideShift: true + SpeedBump: true + StartPlanner: true + StaticObstacleAvoidance: true + StopLine: true + TrafficLight: true + Value: true + VirtualTrafficLight: true + InfoMarker: + Info (AvoidanceByLC): true + Info (DynamicObstacleAvoidance): true + Info (ExtLaneChangeLeft): true + Info (ExtLaneChangeRight): true + Info (GoalPlanner): true + Info (LaneChangeLeft): true + Info (LaneChangeRight): true + Info (StartPlanner): true + Info (StaticObstacleAvoidance): true + Value: true + Path: true + PathChangeCandidate_Avoidance: true + PathChangeCandidate_AvoidanceByLC: true + PathChangeCandidate_ExternalRequestLaneChangeLeft: true + PathChangeCandidate_ExternalRequestLaneChangeRight: true + PathChangeCandidate_GoalPlanner: true + PathChangeCandidate_LaneChangeLeft: true + PathChangeCandidate_LaneChangeRight: true + PathChangeCandidate_StartPlanner: true + PathReference_Avoidance: true + PathReference_AvoidanceByLC: true + PathReference_GoalPlanner: true + PathReference_LaneChangeLeft: true + PathReference_LaneChangeRight: true + PathReference_StartPlanner: true + Value: true + VirtualWall: + Value: true + VirtualWall (AvoidanceByLC): true + VirtualWall (BlindSpot): true + VirtualWall (Crosswalk): true + VirtualWall (DetectionArea): true + VirtualWall (ExtLaneChangeLeft): true + VirtualWall (ExtLaneChangeRight): true + VirtualWall (GoalPlanner): true + VirtualWall (Intersection): true + VirtualWall (LaneChangeLeft): true + VirtualWall (LaneChangeRight): true + VirtualWall (MergeFromPrivateArea): true + VirtualWall (NoDrivableLane): true + VirtualWall (NoStoppingArea): true + VirtualWall (OcclusionSpot): true + VirtualWall (RunOut): true + VirtualWall (SpeedBump): true + VirtualWall (StartPlanner): true + VirtualWall (StaticObstacleAvoidance): true + VirtualWall (StopLine): true + VirtualWall (TrafficLight): true + VirtualWall (VirtualTrafficLight): true + VirtualWall (Walkway): true + MotionPlanning: + DebugMarker: + MotionVelocityPlanner: + DynamicObstacleStop: true + ObstacleVelocityLimiter: true + OutOfLane: true + Value: true + ObstacleAvoidance: true + ObstacleCruise: + CruiseVirtualWall: true + DebugMarker: true + SlowDownVirtualWall: true + Value: true + ObstacleStop: true + SurroundObstacleChecker: + Footprint: true + FootprintOffset: true + FootprintRecoverOffset: true + SurroundObstacleCheck: true + Value: true + Value: true + Trajectory: true + Value: true + VirtualWall: + Value: true + VirtualWall (DynamicObstacleStop): true + VirtualWall (MotionVelocitySmoother): true + VirtualWall (ObstacleAvoidance): true + VirtualWall (ObstacleCruise): true + VirtualWall (ObstacleStop): true + VirtualWall (ObstacleVelocityLimiter): true + VirtualWall (OutOfLane): true + VirtualWall (SurroundObstacle): true + Value: true + ModifiedGoal: true + Parking: + Costmap: true + PartialPoseArray: true + PoseArray: true + Value: true + ScenarioTrajectory: true + Value: true + Value: false + Sensing: + GNSS: + PoseWithCovariance: true + Value: true + LiDAR: + ConcatenatePointCloud: true + MeasurementRange: true + Value: true + Value: true + System: + Grid: true + MRM Summary: true + TF: true + Value: false + Vehicle: + PolarGridDisplay: true + SignalDisplay: true + Value: true + VehicleModel: true + Value: true + Zoom Factor: 1 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/concatenated/pointcloud + Use Fixed Frame: false + Use rainbow: true + Value: true + - BUS: + Alpha: 0.5 + Color: 255; 255; 255 + CAR: + Alpha: 0.5 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.5 + Color: 255; 255; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.5 + Color: 255; 255; 255 + Name: RadarRawObjects(white) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.5 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.5 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.5 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/radar/detected_objects + UNKNOWN: + Alpha: 0.5 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Sensing + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDT pointclouds + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDTLoadedPCDMap + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/debug/loaded_pointcloud_map + Use Fixed Frame: true + Use rainbow: true + Value: true + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: NDTPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose + Value: true + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: EKFPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_twist_fusion_filter/pose + Value: true + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Name: Centerpoint(red1) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Name: CenterpointROIFusion(red2) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Name: CenterpointValidator(red3) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CAR: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Name: PointPainting(light_green1) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + TRUCK: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CAR: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Name: PointPaintingROIFusion(light_green2) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + TRUCK: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CAR: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Name: PointPaintingValidator(light_green3) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + TRUCK: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Name: DetectionByTracker(orange) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/detection_by_tracker/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Name: CameraLidarFusion(purple) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Name: RadarFarObjects(white) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/radar/far_objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Name: Detection(yellow) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Class: autoware_perception_rviz_plugin/TrackedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Dynamic Status: All + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Name: Tracking(green) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Class: autoware_perception_rviz_plugin/PredictedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Name: Prediction(light_blue) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Value: true + Visualization Type: Normal + Enabled: true + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: StartPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: GoalPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: BlindSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/no_stopping_area + Value: true + Enabled: true + Name: Objects Of Interest + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Control + Enabled: false + Name: Debug + Enabled: true + Global Options: + Background Color: 15; 20; 23 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/goal + - Class: tier4_adapi_rviz_plugins::RouteTool + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rviz/routing/rough_goal + - Acceleration: 0 + Class: rviz_plugins/PedestrianInitialPoseTool + Interactive: false + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 0 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 1 + Z std deviation: 0.029999999329447746 + - Acceleration: 0 + Class: rviz_plugins/CarInitialPoseTool + H vehicle height: 2 + Interactive: false + L vehicle length: 4 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 3 + W vehicle width: 1.7999999523162842 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 0 + Z std deviation: 0.029999999329447746 + - Acceleration: 0 + Class: rviz_plugins/BusInitialPoseTool + H vehicle height: 3.5 + Interactive: false + L vehicle length: 10.5 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 0 + W vehicle width: 2.5 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 0 + Z std deviation: 0.029999999329447746 + - Class: rviz_plugins/MissionCheckpointTool + Pose Topic: /planning/mission_planning/checkpoint + Theta std deviation: 0.2617993950843811 + X std deviation: 0.5 + Y std deviation: 0.5 + Z position: 0 + - Class: rviz_plugins/DeleteAllObjectsTool + Pose Topic: /simulation/dummy_perception_publisher/object_info + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: viewer + Value: TopDownOrtho (rviz_default_plugins) + X: 0 + Y: 0 + Saved: + - Class: rviz_default_plugins/ThirdPersonFollower + Distance: 18 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.20000000298023224 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141592025756836 + - Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: viewer + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + AutowareDateTimePanel: + collapsed: false + AutowareStatePanel: + collapsed: false + Displays: + collapsed: false + Height: 939 + Hide Left Dock: false + Hide Right Dock: false + PointcloudOnCamera: + collapsed: false + QMainWindow State: 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+ RecognitionResultOnImage: + collapsed: false + Selection: + collapsed: false + SimulatedClockPanel: + collapsed: false + Tool Properties: + collapsed: false + TrafficLightPublishPanel: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 34 diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp index a0e0b7518aedc..d42a5219e374c 100644 --- a/common/autoware_test_utils/src/autoware_test_utils.cpp +++ b/common/autoware_test_utils/src/autoware_test_utils.cpp @@ -13,19 +13,30 @@ // limitations under the License. #include +#include +#include +#include +#include +#include #include -#include -#include -#include +#include #include #include +#include +#include +#include #include +#include namespace autoware::test_utils { +using autoware::universe_utils::createPoint; +using autoware::universe_utils::createQuaternionFromRPY; +using geometry_msgs::msg::TransformStamped; + geometry_msgs::msg::Pose createPose( double x, double y, double z, double roll, double pitch, double yaw) { @@ -138,7 +149,6 @@ std::string get_absolute_path_to_lanelet_map( return dir + "/test_map/" + map_filename; } -// cppcheck-suppress unusedFunction std::string get_absolute_path_to_route( const std::string & package_name, const std::string & route_filename) { @@ -301,61 +311,39 @@ PathWithLaneId loadPathWithLaneIdInYaml() { const auto yaml_path = get_absolute_path_to_config("autoware_test_utils", "path_with_lane_id_data.yaml"); - YAML::Node yaml_node = YAML::LoadFile(yaml_path); - PathWithLaneId path_msg; - - // Convert YAML data to PathWithLaneId message - // Fill the header - path_msg.header.stamp.sec = yaml_node["header"]["stamp"]["sec"].as(); - path_msg.header.stamp.nanosec = yaml_node["header"]["stamp"]["nanosec"].as(); - path_msg.header.frame_id = yaml_node["header"]["frame_id"].as(); - - // Fill the points - for (const auto & point_node : yaml_node["points"]) { - PathPointWithLaneId point; - // Fill the PathPoint data - point.point.pose.position.x = point_node["point"]["pose"]["position"]["x"].as(); - point.point.pose.position.y = point_node["point"]["pose"]["position"]["y"].as(); - point.point.pose.position.z = point_node["point"]["pose"]["position"]["z"].as(); - point.point.pose.orientation.x = point_node["point"]["pose"]["orientation"]["x"].as(); - point.point.pose.orientation.y = point_node["point"]["pose"]["orientation"]["y"].as(); - point.point.pose.orientation.z = point_node["point"]["pose"]["orientation"]["z"].as(); - point.point.pose.orientation.w = point_node["point"]["pose"]["orientation"]["w"].as(); - point.point.longitudinal_velocity_mps = - point_node["point"]["longitudinal_velocity_mps"].as(); - point.point.lateral_velocity_mps = point_node["point"]["lateral_velocity_mps"].as(); - point.point.heading_rate_rps = point_node["point"]["heading_rate_rps"].as(); - point.point.is_final = point_node["point"]["is_final"].as(); - // Fill the lane_ids - for (const auto & lane_id_node : point_node["lane_ids"]) { - point.lane_ids.push_back(lane_id_node.as()); - } - path_msg.points.push_back(point); + if (const auto path = parse>(yaml_path)) { + return *path; } - // Fill the left_bound - for (const auto & point_node : yaml_node["left_bound"]) { - Point point; - // Fill the Point data (left_bound) - point.x = point_node["x"].as(); - point.y = point_node["y"].as(); - point.z = point_node["z"].as(); - - path_msg.left_bound.push_back(point); - } + throw std::runtime_error( + "Failed to parse YAML file: " + yaml_path + ". The file might be corrupted."); +} - // Fill the right_bound - for (const auto & point_node : yaml_node["right_bound"]) { - Point point; - // Fill the Point data - point.x = point_node["x"].as(); - point.y = point_node["y"].as(); - point.z = point_node["z"].as(); +lanelet::ConstLanelet make_lanelet( + const lanelet::BasicPoint2d & left0, const lanelet::BasicPoint2d & left1, + const lanelet::BasicPoint2d & right0, const lanelet::BasicPoint2d & right1) +{ + lanelet::LineString3d left_bound; + left_bound.push_back(lanelet::Point3d(lanelet::InvalId, left0.x(), left0.y(), 0.0)); + left_bound.push_back(lanelet::Point3d(lanelet::InvalId, left1.x(), left1.y(), 0.0)); + lanelet::LineString3d right_bound; + right_bound.push_back(lanelet::Point3d(lanelet::InvalId, right0.x(), right0.y(), 0.0)); + right_bound.push_back(lanelet::Point3d(lanelet::InvalId, right1.x(), right1.y(), 0.0)); + return {lanelet::utils::getId(), left_bound, right_bound}; +} - path_msg.right_bound.push_back(point); +std::optional resolve_pkg_share_uri(const std::string & uri_path) +{ + std::smatch match; + std::regex pattern(R"(package://([^/]+)/(.+))"); + if (std::regex_match(uri_path, match, pattern)) { + const std::string pkg_name = ament_index_cpp::get_package_share_directory(match[1].str()); + const std::string resource_path = match[2].str(); + const auto path = std::filesystem::path(pkg_name) / std::filesystem::path(resource_path); + return std::filesystem::exists(path) ? std::make_optional(path) : std::nullopt; } - return path_msg; + return std::nullopt; } } // namespace autoware::test_utils diff --git a/common/autoware_test_utils/src/mock_data_parser.cpp b/common/autoware_test_utils/src/mock_data_parser.cpp index 6ad03071a881a..6e7002501bf30 100644 --- a/common/autoware_test_utils/src/mock_data_parser.cpp +++ b/common/autoware_test_utils/src/mock_data_parser.cpp @@ -16,20 +16,74 @@ #include -#include -#include -#include -#include - -#include - #include +#include #include #include namespace autoware::test_utils { -Pose parse_pose(const YAML::Node & node) + +template <> +Header parse(const YAML::Node & node) +{ + Header header; + + header.stamp.sec = node["stamp"]["sec"].as(); + header.stamp.nanosec = node["stamp"]["nanosec"].as(); + header.frame_id = node["frame_id"].as(); + + return header; +} + +template <> +Duration parse(const YAML::Node & node) +{ + Duration msg; + msg.sec = node["sec"].as(); + msg.nanosec = node["nanosec"].as(); + return msg; +} + +template <> +Time parse(const YAML::Node & node) +{ + Time msg; + msg.sec = node["sec"].as(); + msg.nanosec = node["nanosec"].as(); + return msg; +} + +template <> +std::array parse(const YAML::Node & node) +{ + std::array msg{}; + const auto cov = node.as>(); + for (size_t i = 0; i < 36; ++i) { + msg[i] = cov.at(i); + } + return msg; +} + +template <> +std::vector parse(const YAML::Node & node) +{ + std::vector geom_points; + + std::transform( + node.begin(), node.end(), std::back_inserter(geom_points), [&](const YAML::Node & input) { + Point point; + point.x = input["x"].as(); + point.y = input["y"].as(); + point.z = input["z"].as(); + return point; + }); + + return geom_points; +} + +template <> +Pose parse(const YAML::Node & node) { Pose pose; pose.position.x = node["position"]["x"].as(); @@ -42,7 +96,81 @@ Pose parse_pose(const YAML::Node & node) return pose; } -LaneletPrimitive parse_lanelet_primitive(const YAML::Node & node) +template <> +PoseWithCovariance parse(const YAML::Node & node) +{ + PoseWithCovariance msg; + msg.pose = parse(node["pose"]); + msg.covariance = parse>(node["covariance"]); + return msg; +} + +template <> +Twist parse(const YAML::Node & node) +{ + Twist msg; + msg.linear.x = node["linear"]["x"].as(); + msg.linear.y = node["linear"]["y"].as(); + msg.linear.z = node["linear"]["z"].as(); + msg.angular.x = node["angular"]["x"].as(); + msg.angular.y = node["angular"]["y"].as(); + msg.angular.z = node["angular"]["z"].as(); + return msg; +} + +template <> +TwistWithCovariance parse(const YAML::Node & node) +{ + TwistWithCovariance msg; + msg.twist = parse(node["twist"]); + msg.covariance = parse>(node["covariance"]); + return msg; +} + +template <> +Odometry parse(const YAML::Node & node) +{ + Odometry msg; + msg.header = parse
(node["header"]); + msg.child_frame_id = node["child_frame_id"].as(); + msg.pose = parse(node["pose"]); + msg.twist = parse(node["twist"]); + return msg; +} + +template <> +Accel parse(const YAML::Node & node) +{ + Accel msg; + msg.linear.x = node["linear"]["x"].as(); + msg.linear.y = node["linear"]["y"].as(); + msg.linear.z = node["linear"]["z"].as(); + msg.angular.x = node["angular"]["x"].as(); + msg.angular.y = node["angular"]["y"].as(); + msg.angular.z = node["angular"]["z"].as(); + return msg; +} + +template <> +AccelWithCovariance parse(const YAML::Node & node) +{ + AccelWithCovariance msg; + msg.accel = parse(node["accel"]); + msg.covariance = parse>(node["covariance"]); + return msg; +} + +template <> +AccelWithCovarianceStamped parse(const YAML::Node & node) +{ + AccelWithCovarianceStamped msg; + msg.header = parse
(node["header"]); + msg.accel = parse(node["accel"]); + return msg; +} + +template <> +LaneletPrimitive parse(const YAML::Node & node) { LaneletPrimitive primitive; primitive.id = node["id"].as(); @@ -51,43 +179,276 @@ LaneletPrimitive parse_lanelet_primitive(const YAML::Node & node) return primitive; } -std::vector parse_lanelet_primitives(const YAML::Node & node) +template <> +std::vector parse(const YAML::Node & node) { std::vector primitives; primitives.reserve(node.size()); std::transform(node.begin(), node.end(), std::back_inserter(primitives), [&](const auto & p) { - return parse_lanelet_primitive(p); + return parse(p); }); return primitives; } -std::vector parse_segments(const YAML::Node & node) +template <> +std::vector parse(const YAML::Node & node) { std::vector segments; std::transform(node.begin(), node.end(), std::back_inserter(segments), [&](const auto & input) { LaneletSegment segment; - segment.preferred_primitive = parse_lanelet_primitive(input["preferred_primitive"]); - segment.primitives = parse_lanelet_primitives(input["primitives"]); + segment.preferred_primitive = parse(input["preferred_primitive"]); + segment.primitives = parse>(input["primitives"]); return segment; }); return segments; } -// cppcheck-suppress unusedFunction -LaneletRoute parse_lanelet_route_file(const std::string & filename) +template <> +LaneletRoute parse(const YAML::Node & node) { - LaneletRoute lanelet_route; - try { - YAML::Node config = YAML::LoadFile(filename); + LaneletRoute route; + + route.start_pose = parse(node["start_pose"]); + route.goal_pose = parse(node["goal_pose"]); + route.segments = parse>(node["segments"]); + return route; +} + +template <> +std::vector parse>(const YAML::Node & node) +{ + std::vector path_points; + + const auto & points = node; + path_points.reserve(points.size()); + std::transform( + points.begin(), points.end(), std::back_inserter(path_points), [&](const YAML::Node & input) { + PathPointWithLaneId point; + if (!input["point"]) { + return point; + } + const auto & point_node = input["point"]; + point.point.pose = parse(point_node["pose"]); + + point.point.longitudinal_velocity_mps = point_node["longitudinal_velocity_mps"].as(); + point.point.lateral_velocity_mps = point_node["lateral_velocity_mps"].as(); + point.point.heading_rate_rps = point_node["heading_rate_rps"].as(); + point.point.is_final = point_node["is_final"].as(); + // Fill the lane_ids + for (const auto & lane_id_node : input["lane_ids"]) { + point.lane_ids.push_back(lane_id_node.as()); + } - lanelet_route.start_pose = (config["start_pose"]) ? parse_pose(config["start_pose"]) : Pose(); - lanelet_route.goal_pose = (config["goal_pose"]) ? parse_pose(config["goal_pose"]) : Pose(); - lanelet_route.segments = parse_segments(config["segments"]); - } catch (const std::exception & e) { - RCLCPP_DEBUG(rclcpp::get_logger("autoware_test_utils"), "Exception caught: %s", e.what()); + return point; + }); + + return path_points; +} + +template <> +UUID parse(const YAML::Node & node) +{ + UUID msg; + const auto uuid = node["uuid"].as>(); + for (unsigned i = 0; i < 16; ++i) { + msg.uuid.at(i) = uuid.at(i); } - return lanelet_route; + return msg; +} + +template <> +ObjectClassification parse(const YAML::Node & node) +{ + ObjectClassification msg; + msg.label = node["label"].as(); + msg.probability = node["probability"].as(); + return msg; +} + +template <> +Shape parse(const YAML::Node & node) +{ + Shape msg; + msg.type = node["type"].as(); + for (const auto & footprint_point_node : node["footprint"]["points"]) { + geometry_msgs::msg::Point32 point; + point.x = footprint_point_node["x"].as(); + point.y = footprint_point_node["y"].as(); + point.z = footprint_point_node["z"].as(); + msg.footprint.points.push_back(point); + } + msg.dimensions.x = node["dimensions"]["x"].as(); + msg.dimensions.y = node["dimensions"]["y"].as(); + msg.dimensions.z = node["dimensions"]["z"].as(); + return msg; +} + +template <> +PredictedPath parse(const YAML::Node & node) +{ + PredictedPath path; + for (const auto & path_pose_node : node["path"]) { + path.path.push_back(parse(path_pose_node)); + } + path.time_step = parse(node["time_step"]); + path.confidence = node["confidence"].as(); + return path; +} + +template <> +PredictedObjectKinematics parse(const YAML::Node & node) +{ + PredictedObjectKinematics msg; + msg.initial_pose_with_covariance = + parse(node["initial_pose_with_covariance"]); + msg.initial_twist_with_covariance = + parse(node["initial_twist_with_covariance"]); + msg.initial_acceleration_with_covariance = + parse(node["initial_acceleration_with_covariance"]); + for (const auto & predicted_path_node : node["predicted_paths"]) { + msg.predicted_paths.push_back(parse(predicted_path_node)); + } + return msg; +} + +template <> +PredictedObject parse(const YAML::Node & node) +{ + PredictedObject msg; + msg.object_id = parse(node["object_id"]); + msg.existence_probability = node["existence_probability"].as(); + for (const auto & classification_node : node["classification"]) { + msg.classification.push_back(parse(classification_node)); + } + msg.kinematics = parse(node["kinematics"]); + msg.shape = parse(node["shape"]); + return msg; +} + +template <> +PredictedObjects parse(const YAML::Node & node) +{ + PredictedObjects msg; + msg.header = parse
(node["header"]); + for (const auto & object_node : node["objects"]) { + msg.objects.push_back(parse(object_node)); + } + return msg; +} + +template <> +TrackedObjectKinematics parse(const YAML::Node & node) +{ + TrackedObjectKinematics msg; + msg.pose_with_covariance = parse(node["pose_with_covariance"]); + msg.twist_with_covariance = parse(node["twist_with_covariance"]); + msg.acceleration_with_covariance = + parse(node["acceleration_with_covariance"]); + msg.orientation_availability = node["orientation_availability"].as(); + msg.is_stationary = node["is_stationary"].as(); + return msg; +} + +template <> +TrackedObject parse(const YAML::Node & node) +{ + TrackedObject msg; + msg.object_id = parse(node["object_id"]); + msg.existence_probability = node["existence_probability"].as(); + for (const auto & classification_node : node["classification"]) { + msg.classification.push_back(parse(classification_node)); + } + msg.kinematics = parse(node["kinematics"]); + msg.shape = parse(node["shape"]); + return msg; +} + +template <> +TrackedObjects parse(const YAML::Node & node) +{ + TrackedObjects msg; + msg.header = parse
(node["header"]); + for (const auto & object_node : node["objects"]) { + msg.objects.push_back(parse(object_node)); + } + return msg; +} + +template <> +TrafficLightElement parse(const YAML::Node & node) +{ + TrafficLightElement msg; + msg.color = node["color"].as(); + msg.shape = node["shape"].as(); + msg.status = node["status"].as(); + msg.confidence = node["confidence"].as(); + return msg; +} + +template <> +TrafficLightGroup parse(const YAML::Node & node) +{ + TrafficLightGroup msg; + msg.traffic_light_group_id = node["traffic_light_group_id"].as(); + for (const auto & element_node : node["elements"]) { + msg.elements.push_back(parse(element_node)); + } + return msg; +} + +template <> +TrafficLightGroupArray parse(const YAML::Node & node) +{ + TrafficLightGroupArray msg; + msg.stamp = parse