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YoshiRiYoshiRi
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Merge branch 'main' into refactor/occupancy_grid_map_outlier_filter
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‎.cspell.json

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{
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"ignorePaths": ["perception/bytetrack/lib/**"],
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"ignorePaths": [
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"perception/bytetrack/lib/**",
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"planning/behavior_velocity_intersection_module/scripts/**"
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],
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"ignoreRegExpList": [],
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"words": ["dltype", "tvmgen"]
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"words": ["dltype", "tvmgen", "fromarray"]
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}

‎.github/CODEOWNERS

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‎.github/PULL_REQUEST_TEMPLATE/small-change.md

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Not applicable.
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## Interface changes
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<!-- Describe any changed interfaces, such as topics, services, or parameters, including debugging interfaces -->
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## Pre-review checklist for the PR author
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The PR author **must** check the checkboxes below when creating the PR.

‎.github/PULL_REQUEST_TEMPLATE/standard-change.md

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<!-- Describe any changed interfaces, such as topics, services, or parameters. -->
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### ROS Topic Changes
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<!-- | Topic Name | Type | Direction | Update Description | -->
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<!-- | ---------------- | ------------------- | --------- | ------------------------------------------------------------- | -->
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<!-- | `/example_topic` | `std_msgs/String` | Subscribe | Description of what the topic is used for in the system | -->
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<!-- | `/another_topic` | `sensor_msgs/Image` | Publish | Also explain if it is added / modified / deleted with the PR | -->
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### ROS Parameter Changes
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<!-- | Parameter Name | Default Value | Update Description | -->
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<!-- | -------------------- | ------------- | --------------------------------------------------- | -->
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<!-- | `example_parameters` | `1.0` | Describe the parameter and also explain the updates | -->
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## Effects on system behavior
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<!-- Describe how this PR affects the system behavior. -->

‎.github/workflows/build-and-test-arm64.yaml

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build-depends-repos: build_depends.repos
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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- name: Show disk space before the tasks
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run: df -h

‎.github/workflows/build-and-test-differential-arm64.yaml

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build-depends-repos: build_depends.repos
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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‎.github/workflows/build-and-test-differential.yaml

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build-depends-repos: build_depends.repos
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt-cuda
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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‎.github/workflows/build-and-test.yaml

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build-depends-repos: build_depends.repos
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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- name: Show disk space before the tasks
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run: df -h

‎.github/workflows/check-build-depends.yaml

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build-depends-repos: build_depends.repos
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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- name: Remove exec_depend
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uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1

‎.github/workflows/clang-tidy-pr-comments-manually.yaml

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runs-on: ubuntu-latest
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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- name: Download analysis results
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run: |
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- name: Check out PR head
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if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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with:
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repository: ${{ steps.set-variables.outputs.pr-head-repo }}
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ref: ${{ steps.set-variables.outputs.pr-head-ref }}

‎.github/workflows/clang-tidy-pr-comments.yaml

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runs-on: ubuntu-latest
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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- name: Download analysis results
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run: |
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- name: Check out PR head
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if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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with:
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repository: ${{ steps.set-variables.outputs.pr-head-repo }}
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ref: ${{ steps.set-variables.outputs.pr-head-ref }}

‎.github/workflows/delete-closed-pr-docs.yaml

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runs-on: ubuntu-latest
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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‎.github/workflows/deploy-docs.yaml

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runs-on: ubuntu-latest
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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ref: ${{ github.event.pull_request.head.sha }}

‎.github/workflows/json-schema-check.yaml

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outputs:
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run-check: ${{ steps.paths_filter.outputs.json_or_yaml }}
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steps:
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- uses: actions/checkout@v3
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- uses: actions/checkout@v4
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- uses: dorny/paths-filter@v3
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id: paths_filter
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with:
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runs-on: ubuntu-latest
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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- name: Run json-schema-check
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uses: autowarefoundation/autoware-github-actions/json-schema-check@v1

‎build_depends.repos

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type: git
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url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
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version: main
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#vehicle
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vehicle/sample_vehicle_launch:
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universe/external/glog: # TODO: to use isGoogleInitialized() API in v0.6.0. Remove when the rosdep glog version is updated to v0.6.0 (already updated in Ubuntu 24.04)
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type: git
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url: https://github.com/autowarefoundation/sample_vehicle_launch.git
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version: main
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url: https://github.com/tier4/glog.git
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version: v0.6.0_t4-ros

‎common/autoware_auto_common/include/autoware_auto_common/common/types.hpp

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// We don't currently require code to comply to MISRA, but we should try to where it is
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// easily possible.
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using bool8_t = bool;
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#if __cplusplus < 201811L || !__cpp_char8_t
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using char8_t = char;
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#endif
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using uchar8_t = unsigned char;
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// If we ever compile on a platform where this is not true, float32_t and float64_t definitions
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// need to be adjusted.

‎common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_detail.hpp

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@@ -57,6 +57,9 @@ struct ObjectPropertyValues
5757
float alpha{0.999F};
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};
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60+
// Control object marker visualization
61+
enum class ObjectFillType { Skeleton, Fill };
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// Map defining colors according to value of label field in ObjectClassification msg
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const std::map<
6265
autoware_auto_perception_msgs::msg::ObjectClassification::_label_type, ObjectPropertyValues>
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const autoware_auto_perception_msgs::msg::Shape & shape_msg,
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const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
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const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width,
90-
const bool & is_orientation_available = true);
93+
const bool & is_orientation_available = true,
94+
const ObjectFillType fill_type = ObjectFillType::Skeleton);
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AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
9397
get_2d_shape_marker_ptr(

‎common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp

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m_confidence_interval_property->addOption("95%", 2);
113113
m_confidence_interval_property->addOption("99%", 3);
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115+
m_object_fill_type_property = new rviz_common::properties::EnumProperty(
116+
"Object Fill Type", "skeleton", "Change object fill type in visualization", this);
117+
m_object_fill_type_property->addOption(
118+
"skeleton", static_cast<int>(detail::ObjectFillType::Skeleton));
119+
m_object_fill_type_property->addOption("Fill", static_cast<int>(detail::ObjectFillType::Fill));
120+
115121
// iterate over default values to create and initialize the properties.
116122
for (const auto & map_property_it : detail::kDefaultObjectPropertyValues) {
117123
const auto & class_property_values = map_property_it.second;
@@ -189,9 +195,13 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
189195
const bool & is_orientation_available) const
190196
{
191197
const std_msgs::msg::ColorRGBA color_rgba = get_color_rgba(labels);
198+
const auto fill_type =
199+
static_cast<detail::ObjectFillType>(m_object_fill_type_property->getOptionInt());
200+
192201
if (m_display_type_property->getOptionInt() == 0) {
193202
return detail::get_shape_marker_ptr(
194-
shape_msg, centroid, orientation, color_rgba, line_width, is_orientation_available);
203+
shape_msg, centroid, orientation, color_rgba, line_width, is_orientation_available,
204+
fill_type);
195205
} else if (m_display_type_property->getOptionInt() == 1) {
196206
return detail::get_2d_shape_marker_ptr(
197207
shape_msg, centroid, orientation, color_rgba, line_width, is_orientation_available);
@@ -526,6 +536,8 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
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rviz_common::properties::EnumProperty * m_simple_visualize_mode_property;
527537
// Property to set confidence interval of state estimations
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rviz_common::properties::EnumProperty * m_confidence_interval_property;
539+
// Property to set visualization type
540+
rviz_common::properties::EnumProperty * m_object_fill_type_property;
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// Property to enable/disable label visualization
530542
rviz_common::properties::BoolProperty m_display_label_property;
531543
// Property to enable/disable uuid visualization

‎common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp

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@@ -495,23 +495,37 @@ visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr(
495495
const autoware_auto_perception_msgs::msg::Shape & shape_msg,
496496
const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
497497
const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width,
498-
const bool & is_orientation_available)
498+
const bool & is_orientation_available, const ObjectFillType fill_type)
499499
{
500500
auto marker_ptr = std::make_shared<Marker>();
501501
marker_ptr->ns = std::string("shape");
502+
marker_ptr->color = color_rgba;
503+
marker_ptr->scale.x = line_width;
502504

503505
using autoware_auto_perception_msgs::msg::Shape;
504506
if (shape_msg.type == Shape::BOUNDING_BOX) {
505-
marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
506-
calc_bounding_box_line_list(shape_msg, marker_ptr->points);
507+
if (fill_type == ObjectFillType::Skeleton) {
508+
marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
509+
calc_bounding_box_line_list(shape_msg, marker_ptr->points);
510+
} else if (fill_type == ObjectFillType::Fill) {
511+
marker_ptr->type = visualization_msgs::msg::Marker::CUBE;
512+
marker_ptr->scale = shape_msg.dimensions;
513+
marker_ptr->color.a = 0.75f;
514+
}
507515
if (is_orientation_available) {
508516
calc_bounding_box_direction_line_list(shape_msg, marker_ptr->points);
509517
} else {
510518
calc_bounding_box_orientation_line_list(shape_msg, marker_ptr->points);
511519
}
512520
} else if (shape_msg.type == Shape::CYLINDER) {
513-
marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
514-
calc_cylinder_line_list(shape_msg, marker_ptr->points);
521+
if (fill_type == ObjectFillType::Skeleton) {
522+
marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
523+
calc_cylinder_line_list(shape_msg, marker_ptr->points);
524+
} else if (fill_type == ObjectFillType::Fill) {
525+
marker_ptr->type = visualization_msgs::msg::Marker::CYLINDER;
526+
marker_ptr->scale = shape_msg.dimensions;
527+
marker_ptr->color.a = 0.75f;
528+
}
515529
} else if (shape_msg.type == Shape::POLYGON) {
516530
marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
517531
calc_polygon_line_list(shape_msg, marker_ptr->points);
@@ -523,8 +537,6 @@ visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr(
523537
marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
524538
marker_ptr->pose = to_pose(centroid, orientation);
525539
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);
526-
marker_ptr->scale.x = line_width;
527-
marker_ptr->color = color_rgba;
528540

529541
return marker_ptr;
530542
}

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