Merge branch 'main' into feat/transfusion-uint-intensity

.cppcheck_suppressions

@@ -5,7 +5,6 @@ constParameterReference
 constVariableReference
 // cspell: ignore cstyle
 cstyleCast
-duplicateBranch
 funcArgNamesDifferent
 functionConst
 functionStatic
@@ -14,14 +13,9 @@ knownConditionTrueFalse
 missingInclude
 missingIncludeSystem
 noConstructor
-noExplicitConstructor
-noValidConfiguration
 passedByValue
-preprocessorErrorDirective
 redundantInitialization
-shadowFunction
 shadowVariable
-syntaxError
 // cspell: ignore uninit
 uninitMemberVar
 unknownMacro
@@ -31,6 +25,5 @@ unusedFunction
 unusedStructMember
 useInitializationList
 useStlAlgorithm
-uselessOverride
 variableScope
 virtualCallInConstructor

.github/CODEOWNERS

@@ -6,7 +6,7 @@ common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.j
 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_perception_rviz_plugin/** opensource@apex.ai satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp
-common/autoware_point_types/** taichi.higashide@tier4.jp
+common/autoware_point_types/** david.wong@tier4.jp max.schmeller@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_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
@@ -81,6 +81,7 @@ launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp
 localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/** 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/autoware_landmark_based_localizer/autoware_landmark_manager/** 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/autoware_pose_covariance_modifier/** melike@leodrive.ai
+localization/autoware_stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp
 localization/geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/gyro_odometer/** 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
@@ -91,7 +92,6 @@ localization/pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masah
 localization/pose_estimator_arbiter/** 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/pose_initializer/** 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
 localization/pose_instability_detector/** 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/stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@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_common/** 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_image_processing/** 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
@@ -115,11 +115,10 @@ perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp shintaro.tomie@tier4
 perception/euclidean_cluster/** dai.nguyen@tier4.jp yukihiro.saito@tier4.jp
 perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/image_projection_based_fusion/** dai.nguyen@tier4.jp koji.minoda@tier4.jp kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp
-perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
-perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
+perception/lidar_apollo_instance_segmentation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com yoshi.ri@tier4.jp
+perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com yoshi.ri@tier4.jp
 perception/lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp
-perception/lidar_centerpoint_tvm/** carl.liu@autocore.ai xinyu.wang@tier4.jp
 perception/lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@tier4.jp
 perception/multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
@@ -152,6 +151,7 @@ planning/autoware_freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp taka
 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_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
 planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp
@@ -196,7 +196,6 @@ planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limi
 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp
-planning/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/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4.jp
 planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp
 planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp
@@ -205,7 +204,7 @@ sensing/gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minod
 sensing/image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp
 sensing/image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp
 sensing/imu_corrector/** koji.minoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-sensing/livox/livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp
+sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp
 sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp david.wong@tier4.jp kenzo.lobos@tier4.jp kyoichi.sugahara@tier4.jp melike@leodrive.ai shunsuke.miura@tier4.jp yihsiang.fang@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 sensing/radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 sensing/radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp

.github/cppcheck-problem-matcher.json

@@ -0,0 +1,16 @@
+{
+  "problemMatcher": [
+    {
+      "owner": "cppcheck",
+      "pattern": [
+        {
+          "regexp": "^([^:]+):(\\d+):(\\d*):\\s(style|portability|performance|warning|error):\\s(.*)$",
+          "file": 1,
+          "line": 2,
+          "column": 3,
+          "message": 5
+        }
+      ]
+    }
+  ]
+}

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

@@ -73,6 +73,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total-arm64
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

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

@@ -73,6 +73,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

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

@@ -87,6 +87,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: differential-arm64
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

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

@@ -114,6 +114,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: differential
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h
@@ -155,7 +156,7 @@ jobs:
           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
+          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
           build-depends-repos: build_depends.repos
           cache-key-element: cuda
 

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

@@ -115,6 +115,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

.github/workflows/cppcheck-daily.yaml

@@ -18,11 +18,12 @@ jobs:
         run: |
           sudo snap install cppcheck
 
+      # cspell: ignore suppr
       - name: Run Cppcheck on all files
         continue-on-error: true
         id: cppcheck
         run: |
-          cppcheck --enable=all --inconclusive --check-level=exhaustive --suppress=*:*/test/* --error-exitcode=1 --xml . 2> cppcheck-report.xml
+          cppcheck --enable=all --inconclusive --check-level=exhaustive --suppress=*:*/test/* --error-exitcode=1 --xml --inline-suppr . 2> cppcheck-report.xml
         shell: bash
 
       - name: Count errors by error ID and severity

.github/workflows/cppcheck-differential.yaml

@@ -22,6 +22,13 @@ jobs:
           sudo apt-get update
           sudo apt-get install -y git
 
+      - name: Install colcon
+        run: |
+          sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
+          curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+          sudo apt update
+          sudo apt install python3-colcon-common-extensions
+
       # cppcheck from apt does not yet support --check-level args, and thus install from snap
       - name: Install Cppcheck from snap
         run: |
@@ -31,33 +38,58 @@ jobs:
         run: git fetch origin ${{ github.base_ref }}
         shell: bash
 
-      - name: Get changed files (existing files only)
-        id: get-changed-files
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Get full paths of modified packages
+        id: get-full-paths
         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)" >> $GITHUB_OUTPUT
-        shell: bash
+          modified_packages="${{ steps.get-modified-packages.outputs.modified-packages }}"
+          paths=""
+          for pkg in $modified_packages; do
+            path=$(colcon list --packages-select $pkg | awk '{print $2}' | xargs realpath)
+            paths="$paths $path"
+          done
+          echo "full-paths=$paths" >> $GITHUB_OUTPUT
 
-      - name: Run Cppcheck on changed files
-        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
+      - name: Filter packages with no cpp/hpp files
+        id: filter-paths-no-cpp-files
+        run: |
+          filtered_paths=""
+          for dir in ${{ steps.get-full-paths.outputs.full-paths }}; do
+            if [ -d "$dir" ] && find "$dir" -name "*.cpp" -o -name "*.hpp" | grep -q .; then
+              filtered_paths="$filtered_paths $dir"
+            fi
+          done
+          echo "filtered-full-paths=$filtered_paths" >> $GITHUB_OUTPUT
+
+      # cspell: ignore suppr
+      - name: Run Cppcheck on modified packages
+        if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' }}
         continue-on-error: true
         id: cppcheck
         run: |
-          echo "Running Cppcheck on changed files: ${{ steps.get-changed-files.outputs.changed-files }}"
-          cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions ${{ steps.get-changed-files.outputs.changed-files }} 2> cppcheck-report.txt
+          echo "Running Cppcheck on modified packages: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths }}"
+          cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions --inline-suppr ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths }} 2> cppcheck-report.txt
         shell: bash
 
+      - name: Setup Problem Matchers for cppcheck
+        if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' }}
+        run: echo "::add-matcher::.github/cppcheck-problem-matcher.json"
+
       - name: Show cppcheck-report result
-        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
+        if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' }}
         run: |
           cat cppcheck-report.txt
 
       - name: Upload Cppcheck report
-        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
+        if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' }}
         uses: actions/upload-artifact@v2
         with:
           name: cppcheck-report
           path: cppcheck-report.txt
 
       - name: Fail the job if Cppcheck failed
-        if: ${{ steps.get-changed-files.outputs.changed-files != '' && steps.cppcheck.outcome == 'failure' }}
+        if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' && steps.cppcheck.outcome == 'failure' }}
         run: exit 1

build_depends.repos

@@ -1,8 +1,21 @@
 repositories:
   # core
+  # TODO(youtalk): Remove autoware_common when https://github.com/autowarefoundation/autoware/issues/4911 is closed
   core/autoware_common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git
+    version: remove-autoware-cmake-utils
+  core/autoware_cmake:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_cmake.git
+    version: main
+  core/autoware_utils:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_utils.git
+    version: main
+  core/autoware_lanelet2_extension:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
     version: main
   core/autoware.core:
     type: git

codecov.yaml

@@ -1,11 +1,15 @@
+# https://docs.codecov.com/docs/commit-status#project-status
+
 coverage:
   status:
     project:
       default:
-        target: auto
+        target: 0% # Make CI always succeed
+        threshold: 100% # Make CI always succeed
     patch:
       default:
-        target: auto
+        target: 0% # Make CI always succeed
+        threshold: 100% # Make CI always succeed
 
 comment:
   show_carryforward_flags: true
@@ -16,7 +20,9 @@ flag_management:
     statuses:
       - name_prefix: project-
         type: project
-        target: auto
+        target: 0% # Make CI always succeed
+        threshold: 100% # Make CI always succeed
       - name_prefix: patch-
         type: patch
-        target: auto
+        target: 0% # Make CI always succeed
+        threshold: 100% # Make CI always succeed

common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp

@@ -32,7 +32,7 @@ struct VehicleKinematics
   using Message = autoware_adapi_v1_msgs::msg::VehicleKinematics;
   static constexpr char name[] = "/api/vehicle/kinematics";
   static constexpr size_t depth = 1;
-  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };