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Merge branch 'main' into feat-apply-autoware-prefix-for-system-default-ad-api-helpers
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‎.github/CODEOWNERS

+1-1
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@@ -217,7 +217,7 @@ system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp ryohsu
217217
system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
218218
system/diagnostic_graph_aggregator/** isamu.takagi@tier4.jp
219219
system/diagnostic_graph_utils/** isamu.takagi@tier4.jp
220-
system/dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
220+
system/autoware_dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
221221
system/dummy_infrastructure/** ryohsuke.mitsudome@tier4.jp
222222
system/duplicated_node_checker/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp
223223
system/hazard_status_converter/** isamu.takagi@tier4.jp

‎.github/workflows/bump-version-pr.yaml

+80
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@@ -0,0 +1,80 @@
1+
name: bump-version-pr
2+
3+
on:
4+
workflow_dispatch:
5+
inputs:
6+
version_part:
7+
description: Which part of the version number to bump?
8+
required: true
9+
default: minor
10+
type: choice
11+
options:
12+
- major
13+
- minor
14+
- patch
15+
16+
jobs:
17+
bump-version-pr:
18+
runs-on: ubuntu-22.04
19+
steps:
20+
- name: Check out repository
21+
uses: actions/checkout@v4
22+
with:
23+
ref: humble
24+
fetch-depth: 0
25+
26+
- name: Generate token
27+
id: generate-token
28+
uses: actions/create-github-app-token@v1
29+
with:
30+
app-id: ${{ secrets.APP_ID }}
31+
private-key: ${{ secrets.PRIVATE_KEY }}
32+
33+
- name: Set git config
34+
uses: autowarefoundation/autoware-github-actions/set-git-config@v1
35+
with:
36+
token: ${{ steps.generate-token.outputs.token }}
37+
38+
- name: Setup Python 3.x
39+
uses: actions/setup-python@v5
40+
with:
41+
python-version: 3.x
42+
43+
- name: Install dependencies
44+
run: pip3 install -U catkin_tools
45+
shell: bash
46+
47+
- name: Bump version from humble branch
48+
id: bump-version-from-humble-branch
49+
run: |
50+
git checkout -b tmp/bot/bump_version_base
51+
git fetch origin main
52+
git merge origin/main
53+
catkin_generate_changelog -y
54+
git add *
55+
git commit -m "update CHANGELOG.rst"
56+
catkin_prepare_release -y --bump ${{ inputs.version_part }} --no-push
57+
version=$(git describe --tags)
58+
echo "version=${version}" >> $GITHUB_OUTPUT
59+
shell: bash
60+
61+
- name: Create target branch
62+
run: |
63+
git checkout origin/main
64+
git checkout -b chore/bot/bump_version
65+
git merge tmp/bot/bump_version_base
66+
git push origin chore/bot/bump_version --force
67+
shell: bash
68+
69+
- name: Create PR
70+
id: create-pr
71+
run: >
72+
gh
73+
pr
74+
create
75+
--base=main
76+
--body="Bump version to ${{ steps.bump-version-from-humble-branch.outputs.version }}"
77+
--title="chore: bump version to ${{ steps.bump-version-from-humble-branch.outputs.version }}"
78+
--head=chore/bot/bump_version
79+
env:
80+
GH_TOKEN: ${{ steps.generate-token.outputs.token }}

‎codecov.yaml

+3-3
Original file line numberDiff line numberDiff line change
@@ -194,7 +194,7 @@ component_management:
194194
- planning/autoware_external_velocity_limit_selector/**
195195
- planning/autoware_freespace_planner/**
196196
- planning/autoware_freespace_planning_algorithms/**
197-
- planning/autoware_mission_planner/**
197+
- planning/autoware_mission_planner_universe/**
198198
# - planning/autoware_objects_of_interest_marker_interface/**
199199
- planning/autoware_obstacle_cruise_planner/**
200200
# - planning/autoware_obstacle_stop_planner/**
@@ -243,7 +243,7 @@ component_management:
243243
- planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/**
244244
- planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/**
245245
- planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/**
246-
- planning/motion_velocity_planner/autoware_motion_velocity_planner_common/**
247-
- planning/motion_velocity_planner/autoware_motion_velocity_planner_node/**
246+
- planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/**
247+
- planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/**
248248
#### sampling_based_planner
249249
- planning/sampling_based_planner/autoware_bezier_sampler/**

‎common/autoware_goal_distance_calculator/Readme.md

+6-6
Original file line numberDiff line numberDiff line change
@@ -17,12 +17,12 @@ This node publishes deviation of self-pose from goal pose.
1717

1818
### Output
1919

20-
| Name | Type | Description |
21-
| ------------------------ | --------------------------------------- | ------------------------------------------------------------- |
22-
| `deviation/lateral` | `tier4_debug_msgs::msg::Float64Stamped` | publish lateral deviation of self-pose from goal pose[m] |
23-
| `deviation/longitudinal` | `tier4_debug_msgs::msg::Float64Stamped` | publish longitudinal deviation of self-pose from goal pose[m] |
24-
| `deviation/yaw` | `tier4_debug_msgs::msg::Float64Stamped` | publish yaw deviation of self-pose from goal pose[rad] |
25-
| `deviation/yaw_deg` | `tier4_debug_msgs::msg::Float64Stamped` | publish yaw deviation of self-pose from goal pose[deg] |
20+
| Name | Type | Description |
21+
| ------------------------ | --------------------------------------------------- | ------------------------------------------------------------- |
22+
| `deviation/lateral` | `autoware_internal_debug_msgs::msg::Float64Stamped` | publish lateral deviation of self-pose from goal pose[m] |
23+
| `deviation/longitudinal` | `autoware_internal_debug_msgs::msg::Float64Stamped` | publish longitudinal deviation of self-pose from goal pose[m] |
24+
| `deviation/yaw` | `autoware_internal_debug_msgs::msg::Float64Stamped` | publish yaw deviation of self-pose from goal pose[rad] |
25+
| `deviation/yaw_deg` | `autoware_internal_debug_msgs::msg::Float64Stamped` | publish yaw deviation of self-pose from goal pose[deg] |
2626

2727
## Parameters
2828

‎common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -22,9 +22,9 @@
2222
#include <autoware/universe_utils/ros/self_pose_listener.hpp>
2323
#include <rclcpp/rclcpp.hpp>
2424

25+
#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
2526
#include <autoware_planning_msgs/msg/lanelet_route.hpp>
2627
#include <geometry_msgs/msg/pose_stamped.hpp>
27-
#include <tier4_debug_msgs/msg/float64_stamped.hpp>
2828

2929
#include <tf2_ros/transform_listener.h>
3030

‎common/autoware_goal_distance_calculator/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -10,12 +10,12 @@
1010
<buildtool_depend>ament_cmake</buildtool_depend>
1111
<buildtool_depend>autoware_cmake</buildtool_depend>
1212

13+
<depend>autoware_internal_debug_msgs</depend>
1314
<depend>autoware_planning_msgs</depend>
1415
<depend>autoware_universe_utils</depend>
1516
<depend>geometry_msgs</depend>
1617
<depend>rclcpp</depend>
1718
<depend>rclcpp_components</depend>
18-
<depend>tier4_debug_msgs</depend>
1919

2020
<test_depend>ament_lint_auto</test_depend>
2121
<test_depend>autoware_lint_common</test_depend>

‎common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp

+6-5
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,7 @@
1818
#include <rclcpp/rclcpp.hpp>
1919
#include <rclcpp/timer.hpp>
2020

21-
#include <tier4_debug_msgs/msg/float64_stamped.hpp>
21+
#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
2222

2323
#include <chrono>
2424
#include <functional>
@@ -100,12 +100,13 @@ void GoalDistanceCalculatorNode::onTimer()
100100
using autoware::universe_utils::rad2deg;
101101
const auto & deviation = output.goal_deviation;
102102

103-
debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>(
103+
debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
104104
"deviation/lateral", deviation.lateral);
105-
debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>(
105+
debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
106106
"deviation/longitudinal", deviation.longitudinal);
107-
debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>("deviation/yaw", deviation.yaw);
108-
debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>(
107+
debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
108+
"deviation/yaw", deviation.yaw);
109+
debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
109110
"deviation/yaw_deg", rad2deg(deviation.yaw));
110111
RCLCPP_INFO_THROTTLE(
111112
this->get_logger(), *this->get_clock(), 1000,

‎control/autoware_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp

+3-2
Original file line numberDiff line numberDiff line change
@@ -42,11 +42,11 @@
4242
#include <autoware/motion_utils/trajectory/trajectory.hpp>
4343

4444
#include "autoware_control_msgs/msg/lateral.hpp"
45+
#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
4546
#include "autoware_planning_msgs/msg/trajectory.hpp"
4647
#include "geometry_msgs/msg/pose_stamped.hpp"
4748
#include "geometry_msgs/msg/twist_stamped.hpp"
4849
#include "nav_msgs/msg/odometry.hpp"
49-
#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
5050

5151
#include <boost/optional.hpp> // To be replaced by std::optional in C++17
5252

@@ -115,7 +115,8 @@ class PurePursuitLateralController : public LateralControllerBase
115115

116116
// Debug Publisher
117117
rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_debug_marker_;
118-
rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_values_;
118+
rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
119+
pub_debug_values_;
119120
// Predicted Trajectory publish
120121
rclcpp::Publisher<autoware_planning_msgs::msg::Trajectory>::SharedPtr pub_predicted_trajectory_;
121122

‎control/autoware_pure_pursuit/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -15,6 +15,7 @@
1515
<buildtool_depend>autoware_cmake</buildtool_depend>
1616

1717
<depend>autoware_control_msgs</depend>
18+
<depend>autoware_internal_debug_msgs</depend>
1819
<depend>autoware_motion_utils</depend>
1920
<depend>autoware_planning_msgs</depend>
2021
<depend>autoware_trajectory_follower_base</depend>
@@ -32,7 +33,6 @@
3233
<depend>tf2_eigen</depend>
3334
<depend>tf2_geometry_msgs</depend>
3435
<depend>tf2_ros</depend>
35-
<depend>tier4_debug_msgs</depend>
3636
<depend>visualization_msgs</depend>
3737

3838
<test_depend>ament_lint_auto</test_depend>

‎control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp

+4-3
Original file line numberDiff line numberDiff line change
@@ -92,8 +92,9 @@ PurePursuitLateralController::PurePursuitLateralController(rclcpp::Node & node)
9292
// Debug Publishers
9393
pub_debug_marker_ =
9494
node.create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/markers", 0);
95-
pub_debug_values_ = node.create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
96-
"~/debug/ld_outputs", rclcpp::QoS{1});
95+
pub_debug_values_ =
96+
node.create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
97+
"~/debug/ld_outputs", rclcpp::QoS{1});
9798

9899
// Publish predicted trajectory
99100
pub_predicted_trajectory_ = node.create_publisher<autoware_planning_msgs::msg::Trajectory>(
@@ -118,7 +119,7 @@ double PurePursuitLateralController::calcLookaheadDistance(
118119
std::clamp(vel_ld + curvature_ld + lateral_error_ld, min_ld, param_.max_lookahead_distance);
119120

120121
auto pubDebugValues = [&]() {
121-
tier4_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
122+
autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
122123
debug_msg.data.resize(TYPE::SIZE);
123124
debug_msg.data.at(TYPE::VEL_LD) = static_cast<float>(vel_ld);
124125
debug_msg.data.at(TYPE::CURVATURE_LD) = static_cast<float>(curvature_ld);

‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

+30-17
Original file line numberDiff line numberDiff line change
@@ -56,20 +56,33 @@
5656
<let name="euclidean_cluster/input/pointcloud" value="$(var segmentation_based_filtered/output/pointcloud)" if="$(var use_image_segmentation_based_filter)"/>
5757
<let name="euclidean_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)" unless="$(var use_image_segmentation_based_filter)"/>
5858
<let name="clustering/clusters" value="$(var ns)/clustering/clusters"/>
59-
<let name="euclidean_cluster/output/clusters" value="$(var ns)/clustering/euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
60-
<let name="euclidean_cluster/output/clusters" value="$(var clustering/clusters)" unless="$(var use_roi_based_cluster)"/>
61-
<let name="roi_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
62-
<let name="roi_cluster/output/clusters" value="$(var ns)/clustering/roi_cluster/clusters"/>
63-
<let name="roi_merged_cluster/output/clusters" value="$(var clustering/clusters)"/>
59+
<!-- <let name="euclidean_cluster/output/clusters" value="$(var ns)/clustering/euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/> -->
60+
<let name="euclidean_cluster/output/clusters" value="$(var clustering/clusters)"/>
6461
<let name="shape_estimation1/input/clusters" value="$(var clustering/clusters)"/>
6562
<let name="shape_estimation1/output/objects" value="$(var output/clustering/cluster_objects)"/>
6663

67-
<let name="roi_cluster_fusion/input/clusters" value="$(var ns)/clustering/clusters"/>
64+
<let name="roi_cluster_fusion/input/clusters" value="$(var euclidean_cluster/output/clusters)"/>
6865
<let name="roi_cluster_fusion/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/clusters"/>
6966
<let name="low_intensity_cluster_filter/input/clusters" value="$(var roi_cluster_fusion/output/clusters)"/>
7067
<let name="low_intensity_cluster_filter/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/filtered/clusters"/>
71-
<let name="shape_estimation2/input/clusters" value="$(var low_intensity_cluster_filter/output/clusters)" if="$(var use_low_intensity_cluster_filter)"/>
72-
<let name="shape_estimation2/input/clusters" value="$(var roi_cluster_fusion/output/clusters)" unless="$(var use_low_intensity_cluster_filter)"/>
68+
69+
<let name="roi_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
70+
<let name="roi_cluster/output/clusters" value="$(var ns)/clustering/roi_cluster/clusters"/>
71+
<let name="roi_cluster_merger/input/clusters0" value="$(var low_intensity_cluster_filter/output/clusters)" if="$(var use_low_intensity_cluster_filter)"/>
72+
<let name="roi_cluster_merger/input/clusters0" value="$(var roi_cluster_fusion/output/clusters)" unless="$(var use_low_intensity_cluster_filter)"/>
73+
<let name="roi_cluster_merger/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/merger/clusters"/>
74+
75+
<let name="shape_estimation2/input/clusters" value="$(var roi_cluster_merger/output/clusters)" if="$(eval &quot;'$(var use_roi_based_cluster)' == 'true'&quot;)"/>
76+
<let
77+
name="shape_estimation2/input/clusters"
78+
value="$(var low_intensity_cluster_filter/output/clusters)"
79+
if="$(eval &quot;'$(var use_roi_based_cluster)' == 'false' and '$(var use_low_intensity_cluster_filter)' == 'true'&quot;)"
80+
/>
81+
<let
82+
name="shape_estimation2/input/clusters"
83+
value="$(var roi_cluster_fusion/output/clusters)"
84+
if="$(eval &quot;'$(var use_roi_based_cluster)' == 'false' and '$(var use_low_intensity_cluster_filter)' == 'false'&quot;)"
85+
/>
7386
<let name="shape_estimation2/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects_with_feature"/>
7487
<let name="detected_object_feature_remover/input/objects_with_feature" value="$(var shape_estimation2/output/objects)"/>
7588
<let name="detected_object_feature_remover/output/objects" value="$(var output/rule_detector/objects)"/>
@@ -187,15 +200,6 @@
187200
</group>
188201
</group>
189202

190-
<!-- simple_cluster_merger -->
191-
<group>
192-
<include file="$(find-pkg-share autoware_cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
193-
<arg name="input/cluster0" value="$(var euclidean_cluster/output/clusters)"/>
194-
<arg name="input/cluster1" value="$(var roi_cluster/output/clusters)"/>
195-
<arg name="output/clusters" value="$(var roi_merged_cluster/output/clusters)"/>
196-
</include>
197-
</group>
198-
199203
<!-- shape_estimation 1 -->
200204
<group>
201205
<include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
@@ -250,6 +254,15 @@
250254
</include>
251255
</group>
252256

257+
<!-- simple_cluster_merger -->
258+
<group>
259+
<include file="$(find-pkg-share autoware_cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
260+
<arg name="input/cluster0" value="$(var roi_cluster_merger/input/clusters0)"/>
261+
<arg name="input/cluster1" value="$(var roi_cluster/output/clusters)"/>
262+
<arg name="output/clusters" value="$(var roi_cluster_merger/output/clusters)"/>
263+
</include>
264+
</group>
265+
253266
<group>
254267
<include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
255268
<arg name="input/objects" value="$(var shape_estimation2/input/clusters)"/>

‎launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml

+3-3
Original file line numberDiff line numberDiff line change
@@ -1,11 +1,11 @@
11
<launch>
2-
<arg name="mission_planner_param_path" default="$(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml"/>
2+
<arg name="mission_planner_param_path" default="$(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml"/>
33
<group>
4-
<include file="$(find-pkg-share autoware_mission_planner)/launch/mission_planner.launch.xml">
4+
<include file="$(find-pkg-share autoware_mission_planner_universe)/launch/mission_planner.launch.xml">
55
<arg name="mission_planner_param_path" value="$(var mission_planner_param_path)"/>
66
</include>
77
</group>
88
<group>
9-
<include file="$(find-pkg-share autoware_mission_planner)/launch/goal_pose_visualizer.launch.xml"/>
9+
<include file="$(find-pkg-share autoware_mission_planner_universe)/launch/goal_pose_visualizer.launch.xml"/>
1010
</group>
1111
</launch>

‎launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -119,7 +119,7 @@
119119
<!-- plan slowdown or stops on the final trajectory -->
120120
<group>
121121
<load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
122-
<composable_node pkg="autoware_motion_velocity_planner_node" plugin="autoware::motion_velocity_planner::MotionVelocityPlannerNode" name="motion_velocity_planner" namespace="">
122+
<composable_node pkg="autoware_motion_velocity_planner_node_universe" plugin="autoware::motion_velocity_planner::MotionVelocityPlannerNode" name="motion_velocity_planner" namespace="">
123123
<!-- topic remap -->
124124
<remap from="~/input/trajectory" to="path_optimizer/trajectory"/>
125125
<remap from="~/input/vector_map" to="/map/vector_map"/>

‎launch/tier4_planning_launch/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -64,7 +64,7 @@
6464
<exec_depend>autoware_external_velocity_limit_selector</exec_depend>
6565
<exec_depend>autoware_freespace_planner</exec_depend>
6666
<exec_depend>autoware_glog_component</exec_depend>
67-
<exec_depend>autoware_mission_planner</exec_depend>
67+
<exec_depend>autoware_mission_planner_universe</exec_depend>
6868
<exec_depend>autoware_obstacle_cruise_planner</exec_depend>
6969
<exec_depend>autoware_obstacle_stop_planner</exec_depend>
7070
<exec_depend>autoware_path_optimizer</exec_depend>

‎launch/tier4_system_launch/launch/system.launch.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -113,7 +113,7 @@
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<!-- Dummy Diag Publisher -->
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<group if="$(var launch_dummy_diag_publisher)">
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<include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher.launch.xml">
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<include file="$(find-pkg-share autoware_dummy_diag_publisher)/launch/dummy_diag_publisher.launch.xml">
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<arg name="config_file" value="$(var dummy_diag_publisher_param_path)"/>
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<arg name="extra_config_file_sensor" value="$(var sensor_launch_pkg)/config/dummy_diag_publisher/sensor_kit.param.yaml"/>
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<arg name="launch_rqt_reconfigure" value="$(var launch_rqt_reconfigure)"/>

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