Merge branch 'main' into performance-tuning-for-scan_ground_filter

Author: atsushi421

.cspell-partial.json

@@ -5,5 +5,5 @@
     "perception/bytetrack/lib/**"
   ],
   "ignoreRegExpList": [],
-  "words": ["dltype", "tvmgen", "quantizer", "imageio", "mimsave"]
+  "words": ["dltype", "tvmgen"]
 }

.github/CODEOWNERS

@@ -2,18 +2,28 @@ name: build-and-test-differential
 
 on:
   pull_request:
+    types:
+      - opened
+      - synchronize
+      - labeled
 
 jobs:
+  prevent-no-label-execution:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+    with:
+      label: tag:run-build-and-test-differential
+
   build-and-test-differential:
-    runs-on: ubuntu-latest
+    needs: prevent-no-label-execution
+    if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
+    runs-on: [self-hosted, linux, X64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
       matrix:
         rosdistro:
           - humble
         container-suffix:
-          - ""
           - -cuda
         include:
           - rosdistro: humble
@@ -63,38 +73,3 @@ jobs:
 
       - name: Check disk space after build
         run: df -h
-
-  clang-tidy-differential:
-    runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
-    needs: build-and-test-differential
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-        with:
-          fetch-depth: 0
-
-      - 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 modified files
-        id: get-modified-files
-        uses: tj-actions/changed-files@v35
-        with:
-          files: |
-            **/*.cpp
-            **/*.hpp
-
-      - name: Run clang-tidy
-        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
-        with:
-          rosdistro: humble
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
-          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
-          build-depends-repos: build_depends.repos

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

@@ -9,7 +9,7 @@ on:
 jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
-    runs-on: ubuntu-latest
+    runs-on: [self-hosted, linux, X64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -27,14 +27,6 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v3
 
-      - name: Free disk space (Ubuntu)
-        uses: jlumbroso/free-disk-space@v1.2.0
-        with:
-          tool-cache: false
-          dotnet: false
-          swap-storage: false
-          large-packages: false
-
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 

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

@@ -2,16 +2,38 @@ name: json-schema-check
 
 on:
   pull_request:
-    paths:
-      - "**/schema/*.schema.json"
-      - "**/config/*.param.yaml"
+  workflow_dispatch:
 
 jobs:
+  check-if-relevant-files-changed:
+    runs-on: ubuntu-latest
+    outputs:
+      run-check: ${{ steps.paths_filter.outputs.json_or_yaml }}
+    steps:
+      - uses: actions/checkout@v3
+      - uses: dorny/paths-filter@v3
+        id: paths_filter
+        with:
+          filters: |
+            json_or_yaml:
+              - '**/schema/*.schema.json'
+              - '**/config/*.param.yaml'
+
   json-schema-check:
+    needs: check-if-relevant-files-changed
+    if: needs.check-if-relevant-files-changed.outputs.run-check == 'true'
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
 
       - name: Run json-schema-check
         uses: autowarefoundation/autoware-github-actions/json-schema-check@v1
+
+  no-relevant-changes:
+    needs: check-if-relevant-files-changed
+    if: needs.check-if-relevant-files-changed.outputs.run-check == 'false'
+    runs-on: ubuntu-latest
+    steps:
+      - name: Dummy step
+        run: echo "No relevant changes, passing check"

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

@@ -1,7 +1,16 @@
-# autoware.universe
+# Autoware Universe
 
-For Autoware's general documentation, see [Autoware Documentation](https://autowarefoundation.github.io/autoware-documentation/).
+## Welcome to Autoware Universe
 
-For detailed documents of Autoware Universe components, see [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/).
+Autoware Universe serves as a foundational pillar within the Autoware ecosystem, playing a critical role in enhancing the core functionalities of autonomous driving technologies.
+This repository is a pivotal element of the Autoware Core/Universe concept, managing a wide array of packages that significantly extend the capabilities of autonomous vehicles.
 
----
+![autoware_universe_front](docs/assets/images/autoware_universe_front.png)
+
+## Getting Started
+
+To dive into the vast world of Autoware and understand how Autoware Universe fits into the bigger picture, we recommend starting with the [Autoware Documentation](https://autowarefoundation.github.io/autoware-documentation/). This resource provides a thorough overview of the Autoware ecosystem, guiding you through its components, functionalities, and how to get started with development.
+
+### Explore Autoware Universe documentation
+
+For those looking to explore the specifics of Autoware Universe components, the [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/), deployed with MKDocs, offers detailed insights.

README.md

@@ -186,6 +186,10 @@ AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_bounding_box_direction_lin
   const autoware_auto_perception_msgs::msg::Shape & shape,
   std::vector<geometry_msgs::msg::Point> & points);
 
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_bounding_box_orientation_line_list(
+  const autoware_auto_perception_msgs::msg::Shape & shape,
+  std::vector<geometry_msgs::msg::Point> & points);
+
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_2d_bounding_box_bottom_line_list(
   const autoware_auto_perception_msgs::msg::Shape & shape,
   std::vector<geometry_msgs::msg::Point> & points);
@@ -194,6 +198,10 @@ AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_2d_bounding_box_bottom_dir
   const autoware_auto_perception_msgs::msg::Shape & shape,
   std::vector<geometry_msgs::msg::Point> & points);
 
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_2d_bounding_box_bottom_orientation_line_list(
+  const autoware_auto_perception_msgs::msg::Shape & shape,
+  std::vector<geometry_msgs::msg::Point> & points);
+
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_cylinder_line_list(
   const autoware_auto_perception_msgs::msg::Shape & shape,
   std::vector<geometry_msgs::msg::Point> & points);