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Merge branch 'main' into feature/simulator_py_model
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‎.cspell-partial.json

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‎.cspell.json

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

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

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- name: Show disk space after the tasks
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run: df -h
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clang-tidy-differential:
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runs-on: ubuntu-latest
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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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with:
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fetch-depth: 0
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- name: Show disk space before the tasks
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run: df -h
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- name: Remove exec_depend
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uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
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- name: Get modified packages
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id: get-modified-packages
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uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
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- name: Get modified files
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id: get-modified-files
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uses: tj-actions/changed-files@v35
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with:
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files: |
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**/*.cpp
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**/*.hpp
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- name: Run clang-tidy
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if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
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uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
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with:
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rosdistro: humble
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target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
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target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
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clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
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build-depends-repos: build_depends.repos

‎.github/workflows/pr-agent.yaml

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name: PR-Agent
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on:
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pull_request:
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types: [opened, labeled, unlabeled, synchronize]
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issue_comment:
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jobs:
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prevent-no-label-execution-pr-agent:
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uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
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with:
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label: tag:pr-agent
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pr_agent_job:
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needs: prevent-no-label-execution-pr-agent
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if: ${{ needs.prevent-no-label-execution-pr-agent.outputs.run == 'true' }}
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runs-on: ubuntu-latest
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permissions:
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issues: write
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pull-requests: write
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contents: write
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name: Run pr agent on every pull request, respond to user comments
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steps:
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- name: PR Agent action step
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id: pragent
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uses: Codium-ai/pr-agent@main
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env:
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OPENAI_KEY: ${{ secrets.OPENAI_KEY_PR_AGENT }}
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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github_action_config.auto_review: "false"
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github_action_config.auto_describe: "false"
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github_action_config.auto_improve: "false"

‎.github/workflows/spell-check-all.yaml

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‎.github/workflows/spell-check-partial.yaml

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on:
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pull_request:
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schedule:
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- cron: 0 0 * * *
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workflow_dispatch:
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jobs:
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spell-check-partial:
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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 spell-check
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uses: autowarefoundation/autoware-github-actions/spell-check@v1
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with:
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cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json
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local-cspell-json: .cspell-partial.json
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local-cspell-json: .cspell.json
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incremental-files-only: false

‎build_depends.repos

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type: git
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url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
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version: main
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core/autoware_internal_msgs:
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type: git
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url: https://github.com/autowarefoundation/autoware_internal_msgs.git
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version: main
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core/external/autoware_auto_msgs:
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type: git
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url: https://github.com/tier4/autoware_auto_msgs.git

‎common/tier4_autoware_utils/include/tier4_autoware_utils/ros/published_time_publisher.hpp

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// Copyright 2024 The Autoware Contributors
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
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#define TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
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#include <rclcpp/rclcpp.hpp>
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#include <autoware_internal_msgs/msg/published_time.hpp>
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#include <std_msgs/msg/header.hpp>
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#include <cstring>
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#include <functional>
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#include <map>
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#include <string>
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#include <utility>
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namespace tier4_autoware_utils
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{
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class PublishedTimePublisher
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{
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public:
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explicit PublishedTimePublisher(
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rclcpp::Node * node, std::string publisher_topic_suffix = "/debug/published_time",
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const rclcpp::QoS & qos = rclcpp::QoS(1))
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: node_(node), publisher_topic_suffix_(std::move(publisher_topic_suffix)), qos_(qos)
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{
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}
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void publish_if_subscribed(
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const rclcpp::PublisherBase::ConstSharedPtr & publisher, const rclcpp::Time & stamp)
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{
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const auto & gid_key = publisher->get_gid();
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// if the publisher is not in the map, create a new publisher for published time
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ensure_publisher_exists(gid_key, publisher->get_topic_name());
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const auto & pub_published_time = publishers_[gid_key];
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// Check if there are any subscribers, otherwise don't do anything
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if (pub_published_time->get_subscription_count() > 0) {
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PublishedTime published_time;
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published_time.header.stamp = stamp;
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published_time.published_stamp = rclcpp::Clock().now();
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pub_published_time->publish(published_time);
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}
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}
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void publish_if_subscribed(
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const rclcpp::PublisherBase::ConstSharedPtr & publisher, const std_msgs::msg::Header & header)
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{
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const auto & gid_key = publisher->get_gid();
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// if the publisher is not in the map, create a new publisher for published time
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ensure_publisher_exists(gid_key, publisher->get_topic_name());
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const auto & pub_published_time = publishers_[gid_key];
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// Check if there are any subscribers, otherwise don't do anything
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if (pub_published_time->get_subscription_count() > 0) {
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PublishedTime published_time;
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published_time.header = header;
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published_time.published_stamp = rclcpp::Clock().now();
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pub_published_time->publish(published_time);
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}
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}
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private:
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rclcpp::Node * node_;
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std::string publisher_topic_suffix_;
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rclcpp::QoS qos_;
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using PublishedTime = autoware_internal_msgs::msg::PublishedTime;
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// Custom comparison struct for rmw_gid_t
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struct GidCompare
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{
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bool operator()(const rmw_gid_t & lhs, const rmw_gid_t & rhs) const
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{
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return std::memcmp(lhs.data, rhs.data, RMW_GID_STORAGE_SIZE) < 0;
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}
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};
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// ensure that the publisher exists in publisher_ map, if not, create a new one
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void ensure_publisher_exists(const rmw_gid_t & gid_key, const std::string & topic_name)
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{
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if (publishers_.find(gid_key) == publishers_.end()) {
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publishers_[gid_key] =
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node_->create_publisher<PublishedTime>(topic_name + publisher_topic_suffix_, qos_);
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}
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}
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// store them for each different publisher of the node
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std::map<rmw_gid_t, rclcpp::Publisher<PublishedTime>::SharedPtr, GidCompare> publishers_;
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};
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} // namespace tier4_autoware_utils
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#endif // TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_

‎common/tier4_autoware_utils/package.xml

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<depend>autoware_auto_perception_msgs</depend>
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<depend>autoware_auto_planning_msgs</depend>
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<depend>autoware_auto_vehicle_msgs</depend>
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<depend>autoware_internal_msgs</depend>
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<depend>builtin_interfaces</depend>
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<depend>diagnostic_msgs</depend>
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<depend>geometry_msgs</depend>

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