Skip to content

Commit a0347b9

Browse files
authored
Merge branch 'main' into refactor/ml_model_param_rework
2 parents 0109746 + 59c504b commit a0347b9

File tree

169 files changed

+5522
-7573
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

169 files changed

+5522
-7573
lines changed

.cspell-partial.json

-9
This file was deleted.

.cspell.json

+5
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,5 @@
1+
{
2+
"ignorePaths": ["perception/bytetrack/lib/**"],
3+
"ignoreRegExpList": [],
4+
"words": ["dltype", "tvmgen"]
5+
}

.github/CODEOWNERS

+3-3
Original file line numberDiff line numberDiff line change
@@ -77,7 +77,7 @@ evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4
7777
evaluator/localization_evaluator/** dominik.jargot@robotec.ai koji.minoda@tier4.jp
7878
evaluator/perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
7979
evaluator/planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp
80-
evaluator/tier4_metrics_rviz_plugin/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp
80+
evaluator/tier4_metrics_rviz_plugin/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp
8181
launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
8282
launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
8383
launch/tier4_localization_launch/** 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
@@ -121,7 +121,7 @@ perception/detected_object_feature_remover/** tomoya.kimura@tier4.jp
121121
perception/detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
122122
perception/detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
123123
perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp shintaro.tomie@tier4.jp taichi.higashide@tier4.jp
124-
perception/euclidean_cluster/** yukihiro.saito@tier4.jp
124+
perception/euclidean_cluster/** dai.nguyen@tier4.jp yukihiro.saito@tier4.jp
125125
perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
126126
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
127127
perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp
@@ -212,7 +212,7 @@ sensing/image_diagnostics/** dai.nguyen@tier4.jp
212212
sensing/image_transport_decompressor/** yukihiro.saito@tier4.jp
213213
sensing/imu_corrector/** koji.minoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
214214
sensing/livox/livox_tag_filter/** ryohsuke.mitsudome@tier4.jp
215-
sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
215+
sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
216216
sensing/radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
217217
sensing/radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
218218
sensing/radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp

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

+9-3
Original file line numberDiff line numberDiff line change
@@ -1,12 +1,12 @@
1-
name: build-and-test-self-hosted
1+
name: build-and-test-arm64
22

33
on:
44
schedule:
55
- cron: 0 0 * * *
66
workflow_dispatch:
77

88
jobs:
9-
build-and-test-self-hosted:
9+
build-and-test-arm64:
1010
runs-on: [self-hosted, linux, ARM64]
1111
container: ${{ matrix.container }}${{ matrix.container-suffix }}
1212
strategy:
@@ -19,12 +19,15 @@ jobs:
1919
- -cuda
2020
include:
2121
- rosdistro: humble
22-
container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
22+
container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
2323
build-depends-repos: build_depends.repos
2424
steps:
2525
- name: Check out repository
2626
uses: actions/checkout@v3
2727

28+
- name: Show disk space before the tasks
29+
run: df -h
30+
2831
- name: Remove exec_depend
2932
uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
3033

@@ -47,3 +50,6 @@ jobs:
4750
rosdistro: ${{ matrix.rosdistro }}
4851
target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
4952
build-depends-repos: ${{ matrix.build-depends-repos }}
53+
54+
- name: Show disk space after the tasks
55+
run: df -h

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

+10-4
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
name: build-and-test-differential-self-hosted
1+
name: build-and-test-differential-arm64
22

33
on:
44
pull_request:
@@ -12,9 +12,9 @@ jobs:
1212
prevent-no-label-execution:
1313
uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
1414
with:
15-
label: ARM64
15+
label: type:arm64
1616

17-
build-and-test-differential-self-hosted:
17+
build-and-test-differential-arm64:
1818
needs: prevent-no-label-execution
1919
if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
2020
runs-on: [self-hosted, linux, ARM64]
@@ -29,14 +29,17 @@ jobs:
2929
- -cuda
3030
include:
3131
- rosdistro: humble
32-
container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
32+
container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
3333
build-depends-repos: build_depends.repos
3434
steps:
3535
- name: Check out repository
3636
uses: actions/checkout@v3
3737
with:
3838
fetch-depth: 0
3939

40+
- name: Show disk space before the tasks
41+
run: df -h
42+
4043
- name: Remove exec_depend
4144
uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
4245

@@ -59,3 +62,6 @@ jobs:
5962
rosdistro: ${{ matrix.rosdistro }}
6063
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
6164
build-depends-repos: ${{ matrix.build-depends-repos }}
65+
66+
- name: Show disk space after the tasks
67+
run: df -h

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

+5-4
Original file line numberDiff line numberDiff line change
@@ -16,26 +16,27 @@ jobs:
1616
build-and-test-differential:
1717
needs: prevent-no-label-execution
1818
if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
19-
runs-on: [self-hosted, linux, X64]
19+
runs-on: ubuntu-latest
2020
container: ${{ matrix.container }}${{ matrix.container-suffix }}
2121
strategy:
2222
fail-fast: false
2323
matrix:
2424
rosdistro:
2525
- humble
2626
container-suffix:
27+
- ""
2728
- -cuda
2829
include:
2930
- rosdistro: humble
30-
container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
31+
container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
3132
build-depends-repos: build_depends.repos
3233
steps:
3334
- name: Check out repository
3435
uses: actions/checkout@v3
3536
with:
3637
fetch-depth: 0
3738

38-
- name: Check disk space before build
39+
- name: Show disk space before the tasks
3940
run: df -h
4041

4142
- name: Remove exec_depend
@@ -71,5 +72,5 @@ jobs:
7172
verbose: true
7273
flags: differential
7374

74-
- name: Check disk space after build
75+
- name: Show disk space after the tasks
7576
run: df -h

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

+8-2
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,7 @@ on:
99
jobs:
1010
build-and-test:
1111
if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
12-
runs-on: [self-hosted, linux, X64]
12+
runs-on: ubuntu-latest
1313
container: ${{ matrix.container }}${{ matrix.container-suffix }}
1414
strategy:
1515
fail-fast: false
@@ -21,12 +21,15 @@ jobs:
2121
- -cuda
2222
include:
2323
- rosdistro: humble
24-
container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
24+
container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
2525
build-depends-repos: build_depends.repos
2626
steps:
2727
- name: Check out repository
2828
uses: actions/checkout@v3
2929

30+
- name: Show disk space before the tasks
31+
run: df -h
32+
3033
- name: Remove exec_depend
3134
uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
3235

@@ -59,3 +62,6 @@ jobs:
5962
fail_ci_if_error: false
6063
verbose: true
6164
flags: total
65+
66+
- name: Show disk space after the tasks
67+
run: df -h

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

-19
This file was deleted.

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

+5-2
Original file line numberDiff line numberDiff line change
@@ -2,17 +2,20 @@ name: spell-check-partial
22

33
on:
44
pull_request:
5+
schedule:
6+
- cron: 0 0 * * *
7+
workflow_dispatch:
58

69
jobs:
710
spell-check-partial:
811
runs-on: ubuntu-latest
912
steps:
1013
- name: Check out repository
11-
uses: actions/checkout@v3
14+
uses: actions/checkout@v4
1215

1316
- name: Run spell-check
1417
uses: autowarefoundation/autoware-github-actions/spell-check@v1
1518
with:
1619
cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json
17-
local-cspell-json: .cspell-partial.json
20+
local-cspell-json: .cspell.json
1821
incremental-files-only: false

build_depends.repos

+4
Original file line numberDiff line numberDiff line change
@@ -16,6 +16,10 @@ repositories:
1616
type: git
1717
url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
1818
version: main
19+
core/autoware_internal_msgs:
20+
type: git
21+
url: https://github.com/autowarefoundation/autoware_internal_msgs.git
22+
version: main
1923
core/external/autoware_auto_msgs:
2024
type: git
2125
url: https://github.com/tier4/autoware_auto_msgs.git
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,111 @@
1+
// Copyright 2024 The Autoware Contributors
2+
//
3+
// Licensed under the Apache License, Version 2.0 (the "License");
4+
// you may not use this file except in compliance with the License.
5+
// You may obtain a copy of the License at
6+
//
7+
// http://www.apache.org/licenses/LICENSE-2.0
8+
//
9+
// Unless required by applicable law or agreed to in writing, software
10+
// distributed under the License is distributed on an "AS IS" BASIS,
11+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#ifndef TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
16+
#define TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
17+
18+
#include <rclcpp/rclcpp.hpp>
19+
20+
#include <autoware_internal_msgs/msg/published_time.hpp>
21+
#include <std_msgs/msg/header.hpp>
22+
23+
#include <functional>
24+
#include <map>
25+
#include <string>
26+
27+
namespace tier4_autoware_utils
28+
{
29+
30+
class PublishedTimePublisher
31+
{
32+
public:
33+
explicit PublishedTimePublisher(
34+
rclcpp::Node * node, const std::string & publisher_topic_suffix = "/debug/published_time",
35+
const rclcpp::QoS & qos = rclcpp::QoS(1))
36+
: node_(node), publisher_topic_suffix_(publisher_topic_suffix), qos_(qos)
37+
{
38+
}
39+
40+
void publish(const rclcpp::PublisherBase::ConstSharedPtr & publisher, const rclcpp::Time & stamp)
41+
{
42+
const auto & gid_key = publisher->get_gid();
43+
44+
// if the publisher is not in the map, create a new publisher for published time
45+
ensure_publisher_exists(gid_key, publisher->get_topic_name());
46+
47+
const auto & pub_published_time_ = publishers_[gid_key];
48+
49+
// Check if there are any subscribers, otherwise don't do anything
50+
if (pub_published_time_->get_subscription_count() > 0) {
51+
PublishedTime published_time;
52+
53+
published_time.header.stamp = stamp;
54+
published_time.published_stamp = rclcpp::Clock().now();
55+
56+
pub_published_time_->publish(published_time);
57+
}
58+
}
59+
60+
void publish(
61+
const rclcpp::PublisherBase::ConstSharedPtr & publisher, const std_msgs::msg::Header & header)
62+
{
63+
const auto & gid_key = publisher->get_gid();
64+
65+
// if the publisher is not in the map, create a new publisher for published time
66+
ensure_publisher_exists(gid_key, publisher->get_topic_name());
67+
68+
const auto & pub_published_time_ = publishers_[gid_key];
69+
70+
// Check if there are any subscribers, otherwise don't do anything
71+
if (pub_published_time_->get_subscription_count() > 0) {
72+
PublishedTime published_time;
73+
74+
published_time.header = header;
75+
published_time.published_stamp = rclcpp::Clock().now();
76+
77+
pub_published_time_->publish(published_time);
78+
}
79+
}
80+
81+
private:
82+
rclcpp::Node * node_;
83+
std::string publisher_topic_suffix_;
84+
rclcpp::QoS qos_;
85+
86+
using PublishedTime = autoware_internal_msgs::msg::PublishedTime;
87+
88+
// Custom comparison struct for rmw_gid_t
89+
struct GidCompare
90+
{
91+
bool operator()(const rmw_gid_t & lhs, const rmw_gid_t & rhs) const
92+
{
93+
return std::memcmp(lhs.data, rhs.data, RMW_GID_STORAGE_SIZE) < 0;
94+
}
95+
};
96+
97+
// ensure that the publisher exists in publisher_ map, if not, create a new one
98+
void ensure_publisher_exists(const rmw_gid_t & gid_key, const std::string & topic_name)
99+
{
100+
if (publishers_.find(gid_key) == publishers_.end()) {
101+
publishers_[gid_key] =
102+
node_->create_publisher<PublishedTime>(topic_name + publisher_topic_suffix_, qos_);
103+
}
104+
}
105+
106+
// store them for each different publisher of the node
107+
std::map<rmw_gid_t, rclcpp::Publisher<PublishedTime>::SharedPtr, GidCompare> publishers_;
108+
};
109+
} // namespace tier4_autoware_utils
110+
111+
#endif // TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_

common/tier4_autoware_utils/package.xml

+1
Original file line numberDiff line numberDiff line change
@@ -15,6 +15,7 @@
1515
<depend>autoware_auto_perception_msgs</depend>
1616
<depend>autoware_auto_planning_msgs</depend>
1717
<depend>autoware_auto_vehicle_msgs</depend>
18+
<depend>autoware_internal_msgs</depend>
1819
<depend>builtin_interfaces</depend>
1920
<depend>diagnostic_msgs</depend>
2021
<depend>geometry_msgs</depend>

common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp

+5
Original file line numberDiff line numberDiff line change
@@ -502,6 +502,11 @@ void AutowareStatePanel::onMRMState(const MRMState::ConstSharedPtr msg)
502502
style_sheet = "background-color: #00FF00;"; // green
503503
break;
504504

505+
case MRMState::PULL_OVER:
506+
text = "PULL_OVER";
507+
style_sheet = "background-color: #FFFF00;"; // yellow
508+
break;
509+
505510
case MRMState::COMFORTABLE_STOP:
506511
text = "COMFORTABLE_STOP";
507512
style_sheet = "background-color: #FFFF00;"; // yellow

control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -121,7 +121,7 @@ class LaneDepartureChecker
121121
std::vector<std::pair<double, lanelet::Lanelet>> getLaneletsFromPath(
122122
const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path) const;
123123

124-
std::optional<lanelet::BasicPolygon2d> getFusedLaneletPolygonForPath(
124+
std::optional<tier4_autoware_utils::Polygon2d> getFusedLaneletPolygonForPath(
125125
const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path) const;
126126

127127
bool checkPathWillLeaveLane(

0 commit comments

Comments
 (0)