Merge branch 'main' into feat/heatmap_visualizer/remove_package

Author: kminoda

common/tier4_adapi_rviz_plugin/README.md

@@ -9,3 +9,21 @@ Enable or disable of allow_goal_modification option can be set with the check bo
 Push the mode button in the waypoint to enter waypoint mode. In this mode, the pose is added to waypoints.
 Press the apply button to set the route using the saved waypoints (the last one is a goal).
 Reset the saved waypoints with the reset button.
+
+## Material Design Icons
+
+This project uses [Material Design Icons](https://developers.google.com/fonts/docs/material_symbols) by Google. These icons are used under the terms of the Apache License, Version 2.0.
+
+Material Design Icons are a collection of symbols provided by Google that are used to enhance the user interface of applications, websites, and other digital products.
+
+### License
+
+The Material Design Icons are licensed under the Apache License, Version 2.0. You may obtain a copy of the License at:
+
+<http://www.apache.org/licenses/LICENSE-2.0>
+
+Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+
+### Acknowledgments
+
+We would like to express our gratitude to Google for making these icons available to the community, helping developers and designers enhance the visual appeal and user experience of their projects.

common/tier4_automatic_goal_rviz_plugin/README.md

@@ -78,3 +78,21 @@ In this situation, check the terminal output for more information.
 
 - Often it is enough to try again.
 - Sometimes a clearing of the current route is required before retrying.
+
+## Material Design Icons
+
+This project uses [Material Design Icons](https://developers.google.com/fonts/docs/material_symbols) by Google. These icons are used under the terms of the Apache License, Version 2.0.
+
+Material Design Icons are a collection of symbols provided by Google that are used to enhance the user interface of applications, websites, and other digital products.
+
+### License
+
+The Material Design Icons are licensed under the Apache License, Version 2.0. You may obtain a copy of the License at:
+
+<http://www.apache.org/licenses/LICENSE-2.0>
+
+Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+
+### Acknowledgments
+
+We would like to express our gratitude to Google for making these icons available to the community, helping developers and designers enhance the visual appeal and user experience of their projects.

common/tier4_camera_view_rviz_plugin/README.md

@@ -7,3 +7,21 @@ Add the `tier4_camera_view_rviz_plugin/ThirdPersonViewTool` tool to the RViz. Pu
 ## BirdEyeView Tool
 
 Add the `tier4_camera_view_rviz_plugin/BirdEyeViewTool` tool to the RViz. Push the button, the camera will turn to the BEV view, the target frame is consistent with the latest frame. Short cut key 'r'.
+
+## Material Design Icons
+
+This project uses [Material Design Icons](https://developers.google.com/fonts/docs/material_symbols) by Google. These icons are used under the terms of the Apache License, Version 2.0.
+
+Material Design Icons are a collection of symbols provided by Google that are used to enhance the user interface of applications, websites, and other digital products.
+
+### License
+
+The Material Design Icons are licensed under the Apache License, Version 2.0. You may obtain a copy of the License at:
+
+<http://www.apache.org/licenses/LICENSE-2.0>
+
+Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+
+### Acknowledgments
+
+We would like to express our gratitude to Google for making these icons available to the community, helping developers and designers enhance the visual appeal and user experience of their projects.

common/tier4_perception_rviz_plugin/README.md

@@ -112,3 +112,21 @@ You can interactively manipulate the object.
 | ADD    | Shift + Click Right Button             |
 | MOVE   | Hold down Right Button + Drug and Drop |
 | DELETE | Alt + Click Right Button               |
+
+## Material Design Icons
+
+This project uses [Material Design Icons](https://developers.google.com/fonts/docs/material_symbols) by Google. These icons are used under the terms of the Apache License, Version 2.0.
+
+Material Design Icons are a collection of symbols provided by Google that are used to enhance the user interface of applications, websites, and other digital products.
+
+### License
+
+The Material Design Icons are licensed under the Apache License, Version 2.0. You may obtain a copy of the License at:
+
+<http://www.apache.org/licenses/LICENSE-2.0>
+
+Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+
+### Acknowledgments
+
+We would like to express our gratitude to Google for making these icons available to the community, helping developers and designers enhance the visual appeal and user experience of their projects.

common/tier4_planning_rviz_plugin/README.md

@@ -125,3 +125,21 @@ This plugin displays the path, trajectory, and maximum speed.
    ![select_planning_plugin](./images/select_planning_plugin.png)
 3. Enter the name of the topic where you want to view the path or trajectory.
    ![select_topic_name](./images/select_topic_name.png)
+
+## Material Design Icons
+
+This project uses [Material Design Icons](https://developers.google.com/fonts/docs/material_symbols) by Google. These icons are used under the terms of the Apache License, Version 2.0.
+
+Material Design Icons are a collection of symbols provided by Google that are used to enhance the user interface of applications, websites, and other digital products.
+
+### License
+
+The Material Design Icons are licensed under the Apache License, Version 2.0. You may obtain a copy of the License at:
+
+<http://www.apache.org/licenses/LICENSE-2.0>
+
+Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+
+### Acknowledgments
+
+We would like to express our gratitude to Google for making these icons available to the community, helping developers and designers enhance the visual appeal and user experience of their projects.

control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp

@@ -41,6 +41,7 @@
 
 #include <memory>
 #include <mutex>
+#include <optional>
 #include <string>
 #include <vector>
 
@@ -140,10 +141,9 @@ class AEB : public rclcpp::Node
   bool hasCollision(
     const double current_v, const Path & ego_path, const std::vector<ObjectData> & objects);
 
-  void generateEgoPath(
-    const double curr_v, const double curr_w, Path & path, std::vector<Polygon2d> & polygons);
-  void generateEgoPath(
-    const Trajectory & predicted_traj, Path & path, std::vector<Polygon2d> & polygons);
+  Path generateEgoPath(const double curr_v, const double curr_w, std::vector<Polygon2d> & polygons);
+  std::optional<Path> generateEgoPath(
+    const Trajectory & predicted_traj, std::vector<Polygon2d> & polygons);
   void createObjectData(
     const Path & ego_path, const std::vector<Polygon2d> & ego_polys, const rclcpp::Time & stamp,
     std::vector<ObjectData> & objects);

control/autonomous_emergency_braking/package.xml

@@ -6,6 +6,7 @@
   <description>Autonomous Emergency Braking package as a ROS 2 node</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
+  <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
 
   <license>Apache License 2.0</license>
 

control/autonomous_emergency_braking/src/node.cpp

@@ -309,16 +309,14 @@ bool AEB::checkCollision(MarkerArray & debug_markers)
   // step3. create ego path based on sensor data
   bool has_collision_ego = false;
   if (use_imu_path_) {
-    Path ego_path;
     std::vector<Polygon2d> ego_polys;
     const double current_w = angular_velocity_ptr_->z;
     constexpr double color_r = 0.0 / 256.0;
     constexpr double color_g = 148.0 / 256.0;
     constexpr double color_b = 205.0 / 256.0;
     constexpr double color_a = 0.999;
     const auto current_time = get_clock()->now();
-    generateEgoPath(current_v, current_w, ego_path, ego_polys);
-
+    const auto ego_path = generateEgoPath(current_v, current_w, ego_polys);
     std::vector<ObjectData> objects;
     createObjectData(ego_path, ego_polys, current_time, objects);
     has_collision_ego = hasCollision(current_v, ego_path, objects);
@@ -332,23 +330,25 @@ bool AEB::checkCollision(MarkerArray & debug_markers)
   // step4. transform predicted trajectory from control module
   bool has_collision_predicted = false;
   if (use_predicted_trajectory_) {
-    Path predicted_path;
     std::vector<Polygon2d> predicted_polys;
     const auto predicted_traj_ptr = predicted_traj_ptr_;
     constexpr double color_r = 0.0;
     constexpr double color_g = 100.0 / 256.0;
     constexpr double color_b = 0.0;
     constexpr double color_a = 0.999;
     const auto current_time = predicted_traj_ptr->header.stamp;
-    generateEgoPath(*predicted_traj_ptr, predicted_path, predicted_polys);
-    std::vector<ObjectData> objects;
-    createObjectData(predicted_path, predicted_polys, current_time, objects);
-    has_collision_predicted = hasCollision(current_v, predicted_path, objects);
-
-    std::string ns = "predicted";
-    addMarker(
-      current_time, predicted_path, predicted_polys, objects, color_r, color_g, color_b, color_a,
-      ns, debug_markers);
+    const auto predicted_path_opt = generateEgoPath(*predicted_traj_ptr, predicted_polys);
+    if (predicted_path_opt) {
+      const auto & predicted_path = predicted_path_opt.value();
+      std::vector<ObjectData> objects;
+      createObjectData(predicted_path, predicted_polys, current_time, objects);
+      has_collision_predicted = hasCollision(current_v, predicted_path, objects);
+
+      std::string ns = "predicted";
+      addMarker(
+        current_time, predicted_path, predicted_polys, objects, color_r, color_g, color_b, color_a,
+        ns, debug_markers);
+    }
   }
 
   return has_collision_ego || has_collision_predicted;
@@ -384,9 +384,10 @@ bool AEB::hasCollision(
   return false;
 }
 
-void AEB::generateEgoPath(
-  const double curr_v, const double curr_w, Path & path, std::vector<Polygon2d> & polygons)
+Path AEB::generateEgoPath(
+  const double curr_v, const double curr_w, std::vector<Polygon2d> & polygons)
 {
+  Path path;
   double curr_x = 0.0;
   double curr_y = 0.0;
   double curr_yaw = 0.0;
@@ -397,7 +398,7 @@ void AEB::generateEgoPath(
 
   if (curr_v < 0.1) {
     // if current velocity is too small, assume it stops at the same point
-    return;
+    return path;
   }
 
   constexpr double epsilon = 1e-6;
@@ -435,14 +436,14 @@ void AEB::generateEgoPath(
   for (size_t i = 0; i < path.size() - 1; ++i) {
     polygons.at(i) = createPolygon(path.at(i), path.at(i + 1), vehicle_info_, expand_width_);
   }
+  return path;
 }
 
-void AEB::generateEgoPath(
-  const Trajectory & predicted_traj, Path & path,
-  std::vector<tier4_autoware_utils::Polygon2d> & polygons)
+std::optional<Path> AEB::generateEgoPath(
+  const Trajectory & predicted_traj, std::vector<tier4_autoware_utils::Polygon2d> & polygons)
 {
   if (predicted_traj.points.empty()) {
-    return;
+    return std::nullopt;
   }
 
   geometry_msgs::msg::TransformStamped transform_stamped{};
@@ -452,10 +453,11 @@ void AEB::generateEgoPath(
       rclcpp::Duration::from_seconds(0.5));
   } catch (tf2::TransformException & ex) {
     RCLCPP_ERROR_STREAM(get_logger(), "[AEB] Failed to look up transform from base_link to map");
-    return;
+    return std::nullopt;
   }
 
   // create path
+  Path path;
   path.resize(predicted_traj.points.size());
   for (size_t i = 0; i < predicted_traj.points.size(); ++i) {
     geometry_msgs::msg::Pose map_pose;
@@ -471,6 +473,7 @@ void AEB::generateEgoPath(
   for (size_t i = 0; i < path.size() - 1; ++i) {
     polygons.at(i) = createPolygon(path.at(i), path.at(i + 1), vehicle_info_, expand_width_);
   }
+  return path;
 }
 
 void AEB::createObjectData(

control/control_validator/src/control_validator.cpp

@@ -121,6 +121,11 @@ bool ControlValidator::isDataReady()
 
 void ControlValidator::onReferenceTrajectory(const Trajectory::ConstSharedPtr msg)
 {
+  if (msg->points.size() < 2) {
+    RCLCPP_ERROR(get_logger(), "planning trajectory size is invalid (%lu)", msg->points.size());
+    return;
+  }
+
   current_reference_trajectory_ = msg;
 
   return;

evaluator/tier4_metrics_rviz_plugin/package.xml

@@ -13,6 +13,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>diagnostic_msgs</depend>
+  <depend>libqt5-charts-dev</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
   <depend>libqt5-widgets</depend>

launch/tier4_localization_launch/package.xml

@@ -11,6 +11,7 @@
   <maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>
   <maintainer email="taiki.yamada@tier4.jp">Taiki Yamada</maintainer>
   <maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
+  <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
   <license>Apache License 2.0</license>
   <author email="yamato.ando@tier4.jp">Yamato Ando</author>