Merge branch 'main' into feat/add_nerf_based_localizer

Author: SakodaShintaro

.cspell-partial.json

@@ -0,0 +1,5 @@
+{
+  "ignorePaths": ["perception/bytetrack/lib/**"],
+  "ignoreRegExpList": [],
+  "words": ["dltype", "tvmgen"]
+}

.cspell.json

@@ -77,7 +77,7 @@ evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4
 evaluator/localization_evaluator/** dominik.jargot@robotec.ai koji.minoda@tier4.jp
 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
 evaluator/planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp
-evaluator/tier4_metrics_rviz_plugin/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp
+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
 launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
 launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 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
 perception/detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
 perception/detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp shintaro.tomie@tier4.jp taichi.higashide@tier4.jp
-perception/euclidean_cluster/** yukihiro.saito@tier4.jp
+perception/euclidean_cluster/** dai.nguyen@tier4.jp yukihiro.saito@tier4.jp
 perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
 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
 perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp
@@ -212,7 +212,7 @@ sensing/image_diagnostics/** dai.nguyen@tier4.jp
 sensing/image_transport_decompressor/** yukihiro.saito@tier4.jp
 sensing/imu_corrector/** koji.minoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 sensing/livox/livox_tag_filter/** ryohsuke.mitsudome@tier4.jp
-sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
+sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
 sensing/radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 sensing/radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 sensing/radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp

.github/CODEOWNERS

@@ -0,0 +1,31 @@
+name: PR-Agent
+
+on:
+  pull_request:
+    types: [opened, labeled, unlabeled, synchronize]
+  issue_comment:
+
+jobs:
+  prevent-no-label-execution-pr-agent:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+    with:
+      label: tag:pr-agent
+  pr_agent_job:
+    needs: prevent-no-label-execution-pr-agent
+    if: ${{ needs.prevent-no-label-execution-pr-agent.outputs.run == 'true' }}
+    runs-on: ubuntu-latest
+    permissions:
+      issues: write
+      pull-requests: write
+      contents: write
+    name: Run pr agent on every pull request, respond to user comments
+    steps:
+      - name: PR Agent action step
+        id: pragent
+        uses: Codium-ai/pr-agent@main
+        env:
+          OPENAI_KEY: ${{ secrets.OPENAI_KEY_PR_AGENT }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          github_action_config.auto_review: "false"
+          github_action_config.auto_describe: "false"
+          github_action_config.auto_improve: "false"

.github/workflows/pr-agent.yaml

@@ -2,17 +2,20 @@ name: spell-check-partial
 
 on:
   pull_request:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
 
 jobs:
   spell-check-partial:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Run spell-check
         uses: autowarefoundation/autoware-github-actions/spell-check@v1
         with:
           cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json
-          local-cspell-json: .cspell-partial.json
+          local-cspell-json: .cspell.json
           incremental-files-only: false

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

@@ -16,6 +16,10 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
     version: main
+  core/autoware_internal_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+    version: main
   core/external/autoware_auto_msgs:
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git

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

@@ -0,0 +1,112 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// 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.
+
+#ifndef TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
+#define TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <autoware_internal_msgs/msg/published_time.hpp>
+#include <std_msgs/msg/header.hpp>
+
+#include <functional>
+#include <map>
+#include <string>
+
+namespace tier4_autoware_utils
+{
+
+class PublishedTimePublisher
+{
+public:
+  explicit PublishedTimePublisher(
+    rclcpp::Node * node, const std::string & publisher_topic_suffix = "/debug/published_time",
+    const rclcpp::QoS & qos = rclcpp::QoS(1))
+  : node_(node), publisher_topic_suffix_(publisher_topic_suffix), qos_(qos)
+  {
+  }
+
+  void publish_if_subscribed(
+    const rclcpp::PublisherBase::ConstSharedPtr & publisher, const rclcpp::Time & stamp)
+  {
+    const auto & gid_key = publisher->get_gid();
+
+    // if the publisher is not in the map, create a new publisher for published time
+    ensure_publisher_exists(gid_key, publisher->get_topic_name());
+
+    const auto & pub_published_time_ = publishers_[gid_key];
+
+    // Check if there are any subscribers, otherwise don't do anything
+    if (pub_published_time_->get_subscription_count() > 0) {
+      PublishedTime published_time;
+
+      published_time.header.stamp = stamp;
+      published_time.published_stamp = rclcpp::Clock().now();
+
+      pub_published_time_->publish(published_time);
+    }
+  }
+
+  void publish_if_subscribed(
+    const rclcpp::PublisherBase::ConstSharedPtr & publisher, const std_msgs::msg::Header & header)
+  {
+    const auto & gid_key = publisher->get_gid();
+
+    // if the publisher is not in the map, create a new publisher for published time
+    ensure_publisher_exists(gid_key, publisher->get_topic_name());
+
+    const auto & pub_published_time_ = publishers_[gid_key];
+
+    // Check if there are any subscribers, otherwise don't do anything
+    if (pub_published_time_->get_subscription_count() > 0) {
+      PublishedTime published_time;
+
+      published_time.header = header;
+      published_time.published_stamp = rclcpp::Clock().now();
+
+      pub_published_time_->publish(published_time);
+    }
+  }
+
+private:
+  rclcpp::Node * node_;
+  std::string publisher_topic_suffix_;
+  rclcpp::QoS qos_;
+
+  using PublishedTime = autoware_internal_msgs::msg::PublishedTime;
+
+  // Custom comparison struct for rmw_gid_t
+  struct GidCompare
+  {
+    bool operator()(const rmw_gid_t & lhs, const rmw_gid_t & rhs) const
+    {
+      return std::memcmp(lhs.data, rhs.data, RMW_GID_STORAGE_SIZE) < 0;
+    }
+  };
+
+  // ensure that the publisher exists in publisher_ map, if not, create a new one
+  void ensure_publisher_exists(const rmw_gid_t & gid_key, const std::string & topic_name)
+  {
+    if (publishers_.find(gid_key) == publishers_.end()) {
+      publishers_[gid_key] =
+        node_->create_publisher<PublishedTime>(topic_name + publisher_topic_suffix_, qos_);
+    }
+  }
+
+  // store them for each different publisher of the node
+  std::map<rmw_gid_t, rclcpp::Publisher<PublishedTime>::SharedPtr, GidCompare> publishers_;
+};
+}  // namespace tier4_autoware_utils
+
+#endif  // TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_

build_depends.repos

@@ -15,6 +15,7 @@
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_internal_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>diagnostic_msgs</depend>
   <depend>geometry_msgs</depend>