Merge branch 'main' into feat-apply-autoware-prefix-for-system-default-ad-api-helpers

Author: isamu-takagi

.github/CODEOWNERS

@@ -51,7 +51,7 @@ evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@
 evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp temkei.kem@tier4.jp
 evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 evaluator/localization_evaluator/** anh.nguyen.2@tier4.jp dominik.jargot@robotec.ai koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@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/autoware_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 junya.sasaki@tier4.jp
 evaluator/scenario_simulator_v2_adapter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@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
@@ -210,7 +210,7 @@ simulator/vehicle_door_simulator/** isamu.takagi@tier4.jp
 system/autoware_component_monitor/** baris@leodrive.ai memin@leodrive.ai yavuz@leodrive.ai
 system/autoware_default_adapi/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
 system/autoware_processing_time_checker/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp
-system/bluetooth_monitor/** fumihito.ito@tier4.jp
+system/autoware_bluetooth_monitor/** fumihito.ito@tier4.jp junya.sasaki@tier4.jp
 system/component_state_monitor/** isamu.takagi@tier4.jp
 system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
 system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
@@ -219,7 +219,7 @@ system/diagnostic_graph_aggregator/** isamu.takagi@tier4.jp
 system/diagnostic_graph_utils/** isamu.takagi@tier4.jp
 system/autoware_dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
 system/dummy_infrastructure/** ryohsuke.mitsudome@tier4.jp
-system/duplicated_node_checker/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp
+system/autoware_duplicated_node_checker/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp junya.sasaki@tier4.jp
 system/hazard_status_converter/** isamu.takagi@tier4.jp
 system/mrm_comfortable_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp
 system/mrm_emergency_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp

codecov.yaml

@@ -122,6 +122,7 @@ component_management:
     - component_id: localization-tier-iv-maintained-packages
       name: Localization TIER IV Maintained Packages
       paths:
+        - localization/autoware_ekf_localizer/**
         - localization/autoware_gyro_odometer/**
         - localization/autoware_localization_error_monitor/**
         - localization/autoware_localization_util/**

control/autoware_vehicle_cmd_gate/package.xml

@@ -19,6 +19,7 @@
   <depend>autoware_component_interface_specs_universe</depend>
   <depend>autoware_component_interface_utils</depend>
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
@@ -30,7 +31,6 @@
   <depend>std_srvs</depend>
   <depend>tier4_api_utils</depend>
   <depend>tier4_control_msgs</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>tier4_external_api_msgs</depend>
   <depend>tier4_system_msgs</depend>
   <depend>tier4_vehicle_msgs</depend>

control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp

@@ -77,8 +77,8 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
   engage_pub_ = create_publisher<EngageMsg>("output/engage", durable_qos);
   pub_external_emergency_ = create_publisher<Emergency>("output/external_emergency", durable_qos);
   operation_mode_pub_ = create_publisher<OperationModeState>("output/operation_mode", durable_qos);
-  processing_time_pub_ =
-    this->create_publisher<tier4_debug_msgs::msg::Float64Stamped>("~/debug/processing_time_ms", 1);
+  processing_time_pub_ = this->create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
+    "~/debug/processing_time_ms", 1);
 
   is_filter_activated_pub_ =
     create_publisher<IsFilterActivated>("~/is_filter_activated", durable_qos);
@@ -520,7 +520,7 @@ void VehicleCmdGate::onTimer()
   }
 
   // ProcessingTime
-  tier4_debug_msgs::msg::Float64Stamped processing_time_msg;
+  autoware_internal_debug_msgs::msg::Float64Stamped processing_time_msg;
   processing_time_msg.stamp = get_clock()->now();
   processing_time_msg.data = stop_watch.toc();
   processing_time_pub_->publish(processing_time_msg);

control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp

@@ -32,6 +32,8 @@
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_vehicle_msgs/msg/engage.hpp>
 #include <autoware_vehicle_msgs/msg/gear_command.hpp>
 #include <autoware_vehicle_msgs/msg/hazard_lights_command.hpp>
@@ -41,8 +43,6 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <std_srvs/srv/trigger.hpp>
 #include <tier4_control_msgs/msg/gate_mode.hpp>
-#include <tier4_debug_msgs/msg/bool_stamped.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 #include <tier4_external_api_msgs/msg/emergency.hpp>
 #include <tier4_external_api_msgs/msg/heartbeat.hpp>
 #include <tier4_external_api_msgs/srv/engage.hpp>
@@ -62,6 +62,7 @@ using autoware_adapi_v1_msgs::msg::MrmState;
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_control_msgs::msg::Control;
 using autoware_control_msgs::msg::Longitudinal;
+using autoware_internal_debug_msgs::msg::BoolStamped;
 using autoware_vehicle_cmd_gate::msg::IsFilterActivated;
 using autoware_vehicle_msgs::msg::GearCommand;
 using autoware_vehicle_msgs::msg::HazardLightsCommand;
@@ -70,7 +71,6 @@ using autoware_vehicle_msgs::msg::TurnIndicatorsCommand;
 using geometry_msgs::msg::AccelWithCovarianceStamped;
 using std_srvs::srv::Trigger;
 using tier4_control_msgs::msg::GateMode;
-using tier4_debug_msgs::msg::BoolStamped;
 using tier4_external_api_msgs::msg::Emergency;
 using tier4_external_api_msgs::msg::Heartbeat;
 using tier4_external_api_msgs::srv::SetEmergency;
@@ -116,7 +116,8 @@ class VehicleCmdGate : public rclcpp::Node
   rclcpp::Publisher<MarkerArray>::SharedPtr filter_activated_marker_pub_;
   rclcpp::Publisher<MarkerArray>::SharedPtr filter_activated_marker_raw_pub_;
   rclcpp::Publisher<BoolStamped>::SharedPtr filter_activated_flag_pub_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr processing_time_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr
+    processing_time_pub_;
   // Parameter callback
   OnSetParametersCallbackHandle::SharedPtr set_param_res_;
   rcl_interfaces::msg::SetParametersResult onParameter(

evaluator/perception_online_evaluator/CHANGELOG.rst evaluator/autoware_perception_online_evaluator/CHANGELOG.rst

@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_perception_online_evaluator)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(pluginlib REQUIRED)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/metrics_calculator.cpp
+  src/perception_online_evaluator_node.cpp
+  src/metrics/deviation_metrics.cpp
+  src/metrics/detection_count.cpp
+  src/utils/marker_utils.cpp
+  src/utils/objects_filtering.cpp
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::perception_diagnostics::PerceptionOnlineEvaluatorNode"
+  EXECUTABLE ${PROJECT_NAME}_node
+)
+
+target_link_libraries(${PROJECT_NAME} glog::glog)
+
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_perception_online_evaluator_node
+    test/test_perception_online_evaluator_node.cpp
+    TIMEOUT 300
+  )
+  target_link_libraries(test_perception_online_evaluator_node
+    ${PROJECT_NAME}
+  )
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+    param
+    launch
+)

evaluator/autoware_perception_online_evaluator/CMakeLists.txt

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_
 
-#include "perception_online_evaluator/parameters.hpp"
+#include "autoware/perception_online_evaluator/parameters.hpp"
 #include "tf2_ros/buffer.h"
 
 #include <rclcpp/rclcpp.hpp>
@@ -32,7 +32,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 namespace metrics
 {
@@ -143,6 +143,6 @@ class DetectionCounter
     seen_uuids_;
 };
 }  // namespace metrics
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_

evaluator/perception_online_evaluator/README.md evaluator/autoware_perception_online_evaluator/README.md

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
 
 #include <autoware_perception_msgs/msg/predicted_path.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 
 #include <vector>
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 namespace metrics
 {
@@ -44,6 +44,6 @@ double calcLateralDeviation(const std::vector<Pose> & ref_path, const Pose & tar
 double calcYawDeviation(const std::vector<Pose> & ref_path, const Pose & target_pose);
 
 }  // namespace metrics
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_

evaluator/perception_online_evaluator/images/detection_counts.drawio.svg evaluator/autoware_perception_online_evaluator/images/detection_counts.drawio.svg

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_
 
 #include "autoware/universe_utils/math/accumulator.hpp"
 
@@ -23,7 +23,7 @@
 #include <variant>
 #include <vector>
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 /**
  * @brief Enumeration of trajectory metrics
@@ -90,6 +90,6 @@ static struct CheckCorrectMaps
 } check;
 
 }  // namespace details
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_

evaluator/perception_online_evaluator/images/lateral_deviation.drawio.svg evaluator/autoware_perception_online_evaluator/images/lateral_deviation.drawio.svg

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_
-
-#include "perception_online_evaluator/metrics/detection_count.hpp"
-#include "perception_online_evaluator/metrics/deviation_metrics.hpp"
-#include "perception_online_evaluator/metrics/metric.hpp"
-#include "perception_online_evaluator/parameters.hpp"
-#include "perception_online_evaluator/utils/objects_filtering.hpp"
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_
+
+#include "autoware/perception_online_evaluator/metrics/detection_count.hpp"
+#include "autoware/perception_online_evaluator/metrics/deviation_metrics.hpp"
+#include "autoware/perception_online_evaluator/metrics/metric.hpp"
+#include "autoware/perception_online_evaluator/parameters.hpp"
+#include "autoware/perception_online_evaluator/utils/objects_filtering.hpp"
 #include "tf2_ros/buffer.h"
 
 #include <rclcpp/time.hpp>
@@ -38,7 +38,7 @@
 #include <utility>
 #include <vector>
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
@@ -160,6 +160,6 @@ class MetricsCalculator
 
 };  // class MetricsCalculator
 
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_

evaluator/perception_online_evaluator/images/path_deviation.drawio.svg evaluator/autoware_perception_online_evaluator/images/path_deviation.drawio.svg

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_
 
-#include "perception_online_evaluator/metrics/metric.hpp"
+#include "autoware/perception_online_evaluator/metrics/metric.hpp"
 
 #include <unordered_map>
 #include <vector>
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 /**
  * @brief Enumeration of perception metrics
@@ -64,6 +64,6 @@ struct Parameters
   std::unordered_map<uint8_t, ObjectParameter> object_parameters;
 };
 
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_

evaluator/perception_online_evaluator/images/path_deviation_each_object.drawio.svg evaluator/autoware_perception_online_evaluator/images/path_deviation_each_object.drawio.svg

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_
 
+#include "autoware/perception_online_evaluator/metrics_calculator.hpp"
+#include "autoware/perception_online_evaluator/parameters.hpp"
 #include "autoware/universe_utils/math/accumulator.hpp"
-#include "perception_online_evaluator/metrics_calculator.hpp"
-#include "perception_online_evaluator/parameters.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
@@ -34,7 +34,7 @@
 #include <string>
 #include <vector>
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 using autoware::universe_utils::Accumulator;
 using autoware_perception_msgs::msg::ObjectClassification;
@@ -108,6 +108,6 @@ class PerceptionOnlineEvaluatorNode : public rclcpp::Node
   // Debug
   void publishDebugMarker();
 };
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_

evaluator/perception_online_evaluator/images/yaw_deviation.drawio.svg evaluator/autoware_perception_online_evaluator/images/yaw_deviation.drawio.svg

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_
 
 #include <autoware_vehicle_info_utils/vehicle_info.hpp>
 
@@ -27,7 +27,7 @@
 #include <string>
 #include <vector>
 
-namespace marker_utils
+namespace autoware::perception_diagnostics::marker_utils
 {
 
 using autoware::universe_utils::Polygon2d;
@@ -77,6 +77,6 @@ MarkerArray createDeviationLines(
   const std::vector<Pose> & poses1, const std::vector<Pose> & poses2, const std::string & ns,
   const int32_t & first_id, const float r, const float g, const float b);
 
-}  // namespace marker_utils
+}  // namespace autoware::perception_diagnostics::marker_utils
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_