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Merge branch 'main' into refactor/lidar_centerpoint-add-training-docs
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‎.cspell-partial.json

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"perception/bytetrack/lib/**"
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],
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"ignoreRegExpList": [],
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"words": ["dltype", "tvmgen", "quantizer", "imageio", "mimsave"]
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"words": ["dltype", "tvmgen"]
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}

‎.github/CODEOWNERS

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

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with:
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fetch-depth: 0
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- name: Check disk space before build
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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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verbose: true
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flags: differential
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- name: Check disk space after build
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run: df -h
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clang-tidy-differential:
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runs-on: [self-hosted, linux, X64]
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container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda

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

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‎common/autoware_auto_perception_rviz_plugin/package.xml

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<maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
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<maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
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<maintainer email="takeshi.miura@tier4.jp">Takeshi Miura</maintainer>
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<maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
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<maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
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<license>Apache 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>

‎common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package rviz_2d_overlay_msgs
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.3.0 (2023-05-18)
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------------------
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* Removed old position message fields
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* Contributors: Dominik, Jonas Otto
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1.2.1 (2022-09-30)
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------------------
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1.2.0 (2022-09-27)
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------------------
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* Rename package from overlay_rviz_msgs to rviz_2d_overlay_msgs
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* Contributors: Jonas Otto
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1.1.0 (2022-09-11)
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------------------
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1.0.0 (2022-08-30)
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------------------
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* Create OverlayText message (currently same as jsk_rviz_plugins)
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* Contributors: Jonas Otto, Dominik Authaler

‎common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(autoware_overlay_msgs)
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if (NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif ()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(std_msgs REQUIRED)
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/OverlayText.msg"
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DEPENDENCIES
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std_msgs
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)
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ament_package()

‎common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/msg/OverlayText.msg

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uint8 ADD = 0
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uint8 DELETE = 1
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# constants for the horizontal and vertical alignment
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uint8 LEFT = 0
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uint8 RIGHT = 1
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uint8 CENTER = 2
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uint8 TOP = 3
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uint8 BOTTOM = 4
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uint8 action
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int32 width
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int32 height
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# Position: Positive values move the overlay towards the center of the window,
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# for center alignment positive values move the overlay towards the bottom right
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int32 horizontal_distance # Horizontal distance from left/right border or center, depending on alignment
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int32 vertical_distance # Vertical distance between from top/bottom border or center, depending on alignment
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# Alignment of the overlay withing RVIZ
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uint8 horizontal_alignment # one of LEFT, CENTER, RIGHT
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uint8 vertical_alignment # one of TOP, CENTER, BOTTOM
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std_msgs/ColorRGBA bg_color
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int32 line_width
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float32 text_size
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string font
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std_msgs/ColorRGBA fg_color
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string text

‎common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>autoware_overlay_msgs</name>
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<version>1.3.0</version>
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<description>Messages describing 2D overlays for RVIZ, extracted/derived from the jsk_visualization package.</description>
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<maintainer email="team-spatzenhirn@uni-ulm.de">Team Spatzenhirn</maintainer>
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<license>BSD-3-Clause</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<depend>autoware_auto_vehicle_msgs</depend>
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<depend>autoware_perception_msgs</depend>
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<depend>std_msgs</depend>
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<depend>unique_identifier_msgs</depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt

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cmake_minimum_required(VERSION 3.8)
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project(autoware_overlay_rviz_plugin)
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# find dependencies
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find_package(ament_cmake_auto REQUIRED)
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find_package(ament_cmake REQUIRED)
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find_package(autoware_auto_vehicle_msgs REQUIRED)
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find_package(tier4_planning_msgs REQUIRED)
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find_package(autoware_perception_msgs REQUIRED)
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ament_auto_find_build_dependencies()
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find_package(autoware_overlay_msgs REQUIRED)
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find_package(rviz_common REQUIRED)
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find_package(rviz_rendering REQUIRED)
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find_package(rviz_ogre_vendor REQUIRED)
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find_package(std_msgs REQUIRED)
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set(
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headers_to_moc
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include/overlay_text_display.hpp
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include/signal_display.hpp
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)
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set(
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headers_to_not_moc
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include/steering_wheel_display.hpp
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include/gear_display.hpp
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include/speed_display.hpp
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include/turn_signals_display.hpp
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include/traffic_display.hpp
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include/speed_limit_display.hpp
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)
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foreach(header "${headers_to_moc}")
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qt5_wrap_cpp(display_moc_files "${header}")
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endforeach()
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set(
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display_source_files
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src/overlay_text_display.cpp
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src/overlay_utils.cpp
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src/signal_display.cpp
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src/steering_wheel_display.cpp
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src/gear_display.cpp
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src/speed_display.cpp
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src/turn_signals_display.cpp
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src/traffic_display.cpp
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src/speed_limit_display.cpp
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)
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add_library(
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${PROJECT_NAME} SHARED
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${display_moc_files}
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${headers_to_not_moc}
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${display_source_files}
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)
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set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 17)
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target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic)
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target_include_directories(
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${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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${Qt5Widgets_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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)
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target_link_libraries(
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${PROJECT_NAME} PUBLIC
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rviz_ogre_vendor::OgreMain
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rviz_ogre_vendor::OgreOverlay
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)
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target_compile_definitions(${PROJECT_NAME} PRIVATE "${PROJECT_NAME}_BUILDING_LIBRARY")
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# prevent pluginlib from using boost
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target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
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pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
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ament_target_dependencies(
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${PROJECT_NAME}
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PUBLIC
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rviz_common
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rviz_rendering
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autoware_overlay_msgs
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autoware_auto_vehicle_msgs
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tier4_planning_msgs
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autoware_perception_msgs
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)
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ament_export_include_directories(include)
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ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
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ament_export_dependencies(
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rviz_common
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rviz_ogre_vendor
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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install(
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TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include
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)
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install(
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DIRECTORY include/
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DESTINATION include
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)
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install(
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TARGETS
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DESTINATION lib/${PROJECT_NAME}
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)
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# Copy the assets directory to the installation directory
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install(
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DIRECTORY assets/
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DESTINATION share/${PROJECT_NAME}/assets
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)
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add_definitions(-DQT_NO_KEYWORDS)
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ament_package(
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CONFIG_EXTRAS "autoware_overlay_rviz_plugin-extras.cmake"
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)

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE

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Copyright (c) 2022, Team Spatzenhirn
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Copyright (c) 2014, JSK Lab
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md

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# autoware_overlay_rviz_plugin
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Plugin for displaying 2D overlays over the RViz2 3D scene.
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Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization)
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package, under the 3-Clause BSD license.
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## Purpose
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This plugin provides a visual and easy-to-understand display of vehicle speed, turn signal, steering status and gears.
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## Inputs / Outputs
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### Input
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| Name | Type | Description |
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| ------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------ |
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| `/vehicle/status/velocity_status` | `autoware_auto_vehicle_msgs::msg::VelocityReport` | The topic is vehicle velocity |
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| `/vehicle/status/turn_indicators_status` | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport` | The topic is status of turn signal |
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| `/vehicle/status/hazard_status` | `autoware_auto_vehicle_msgs::msg::HazardReport` | The topic is status of hazard |
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| `/vehicle/status/steering_status` | `autoware_auto_vehicle_msgs::msg::SteeringReport` | The topic is status of steering |
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| `/vehicle/status/gear_status` | `autoware_auto_vehicle_msgs::msg::GearReport` | The topic is status of gear |
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| `/planning/scenario_planning/current_max_velocity` | `tier4_planning_msgs::msg::VelocityLimit` | The topic is velocity limit |
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| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray` | The topic is status of traffic light |
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## Parameter
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### Core Parameters
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#### SignalDisplay
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| Name | Type | Default Value | Description |
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| ------------------------ | ------ | -------------------- | --------------------------------- |
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| `property_width_` | int | 128 | Width of the plotter window [px] |
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| `property_height_` | int | 128 | Height of the plotter window [px] |
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| `property_left_` | int | 128 | Left of the plotter window [px] |
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| `property_top_` | int | 128 | Top of the plotter window [px] |
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| `property_signal_color_` | QColor | QColor(25, 255, 240) | Turn Signal color |
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## Assumptions / Known limits
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TBD.
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## Usage
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1. Start `rviz2` and click `Add` button under the `Displays` panel.
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![select_add](./assets/images/select_add.png)
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2. Under `By display type` tab, select `autoware_overlay_rviz_plugin/SignalDisplay` and press OK.
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3. Enter the names of the topics if necessary.
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![select_topic_name](./assets/images/select_topic_name.png)

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