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Merge branch 'main' into feat/lidar_centerpoint_preprocessing_cuda
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Conflicts: perception/lidar_centerpoint/include/lidar_centerpoint/detection_class_remapper.hpp perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp perception/lidar_centerpoint/include/lidar_centerpoint/ros_utils.hpp
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‎.cppcheck_suppressions

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arrayIndexThenCheck
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assignBoolToFloat
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checkersReport
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constParameterPointer
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constParameterReference
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constStatement
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constVariable
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constVariablePointer
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constVariableReference
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containerOutOfBounds
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cstyleCast
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ctuOneDefinitionRuleViolation
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current_deleted_index
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duplicateAssignExpression
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duplicateBranch
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duplicateBreak
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duplicateCondition
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duplicateExpression
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funcArgNamesDifferent
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functionConst
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functionStatic
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invalidPointerCast
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knownConditionTrueFalse
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missingInclude
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missingIncludeSystem
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multiCondition
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noConstructor
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noExplicitConstructor
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noValidConfiguration
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obstacle_cruise_planner
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passedByValue
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preprocessorErrorDirective
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redundantAssignment
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redundantContinue
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redundantIfRemove
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redundantInitialization
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returnByReference
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selfAssignment
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shadowArgument
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shadowFunction
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shadowVariable
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stlFindInsert
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syntaxError
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uninitMemberVar
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unknownMacro
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unmatchedSuppression
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unpreciseMathCall
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unreadVariable
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unsignedLessThanZero
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unusedFunction
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unusedScopedObject
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unusedStructMember
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unusedVariable
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useInitializationList
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useStlAlgorithm
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uselessCallsSubstr
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uselessOverride
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variableScope
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virtualCallInConstructor

‎.github/CODEOWNERS

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

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- -cuda
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include:
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- rosdistro: humble
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container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
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container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
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build-depends-repos: build_depends.repos
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steps:
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- name: Check out repository

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

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- rosdistro: humble
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container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
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container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
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build-depends-repos: build_depends.repos
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steps:
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- name: Check out repository

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

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- -cuda
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include:
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- rosdistro: humble
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container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
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container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
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build-depends-repos: build_depends.repos
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container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt-cuda
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container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
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- name: Check out repository
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‎.github/workflows/build-and-test.yaml

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container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
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container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
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build-depends-repos: build_depends.repos
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steps:
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- name: Check out repository

‎.github/workflows/cppcheck-all.yaml

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name: cppcheck-all
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on:
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pull_request:
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schedule:
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- cron: 0 0 * * *
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workflow_dispatch:
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jobs:
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cppcheck-all:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout code
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uses: actions/checkout@v2
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- name: Install dependencies
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run: |
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sudo apt-get update
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sudo apt-get install -y build-essential cmake git libpcre3-dev
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# cppcheck from apt does not yet support --check-level args, and thus install from source
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- name: Install Cppcheck from source
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run: |
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mkdir /tmp/cppcheck
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git clone https://github.com/danmar/cppcheck.git /tmp/cppcheck
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cd /tmp/cppcheck
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git checkout 2.14.1
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mkdir build
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cd build
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cmake ..
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make -j $(nproc)
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sudo make install
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- name: Run Cppcheck on all files
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continue-on-error: true
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id: cppcheck
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run: |
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cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --xml . 2> cppcheck-report.xml
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shell: bash
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- name: Count errors by error ID and severity
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run: |
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#!/bin/bash
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temp_file=$(mktemp)
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grep -oP '(?<=id=")[^"]+" severity="[^"]+' cppcheck-report.xml | sed 's/" severity="/,/g' > "$temp_file"
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echo "Error counts by error ID and severity:"
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sort "$temp_file" | uniq -c
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rm "$temp_file"
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shell: bash
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- name: Upload Cppcheck report
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uses: actions/upload-artifact@v2
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with:
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name: cppcheck-report
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path: cppcheck-report.xml
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- name: Fail the job if Cppcheck failed
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if: steps.cppcheck.outcome == 'failure'
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run: exit 1

‎.github/workflows/cppcheck-differential.yaml

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name: cppcheck-differential
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pull_request:
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jobs:
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cppcheck-differential:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout code
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uses: actions/checkout@v2
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- name: Install dependencies
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run: |
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sudo apt-get update
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sudo apt-get install -y build-essential cmake git libpcre3-dev
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# cppcheck from apt does not yet support --check-level args, and thus install from source
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- name: Install Cppcheck from source
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run: |
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mkdir /tmp/cppcheck
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git clone https://github.com/danmar/cppcheck.git /tmp/cppcheck
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cd /tmp/cppcheck
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git checkout 2.14.1
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mkdir build
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cd build
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cmake ..
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make -j $(nproc)
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sudo make install
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- name: Get changed files
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id: changed-files
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run: |
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git fetch origin ${{ github.base_ref }} --depth=1
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git diff --name-only FETCH_HEAD ${{ github.sha }} > changed_files.txt
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cat changed_files.txt
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- name: Run Cppcheck on changed files
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continue-on-error: true
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id: cppcheck
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run: |
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files=$(cat changed_files.txt | grep -E '\.(cpp|hpp)$' || true)
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if [ -n "$files" ]; then
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echo "Running Cppcheck on changed files: $files"
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cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions $files 2> cppcheck-report.txt
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else
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echo "No C++ files changed."
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touch cppcheck-report.txt
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fi
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shell: bash
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- name: Show cppcheck-report result
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run: |
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cat cppcheck-report.txt
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- name: Upload Cppcheck report
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uses: actions/upload-artifact@v2
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with:
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name: cppcheck-report
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path: cppcheck-report.txt
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- name: Fail the job if Cppcheck failed
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if: steps.cppcheck.outcome == 'failure'
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run: exit 1

‎.github/workflows/dco.yaml

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name: DCO
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# ref: https://github.com/anchore/syft/pull/2926/files
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on:
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pull_request:
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jobs:
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dco:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Setup Python 3.x
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uses: actions/setup-python@v5
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with:
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python-version: 3.x
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- name: Check DCO
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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run: |
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pip3 install -U dco-check
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dco-check --verbose --exclude-pattern 'pre-commit-ci\[bot\]@users\.noreply\.github\.com'

‎build_depends.repos

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core/external/autoware_auto_msgs:
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type: git
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url: https://github.com/tier4/autoware_auto_msgs.git
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version: tier4/main
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# universe
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‎common/.pages

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nav:
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- 'Introduction': common
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- 'Testing Libraries':
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- 'autoware_testing': common/autoware_testing/design/autoware_testing-design
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- 'fake_test_node': common/fake_test_node/design/fake_test_node-design
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- 'Common Libraries':
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- 'autoware_auto_common':
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- 'comparisons': common/autoware_auto_common/design/comparisons
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- 'autoware_point_types': common/autoware_point_types
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- 'Cuda Utils': common/cuda_utils
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- 'Geography Utils': common/geography_utils
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- 'Global Parameter Loader': common/global_parameter_loader/Readme
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- 'Glog Component': common/glog_component
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- 'grid_map_utils': common/grid_map_utils
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- 'interpolation': common/interpolation
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- 'Kalman Filter': common/kalman_filter
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- 'Motion Utils': common/motion_utils
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- 'Vehicle Utils': common/motion_utils/docs/vehicle/vehicle
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- 'Object Recognition Utils': common/object_recognition_utils
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- 'OSQP Interface': common/osqp_interface/design/osqp_interface-design
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- 'Perception Utils': common/perception_utils
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- 'QP Interface': common/qp_interface/design/qp_interface-design
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- 'Signal Processing':
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- 'Introduction': common/signal_processing
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- 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter
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- 'TensorRT Common': common/tensorrt_common
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- 'tier4_autoware_utils': common/tier4_autoware_utils
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- 'traffic_light_utils': common/traffic_light_utils
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- 'TVM Utility':
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- 'Introduction': common/tvm_utility
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- 'YOLOv2 Tiny Example': common/tvm_utility/tvm-utility-yolo-v2-tiny-tests
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- 'RVIZ2 Plugins':
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- 'autoware_perception_rviz_plugin': common/autoware_perception_rviz_plugin
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- 'autoware_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin
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- 'autoware_mission_details_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin
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- 'bag_time_manager_rviz_plugin': common/bag_time_manager_rviz_plugin
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- 'polar_grid': common/polar_grid/Readme
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- 'tier4_adapi_rviz_plugin': common/tier4_adapi_rviz_plugin
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- 'tier4_api_utils': common/tier4_api_utils
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- 'tier4_camera_view_rviz_plugin': common/tier4_camera_view_rviz_plugin
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- 'tier4_datetime_rviz_plugin': common/tier4_datetime_rviz_plugin
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- 'tier4_localization_rviz_plugin': common/tier4_localization_rviz_plugin
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- 'tier4_perception_rviz_plugin': common/tier4_perception_rviz_plugin
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- 'tier4_planning_rviz_plugin': common/tier4_planning_rviz_plugin
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- 'tier4_state_rviz_plugin': common/tier4_state_rviz_plugin
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- 'tier4_system_rviz_plugin': common/tier4_system_rviz_plugin
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- 'tier4_traffic_light_rviz_plugin': common/tier4_traffic_light_rviz_plugin
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- 'tier4_vehicle_rviz_plugin': common/tier4_vehicle_rviz_plugin
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- 'traffic_light_recognition_marker_publisher': common/traffic_light_recognition_marker_publisher/Readme
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- 'Node':
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- 'Goal Distance Calculator': common/goal_distance_calculator/Readme
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- 'Path Distance Calculator': common/path_distance_calculator/Readme
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- 'Others':
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- 'autoware_ad_api_specs': common/autoware_ad_api_specs
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- 'component_interface_specs': common/component_interface_specs
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- 'component_interface_tools': common/component_interface_tools
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- 'component_interface_utils': common/component_interface_utils

‎common/README.md

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# Common
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## Getting Started
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The Autoware.Universe Common folder consists of common and testing libraries that are used by other Autoware components, as well as useful plugins for visualization in RVIZ2.
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!!! note
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In addition to the ones listed in this folder, users can also have a look at some of the add-ons in the `autoware_tools/common` documentation [page](https://autowarefoundation.github.io/autoware_tools/main/common/mission_planner_rviz_plugin/).
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## Highlights
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Some of the commonly used libraries are:
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1. `tier4_autoware_utils`
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2. `motion_utils`

‎common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp

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// Copyright 2024 The Autoware Contributors
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef AUTOWARE_AD_API_SPECS__SYSTEM_HPP_
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#define AUTOWARE_AD_API_SPECS__SYSTEM_HPP_
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#include <rclcpp/qos.hpp>
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#include <autoware_adapi_v1_msgs/msg/heartbeat.hpp>
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namespace autoware_ad_api::system
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{
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struct Heartbeat
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{
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using Message = autoware_adapi_v1_msgs::msg::Heartbeat;
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static constexpr char name[] = "/api/system/heartbeat";
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static constexpr size_t depth = 10;
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static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
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static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
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};
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} // namespace autoware_ad_api::system
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#endif // AUTOWARE_AD_API_SPECS__SYSTEM_HPP_

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