Merge branch 'main' into feat/cuda_blackboard_centerpoint

Author: knzo25

.github/CODEOWNERS

@@ -4,12 +4,12 @@ common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.w
 common/autoware_component_interface_specs_universe/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp
 common/autoware_component_interface_tools/** isamu.takagi@tier4.jp
 common/autoware_component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp
+common/autoware_cuda_dependency_meta/** esteve.fernandez@tier4.jp
 common/autoware_fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 common/autoware_global_parameter_loader/** ryohsuke.mitsudome@tier4.jp
 common/autoware_glog_component/** takamasa.horibe@tier4.jp
 common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp
 common/autoware_grid_map_utils/** maxime.clement@tier4.jp
-common/autoware_object_recognition_utils/** takayuki.murooka@tier4.jp yoshi.ri@tier4.jp
 common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp
 common/autoware_polar_grid/** yukihiro.saito@tier4.jp
 common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
@@ -25,7 +25,7 @@ control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@
 control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp zulfaqar.azmi@tier4.jp
-control/autoware_mpc_lateral_controller/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
+control/autoware_mpc_lateral_controller/** alqudah.mohammad@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_operation_mode_transition_manager/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
@@ -128,7 +128,6 @@ planning/autoware_obstacle_cruise_planner/** berkay@leodrive.ai kosuke.takeuchi@
 planning/autoware_obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_path_optimizer/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/autoware_path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp
-planning/autoware_planning_factor_interface/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp
 planning/autoware_planning_topic_converter/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
 planning/autoware_planning_validator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp
 planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai
@@ -206,7 +205,7 @@ system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/** isa
 system/autoware_diagnostic_graph_aggregator/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp
 system/autoware_diagnostic_graph_utils/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp
 system/autoware_dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
-system/autoware_dummy_infrastructure/** junya.sasaki@tier4.jp ryohsuke.mitsudome@tier4.jp
+system/autoware_dummy_infrastructure/** akihisa.nagata@tier4.jp junya.sasaki@tier4.jp kosuke.takeuchi@tier4.jp ryohsuke.mitsudome@tier4.jp takeshi.miura@tier4.jp
 system/autoware_duplicated_node_checker/** junya.sasaki@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp
 system/autoware_hazard_status_converter/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp
 system/autoware_mrm_comfortable_stop_operator/** junya.sasaki@tier4.jp makoto.kurihara@tier4.jp tomohito.ando@tier4.jp

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

@@ -0,0 +1,149 @@
+name: build-and-test-packages-above-differential
+
+on:
+  workflow_call:
+    inputs:
+      container:
+        required: true
+        type: string
+      runner:
+        default: ubuntu-24.04
+        required: false
+        type: string
+      rosdistro:
+        default: humble
+        required: false
+        type: string
+      run-condition:
+        default: true
+        required: false
+        type: boolean
+      container-suffix:
+        required: false
+        default: ""
+        type: string
+      build-pre-command:
+        required: false
+        default: ""
+        type: string
+    secrets:
+      codecov-token:
+        required: true
+
+env:
+  CC: /usr/lib/ccache/gcc
+  CXX: /usr/lib/ccache/g++
+
+jobs:
+  build-and-test-packages-above-differential:
+    if: ${{ inputs.run-condition }}
+    runs-on: ${{ inputs.runner }}
+    container: ${{ inputs.container }}${{ inputs.container-suffix }}
+    steps:
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+        shell: bash
+
+      - name: Checkout PR branch and all PR commits
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+
+      - name: Show disk space before the tasks
+        run: df -h
+        shell: bash
+
+      - name: Show machine specs
+        run: lscpu && free -h
+        shell: bash
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Create ccache directory
+        run: |
+          mkdir -p ${CCACHE_DIR}
+          du -sh ${CCACHE_DIR} && ccache -s
+        shell: bash
+
+      - name: Attempt to restore ccache
+        uses: actions/cache/restore@v4
+        with:
+          path: |
+            /root/.ccache
+          key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.event.pull_request.base.sha }}
+          restore-keys: |
+            ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-
+
+      - name: Show ccache stats before build and reset stats
+        run: |
+          du -sh ${CCACHE_DIR} && ccache -s
+          ccache --zero-stats
+        shell: bash
+
+      - name: Export CUDA state as a variable for adding to cache key
+        run: |
+          build_type_cuda_state=nocuda
+          if [[ "${{ inputs.container-suffix }}" == "-cuda" ]]; then
+            build_type_cuda_state=cuda
+          fi
+          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
+          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
+        shell: bash
+
+      - name: Prepare build_depends.repos file (main branch)
+        if: ${{ github.event.pull_request.base.ref == 'main' }}
+        uses: ./.github/actions/combine-repos-action
+        with:
+          base_file: build_depends_humble.repos
+          overlay_file: build_depends_nightly.repos
+          output_file: build_depends.repos
+
+      - name: Prepare build_depends.repos file (humble branch)
+        if: ${{ github.event.pull_request.base.ref == 'humble' }}
+        run: cp build_depends_humble.repos build_depends.repos
+        shell: bash
+
+      - name: Build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: ${{ inputs.rosdistro }}
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+          packages-above-repos: packages_above.repos
+          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+          build-pre-command: ${{ inputs.build-pre-command }}
+
+      - name: Show ccache stats after build
+        run: du -sh ${CCACHE_DIR} && ccache -s
+        shell: bash
+
+      - name: Test
+        id: test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+        with:
+          rosdistro: ${{ inputs.rosdistro }}
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+          packages-above-repos: packages_above.repos
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v4
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true
+          flags: differential${{ inputs.container-suffix }}
+          token: ${{ secrets.codecov-token }}
+
+      - name: Show disk space after the tasks
+        run: df -h
+        shell: bash