Merge branch 'autowarefoundation:main' into refactor-node-config-pose_initializer

Author: PhoebeWu21

.github/CODEOWNERS

@@ -55,7 +55,6 @@ common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp
 common/time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp
 common/traffic_light_utils/** mingyu.li@tier4.jp shunsuke.miura@tier4.jp
-common/trtexec_vendor/** daisuke.nishimatsu@tier4.jp yusuke.muramatsu@tier4.jp
 common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
 control/autonomous_emergency_braking/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
 control/control_performance_analysis/** berkay@leodrive.ai 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
@@ -85,7 +84,7 @@ launch/tier4_perception_launch/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yuki
 launch/tier4_planning_launch/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp zulfaqar.azmi@tier4.jp
 launch/tier4_sensing_launch/** yukihiro.saito@tier4.jp
 launch/tier4_simulator_launch/** keisuke.shima@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-launch/tier4_system_launch/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp
+launch/tier4_system_launch/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
 launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp
 localization/ekf_localizer/** koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp
 localization/geo_pose_projector/** koji.minoda@tier4.jp yamato.ando@tier4.jp
@@ -156,6 +155,7 @@ perception/traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhon
 perception/traffic_light_ssd_fine_detector/** daisuke.nishimatsu@tier4.jp
 perception/traffic_light_visualization/** yukihiro.saito@tier4.jp
 planning/behavior_path_planner/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@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 zulfaqar.azmi@tier4.jp
+planning/behavior_path_planner_common/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_crosswalk_module/** kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
@@ -165,7 +165,7 @@ planning/behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp s
 planning/behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_planner_common/** isamu.takagi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
+planning/behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_run_out_module/** makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp
@@ -179,7 +179,7 @@ planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp
 planning/freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/motion_velocity_smoother/** fumiya.watanabe@tier4.jp makoto.kurihara@tier4.jp takamasa.horibe@tier4.jp
-planning/objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp
+planning/objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp
 planning/obstacle_avoidance_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
 planning/obstacle_stop_planner/** berkay@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
@@ -190,7 +190,7 @@ planning/planning_test_utils/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.
 planning/planning_topic_converter/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
 planning/planning_validator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp
 planning/route_handler/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp zulfaqar.azmi@tier4.jp
-planning/rtc_interface/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp
+planning/rtc_interface/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp taiki.tanaka@tier4.jp
 planning/rtc_replayer/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp
 planning/sampling_based_planner/bezier_sampler/** maxime.clement@tier4.jp
 planning/sampling_based_planner/frenet_planner/** maxime.clement@tier4.jp
@@ -221,15 +221,15 @@ system/default_ad_api/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabut
 system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
 system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
 system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
-system/dummy_diag_publisher/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp
+system/dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
 system/dummy_infrastructure/** ryohsuke.mitsudome@tier4.jp
 system/duplicated_node_checker/** shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp
 system/emergency_handler/** makoto.kurihara@tier4.jp
-system/mrm_comfortable_stop_operator/** makoto.kurihara@tier4.jp
-system/mrm_emergency_stop_operator/** makoto.kurihara@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
 system/system_diagnostic_graph/** isamu.takagi@tier4.jp
 system/system_error_monitor/** fumihito.ito@tier4.jp
-system/system_monitor/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp
+system/system_monitor/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
 system/topic_state_monitor/** ryohsuke.mitsudome@tier4.jp
 system/velodyne_monitor/** fumihito.ito@tier4.jp
 tools/simulator_test/simulator_compatibility_test/** shpark@morai.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp

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

@@ -2,6 +2,8 @@ name: spell-check-all
 
 on:
   workflow_dispatch:
+  schedule:
+    - cron: 0 0 * * *
 
 jobs:
   spell-check-all:

common/interpolation/test/src/test_spline_interpolation.cpp

@@ -222,16 +222,48 @@ TEST(spline_interpolation, splineByAkima)
 
 TEST(spline_interpolation, SplineInterpolation)
 {
-  // curve: query_keys is random
-  const std::vector<double> base_keys{-1.5, 1.0, 5.0, 10.0, 15.0, 20.0};
-  const std::vector<double> base_values{-1.2, 0.5, 1.0, 1.2, 2.0, 1.0};
-  const std::vector<double> query_keys{0.0, 8.0, 18.0};
-  const std::vector<double> ans{-0.075611, 0.997242, 1.573258};
+  {
+    // curve: query_keys is random
+    const std::vector<double> base_keys{-1.5, 1.0, 5.0, 10.0, 15.0, 20.0};
+    const std::vector<double> base_values{-1.2, 0.5, 1.0, 1.2, 2.0, 1.0};
+    const std::vector<double> query_keys{0.0, 8.0, 18.0};
+    const std::vector<double> ans{-0.075611, 0.997242, 1.573258};
+
+    SplineInterpolation s(base_keys, base_values);
+    const std::vector<double> query_values = s.getSplineInterpolatedValues(query_keys);
+
+    for (size_t i = 0; i < query_values.size(); ++i) {
+      EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon);
+    }
+  }
+
+  {
+    // getSplineInterpolatedDiffValues
+    const std::vector<double> base_keys{-1.5, 1.0, 5.0, 10.0, 15.0, 20.0};
+    const std::vector<double> base_values{-1.2, 0.5, 1.0, 1.2, 2.0, 1.0};
+    const std::vector<double> query_keys{0.0, 8.0, 12.0, 18.0};
+    const std::vector<double> ans{0.671301, 0.0509853, 0.209426, -0.253628};
 
-  SplineInterpolation s(base_keys, base_values);
-  const std::vector<double> query_values = s.getSplineInterpolatedValues(query_keys);
+    SplineInterpolation s(base_keys, base_values);
+    const std::vector<double> query_values = s.getSplineInterpolatedDiffValues(query_keys);
 
-  for (size_t i = 0; i < query_values.size(); ++i) {
-    EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon);
+    for (size_t i = 0; i < query_values.size(); ++i) {
+      EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon);
+    }
+  }
+
+  {
+    // getSplineInterpolatedQuadDiffValues
+    const std::vector<double> base_keys{-1.5, 1.0, 5.0, 10.0, 15.0, 20.0};
+    const std::vector<double> base_values{-1.2, 0.5, 1.0, 1.2, 2.0, 1.0};
+    const std::vector<double> query_keys{0.0, 8.0, 12.0, 18.0};
+    const std::vector<double> ans{-0.156582, 0.0440771, -0.0116873, -0.0495025};
+
+    SplineInterpolation s(base_keys, base_values);
+    const std::vector<double> query_values = s.getSplineInterpolatedQuadDiffValues(query_keys);
+
+    for (size_t i = 0; i < query_values.size(); ++i) {
+      EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon);
+    }
   }
 }

common/motion_utils/include/motion_utils/distance/distance.hpp

@@ -15,17 +15,16 @@
 #ifndef MOTION_UTILS__DISTANCE__DISTANCE_HPP_
 #define MOTION_UTILS__DISTANCE__DISTANCE_HPP_
 
-#include <boost/optional.hpp>
-
 #include <algorithm>
 #include <cmath>
 #include <iostream>
+#include <optional>
 #include <tuple>
 #include <vector>
 
 namespace motion_utils
 {
-boost::optional<double> calcDecelDistWithJerkAndAccConstraints(
+std::optional<double> calcDecelDistWithJerkAndAccConstraints(
   const double current_vel, const double target_vel, const double current_acc, const double acc_min,
   const double jerk_acc, const double jerk_dec);
 

common/motion_utils/include/motion_utils/trajectory/interpolation.hpp

@@ -21,10 +21,9 @@
 #include "autoware_auto_planning_msgs/msg/path_with_lane_id.hpp"
 #include "autoware_auto_planning_msgs/msg/trajectory.hpp"
 
-#include <boost/optional.hpp>
-
 #include <algorithm>
 #include <limits>
+#include <optional>
 #include <stdexcept>
 #include <vector>
 

common/motion_utils/include/motion_utils/trajectory/path_with_lane_id.hpp

@@ -18,12 +18,11 @@
 #include "autoware_auto_planning_msgs/msg/path_with_lane_id.hpp"
 #include <geometry_msgs/msg/point.hpp>
 
-#include <boost/optional.hpp>
-
+#include <optional>
 #include <utility>
 namespace motion_utils
 {
-boost::optional<std::pair<size_t, size_t>> getPathIndexRangeWithLaneId(
+std::optional<std::pair<size_t, size_t>> getPathIndexRangeWithLaneId(
   const autoware_auto_planning_msgs::msg::PathWithLaneId & path, const int64_t target_lane_id);
 
 size_t findNearestIndexFromLaneId(