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Merge branch 'main' into feat/lidar_transfusion
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‎.github/CODEOWNERS

+6-6
Original file line numberDiff line numberDiff line change
@@ -148,6 +148,7 @@ planning/autoware_behavior_path_external_request_lane_change_module/** fumiya.wa
148148
planning/autoware_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
149149
planning/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp
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planning/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
151+
planning/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
151152
planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp
152153
planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai
153154
planning/autoware_static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp
@@ -157,7 +158,7 @@ planning/behavior_path_dynamic_avoidance_module/** kosuke.takeuchi@tier4.jp sato
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planning/behavior_path_goal_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
158159
planning/behavior_path_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
159160
planning/behavior_path_planner/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
160-
planning/behavior_path_planner_common/** daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp go.sakayori@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
161+
planning/autoware_behavior_path_planner_common/** daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp go.sakayori@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
161162
planning/behavior_path_sampling_planner_module/** daniel.sanchez@tier4.jp maxime.clement@tier4.jp
162163
planning/behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
163164
planning/behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
@@ -171,13 +172,12 @@ planning/behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp s
171172
planning/behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
172173
planning/behavior_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
173174
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
174-
planning/behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
175+
planning/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
175176
planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
176177
planning/behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp
177178
planning/behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
178-
planning/behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
179179
planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
180-
planning/external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
180+
planning/autoware_external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
181181
planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
182182
planning/freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
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planning/mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
@@ -189,7 +189,7 @@ planning/obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota
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planning/obstacle_velocity_limiter/** maxime.clement@tier4.jp
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planning/path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp
191191
planning/planning_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp
192-
planning/planning_topic_converter/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
192+
planning/autoware_planning_topic_converter/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
193193
planning/planning_validator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp
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planning/route_handler/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp zulfaqar.azmi@tier4.jp
195195
planning/rtc_interface/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp
@@ -242,7 +242,7 @@ tools/reaction_analyzer/** berkay@leodrive.ai
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vehicle/accel_brake_map_calibrator/** taiki.tanaka@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp
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vehicle/external_cmd_converter/** takamasa.horibe@tier4.jp
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vehicle/raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp
245-
vehicle/steer_offset_estimator/** taiki.tanaka@tier4.jp
245+
vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp
246246
vehicle/vehicle_info_util/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
247247

248248
### Copied from .github/CODEOWNERS-manual ###

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

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@@ -9,7 +9,7 @@ on:
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jobs:
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build-and-test:
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if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
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runs-on: ubuntu-latest
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runs-on: [self-hosted, linux, X64]
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container: ${{ matrix.container }}${{ matrix.container-suffix }}
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strategy:
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fail-fast: false

‎.github/workflows/cppcheck-all.yaml ‎.github/workflows/cppcheck-daily.yaml

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@@ -1,13 +1,12 @@
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name: cppcheck-all
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name: cppcheck-daily
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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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cppcheck-daily:
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runs-on: ubuntu-latest
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steps:

‎.github/workflows/openai-pr-reviewer.yaml

-39
This file was deleted.

‎.github/workflows/pr-agent.yaml

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@@ -26,6 +26,13 @@ jobs:
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env:
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OPENAI_KEY: ${{ secrets.OPENAI_KEY_PR_AGENT }}
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
29-
github_action_config.auto_review: "false"
30-
github_action_config.auto_describe: "false"
31-
github_action_config.auto_improve: "false"
29+
github_action_config.auto_review: false
30+
github_action_config.auto_describe: false
31+
github_action_config.auto_improve: false
32+
# https://github.com/Codium-ai/pr-agent/blob/main/pr_agent/settings/configuration.toml
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pr_description.publish_labels: false
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config.model: gpt-4o
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config.model_turbo: gpt-4o
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config.max_model_tokens: 64000
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pr_code_suggestions.max_context_tokens: 12000
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pr_code_suggestions.commitable_code_suggestions: true

‎build_depends.repos

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@@ -41,3 +41,7 @@ repositories:
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type: git
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url: https://github.com/tier4/glog.git
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version: v0.6.0_t4-ros
44+
universe/external/ament_cmake: # TODO(mitsudome-r): remove when https://github.com/ament/ament_cmake/pull/448 is merged
45+
type: git
46+
url: https://github.com/autowarefoundation/ament_cmake.git
47+
version: feat/faster_ament_libraries_deduplicate

‎launch/tier4_map_launch/launch/map.launch.xml

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@@ -22,7 +22,7 @@
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<group>
2323
<push-ros-namespace namespace="map"/>
2424

25-
<node_container pkg="rclcpp_components" exec="$(var container_type)" name="map_container" namespace="" output="screen">
25+
<node_container pkg="rclcpp_components" exec="$(var container_type)" name="map_container" namespace="" output="both">
2626
<composable_node pkg="map_loader" plugin="PointCloudMapLoaderNode" name="pointcloud_map_loader">
2727
<param from="$(var pointcloud_map_loader_param_path)"/>
2828
<param name="pcd_paths_or_directory" value="[$(var pointcloud_map_path)]"/>

‎launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

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@@ -106,7 +106,7 @@
106106
/>
107107
<let
108108
name="behavior_velocity_planner_launch_modules"
109-
value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::WalkwayModulePlugin, '&quot;)"
109+
value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::WalkwayModulePlugin, '&quot;)"
110110
if="$(var launch_walkway_module)"
111111
/>
112112
<let
@@ -156,7 +156,7 @@
156156
/>
157157
<let
158158
name="behavior_velocity_planner_launch_modules"
159-
value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::RunOutModulePlugin, '&quot;)"
159+
value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::RunOutModulePlugin, '&quot;)"
160160
if="$(var launch_run_out_module)"
161161
/>
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<let

‎launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml

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@@ -98,7 +98,7 @@
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9999
<group if="$(eval &quot;'$(var motion_path_planner_type)' == 'none'&quot;)">
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<load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
101-
<composable_node pkg="planning_topic_converter" plugin="planning_topic_converter::PathToTrajectory" name="path_to_trajectory_converter" namespace="">
101+
<composable_node pkg="autoware_planning_topic_converter" plugin="autoware::planning_topic_converter::PathToTrajectory" name="path_to_trajectory_converter" namespace="">
102102
<!-- params -->
103103
<param name="input_topic" value="path_smoother/path"/>
104104
<param name="output_topic" value="path_optimizer/trajectory"/>

‎launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml

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<group>
2020
<!-- external velocity limit selector -->
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<group>
22-
<include file="$(find-pkg-share external_velocity_limit_selector)/launch/external_velocity_limit_selector.launch.xml">
22+
<include file="$(find-pkg-share autoware_external_velocity_limit_selector)/launch/external_velocity_limit_selector.launch.xml">
2323
<arg name="common_param_path" value="$(var common_param_path)"/>
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<arg name="param_path" value="$(var velocity_smoother_param_path)"/>
2525
</include>

‎launch/tier4_planning_launch/package.xml

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<buildtool_depend>autoware_cmake</buildtool_depend>
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<exec_depend>autoware_behavior_velocity_planner</exec_depend>
61+
<exec_depend>autoware_external_velocity_limit_selector</exec_depend>
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<exec_depend>autoware_path_optimizer</exec_depend>
63+
<exec_depend>autoware_planning_topic_converter</exec_depend>
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<exec_depend>autoware_remaining_distance_time_calculator</exec_depend>
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<exec_depend>autoware_velocity_smoother</exec_depend>
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<exec_depend>behavior_path_planner</exec_depend>
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<exec_depend>costmap_generator</exec_depend>
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<exec_depend>external_cmd_selector</exec_depend>
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<exec_depend>external_velocity_limit_selector</exec_depend>
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<exec_depend>freespace_planner</exec_depend>
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<exec_depend>glog_component</exec_depend>
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<exec_depend>mission_planner</exec_depend>
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<exec_depend>obstacle_cruise_planner</exec_depend>
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<exec_depend>obstacle_stop_planner</exec_depend>
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<exec_depend>planning_evaluator</exec_depend>
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<exec_depend>planning_topic_converter</exec_depend>
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<exec_depend>planning_validator</exec_depend>
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<exec_depend>scenario_selector</exec_depend>
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<exec_depend>surround_obstacle_checker</exec_depend>

‎localization/gyro_odometer/CMakeLists.txt

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@@ -6,6 +6,7 @@ autoware_package()
66

77
ament_auto_add_library(${PROJECT_NAME} SHARED
88
src/gyro_odometer_core.cpp
9+
src/diagnostics_module.cpp
910
)
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target_link_libraries(${PROJECT_NAME} fmt)

‎localization/gyro_odometer/README.md

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@@ -34,3 +34,18 @@
3434
- [Limitation] The frequency of the output messages depends on the frequency of the input IMU message.
3535

3636
- [Limitation] We cannot produce reliable values for the lateral and vertical velocities. Therefore we assign large values to the corresponding elements in the output covariance matrix.
37+
38+
## Diagnostics
39+
40+
<img src="./media/diagnostic.png" alt="drawing" width="600"/>
41+
42+
| Name | Description | Transition condition to Warning | Transition condition to Error |
43+
| -------------------------------- | ----------------------------------------------------------------------------------------- | ------------------------------- | ------------------------------------------------- |
44+
| `topic_time_stamp` | the time stamp of service calling. [nano second] | none | none |
45+
| `is_arrived_first_vehicle_twist` | whether the vehicle twist topic has been received even once. | not arrive yet | none |
46+
| `is_arrived_first_imu` | whether the imu topic has been received even once. | not arrive yet | none |
47+
| `vehicle_twist_time_stamp_dt` | the time difference between the current time and the latest vehicle twist topic. [second] | none | the time is **longer** than `message_timeout_sec` |
48+
| `imu_time_stamp_dt` | the time difference between the current time and the latest imu topic. [second] | none | the time is **longer** than `message_timeout_sec` |
49+
| `vehicle_twist_queue_size` | the size of vehicle_twist_queue. | none | none |
50+
| `imu_queue_size` | the size of gyro_queue. | none | none |
51+
| `is_succeed_transform_imu` | whether transform imu is succeed or not. | none | failed |

‎localization/gyro_odometer/include/gyro_odometer/diagnostics_module.hpp

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1+
// Copyright 2023 Autoware Foundation
2+
//
3+
// Licensed under the Apache License, Version 2.0 (the "License");
4+
// you may not use this file except in compliance with the License.
5+
// You may obtain a copy of the License at
6+
//
7+
// http://www.apache.org/licenses/LICENSE-2.0
8+
//
9+
// Unless required by applicable law or agreed to in writing, software
10+
// distributed under the License is distributed on an "AS IS" BASIS,
11+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#ifndef GYRO_ODOMETER__DIAGNOSTICS_MODULE_HPP_
16+
#define GYRO_ODOMETER__DIAGNOSTICS_MODULE_HPP_
17+
18+
#include <rclcpp/rclcpp.hpp>
19+
20+
#include <diagnostic_msgs/msg/diagnostic_array.hpp>
21+
22+
#include <string>
23+
#include <vector>
24+
25+
namespace autoware::gyro_odometer
26+
{
27+
28+
class DiagnosticsModule
29+
{
30+
public:
31+
DiagnosticsModule(rclcpp::Node * node, const std::string & diagnostic_name);
32+
void clear();
33+
void addKeyValue(const diagnostic_msgs::msg::KeyValue & key_value_msg);
34+
template <typename T>
35+
void addKeyValue(const std::string & key, const T & value);
36+
void updateLevelAndMessage(const int8_t level, const std::string & message);
37+
void publish(const rclcpp::Time & publish_time_stamp);
38+
39+
private:
40+
diagnostic_msgs::msg::DiagnosticArray createDiagnosticsArray(
41+
const rclcpp::Time & publish_time_stamp) const;
42+
43+
rclcpp::Clock::SharedPtr clock_;
44+
rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr diagnostics_pub_;
45+
46+
diagnostic_msgs::msg::DiagnosticStatus diagnostics_status_msg_;
47+
};
48+
49+
template <typename T>
50+
void DiagnosticsModule::addKeyValue(const std::string & key, const T & value)
51+
{
52+
diagnostic_msgs::msg::KeyValue key_value;
53+
key_value.key = key;
54+
key_value.value = std::to_string(value);
55+
addKeyValue(key_value);
56+
}
57+
58+
template <>
59+
void DiagnosticsModule::addKeyValue(const std::string & key, const std::string & value);
60+
template <>
61+
void DiagnosticsModule::addKeyValue(const std::string & key, const bool & value);
62+
63+
} // namespace autoware::gyro_odometer
64+
65+
#endif // GYRO_ODOMETER__DIAGNOSTICS_MODULE_HPP_

‎localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp

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@@ -15,6 +15,7 @@
1515
#ifndef GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_
1616
#define GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_
1717

18+
#include "gyro_odometer/diagnostics_module.hpp"
1819
#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
1920
#include "tier4_autoware_utils/ros/msg_covariance.hpp"
2021
#include "tier4_autoware_utils/ros/transform_listener.hpp"
@@ -52,6 +53,7 @@ class GyroOdometerNode : public rclcpp::Node
5253
void callbackVehicleTwist(
5354
const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr vehicle_twist_msg_ptr);
5455
void callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr);
56+
void concatGyroAndOdometer();
5557
void publishData(const geometry_msgs::msg::TwistWithCovarianceStamped & twist_with_cov_raw);
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rclcpp::Subscription<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr
@@ -74,8 +76,12 @@ class GyroOdometerNode : public rclcpp::Node
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7577
bool vehicle_twist_arrived_;
7678
bool imu_arrived_;
79+
rclcpp::Time latest_vehicle_twist_ros_time_;
80+
rclcpp::Time latest_imu_ros_time_;
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std::deque<geometry_msgs::msg::TwistWithCovarianceStamped> vehicle_twist_queue_;
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std::deque<sensor_msgs::msg::Imu> gyro_queue_;
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std::unique_ptr<DiagnosticsModule> diagnostics_;
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};
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} // namespace autoware::gyro_odometer

‎localization/gyro_odometer/media/diagnostic.png

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