Merge pull request #1489 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.33 with tier4/main

Author: tier4-autoware-public-bot[bot]

.cppcheck_suppressions

@@ -1,23 +1,12 @@
 *:*/test/*
 
 checkersReport
-constParameterReference
-funcArgNamesDifferent
-functionConst
-functionStatic
 missingInclude
 missingIncludeSystem
 noConstructor
-passedByValue
-redundantInitialization
-// cspell: ignore uninit
-uninitMemberVar
 unknownMacro
 unmatchedSuppression
 unreadVariable
 unusedFunction
-unusedStructMember
 useInitializationList
 useStlAlgorithm
-variableScope
-virtualCallInConstructor

.github/CODEOWNERS

@@ -1,10 +1,13 @@
 ### Automatically generated from package.xml ###
 common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
 common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
+common/autoware_geography_utils/** koji.minoda@tier4.jp
 common/autoware_grid_map_utils/** maxime.clement@tier4.jp
+common/autoware_kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp
 common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai
 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai
+common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp
 common/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp
 common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp
 common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp
@@ -16,15 +19,12 @@ common/component_interface_tools/** isamu.takagi@tier4.jp
 common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp
 common/cuda_utils/** daisuke.nishimatsu@tier4.jp manato.hirabayashi@tier4.jp
 common/fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
-common/geography_utils/** koji.minoda@tier4.jp
 common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp
 common/glog_component/** takamasa.horibe@tier4.jp
 common/goal_distance_calculator/** taiki.tanaka@tier4.jp
 common/interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp
-common/kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp
 common/object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp
 common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
-common/path_distance_calculator/** isamu.takagi@tier4.jp
 common/perception_utils/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
 common/polar_grid/** yukihiro.saito@tier4.jp
 common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
@@ -81,19 +81,19 @@ launch/tier4_system_launch/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
 launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp
 localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_landmark_based_localizer/autoware_landmark_manager/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+localization/autoware_pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_pose_covariance_modifier/** melike@leodrive.ai
 localization/autoware_stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+localization/autoware_twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp
-localization/geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+localization/autoware_geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/gyro_odometer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/localization_error_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-localization/pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_estimator_arbiter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_instability_detector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-localization/twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_common/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
@@ -131,7 +131,7 @@ perception/autoware_radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.
 perception/autoware_radar_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/autoware_shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/autoware_shape_estimation/** kcolak@leodrive.ai yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp
 perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
@@ -167,7 +167,7 @@ planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_m
 planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
 planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_path_planner/autoware_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
-planning/behavior_path_planner/autoware_behavior_path_lane_change_module/** alqudah.mohammad@tier4.jp 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
+planning/behavior_path_planner/autoware_behavior_path_lane_change_module/** alqudah.mohammad@tier4.jp fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_path_planner/autoware_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
 planning/behavior_path_planner/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
 planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/** daniel.sanchez@tier4.jp maxime.clement@tier4.jp
@@ -201,6 +201,7 @@ planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp
 planning/sampling_based_planner/autoware_sampler_common/** maxime.clement@tier4.jp
 sensing/autoware_image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp
 sensing/autoware_image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp
+sensing/autoware_pcl_extensions/** david.wong@tier4.jp kenzo.lobos@tier4.jp ryu.yamamoto@tier4.jp
 sensing/autoware_pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp david.wong@tier4.jp kenzo.lobos@tier4.jp kyoichi.sugahara@tier4.jp melike@leodrive.ai shunsuke.miura@tier4.jp yihsiang.fang@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 sensing/autoware_radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 sensing/autoware_radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
@@ -209,7 +210,6 @@ sensing/autoware_radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.m
 sensing/gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 sensing/imu_corrector/** taiki.yamada@tier4.jp yamato.ando@tier4.jp
 sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp
-sensing/tier4_pcl_extensions/** david.wong@tier4.jp kenzo.lobos@tier4.jp ryu.yamamoto@tier4.jp
 sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp
 simulator/autoware_carla_interface/** maxime.clement@tier4.jp mradityagio@gmail.com
 simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp

.github/README.md

@@ -0,0 +1,55 @@
+# Overall CI Infrastructure
+
+## Machine Types
+
+### Standard GitHub-hosted runners
+
+- [Documentation](https://docs.github.com/en/actions/using-github-hosted-runners/using-github-hosted-runners/about-github-hosted-runners#standard-github-hosted-runners-for-public-repositories)
+
+These runners are utilized by the majority of the workflows.
+They are free to use for public repositories, with a concurrency limit of 20 jobs per organization.
+
+**Listed specs:**
+
+| vCPU | RAM   | Storage (SSD) |
+| ---- | ----- | ------------- |
+| 4    | 16 GB | 14 GB         |
+
+**Note:** While the official documentation lists 14 GB of storage, the actual available storage is approximately 73 GB.
+
+### AWS CodeBuild runners
+
+- [AWS CodeBuild Documentation](https://docs.aws.amazon.com/codebuild/latest/userguide/action-runner.html)
+
+These runners are employed for workflows that require more resources and are funded by the Autoware Foundation budget.
+
+**Relevant machine types:**
+
+| Instance Type   | Memory | vCPUs | Price per Minute |
+| --------------- | ------ | ----- | ---------------- |
+| arm1.large      | 16 GiB | 8     | $0.015           |
+| general1.medium | 7 GB   | 4     | $0.01            |
+| general1.large  | 15 GB  | 8     | $0.02            |
+| general1.xlarge | 72 GiB | 36    | $0.0798          |
+| gpu1.small      | 15 GB  | 4     | $0.05            |
+
+**Sources:**
+
+- [Compute images supported with the CodeBuild-hosted GitHub Actions runner](https://docs.aws.amazon.com/codebuild/latest/userguide/sample-github-action-runners-update-yaml.images.html)
+- [AWS CodeBuild pricing](https://aws.amazon.com/codebuild/pricing/)
+
+## Key workflows and their runners
+
+| Workflow                           | Trigger               | Runner         |
+| ---------------------------------- | --------------------- | -------------- |
+| build-and-test (cuda)              | merge to main         | general1.large |
+| build-and-test-daily               | daily on main         | github-std     |
+| build-and-test-daily-arm64         | daily on main         | arm1.large     |
+| build-and-test-differential        | PR update             | github-std     |
+| build-and-test-differential (cuda) | PR update             | general1.large |
+| build-and-test-differential-arm64  | PR update (arm label) | arm1.large     |
+
+## Additional notes
+
+- We use [`taskset`](https://manpages.ubuntu.com/manpages/jammy/man1/taskset.1.html) from GNU Coreutils to limit the number of cores utilized by build processes. This is done to prevent overloading the self-hosted runners.
+  - The number of cores is limited to `vCPU count - 1`.

.github/labeler.yaml

@@ -39,3 +39,8 @@
   - tools/**/*
 "component:vehicle":
   - vehicle/**/*
+"tag:require-cuda-build-and-test":
+  - perception/**/*
+  - sensing/**/*
+  - common/cuda_utils/**/*
+  - common/tensorrt_common/**/*

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

@@ -5,9 +5,13 @@ on:
     - cron: 0 0 * * *
   workflow_dispatch:
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build-and-test-daily-arm64:
-    runs-on: [self-hosted, linux, ARM64]
+    runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-arm-3.0-large
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -30,6 +34,9 @@ jobs:
       - name: Show disk space before the tasks
         run: df -h
 
+      - name: Show machine specs
+        run: lscpu && free -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -55,6 +62,7 @@ jobs:
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
           cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+          build-pre-command: taskset --cpu-list 0-6
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}

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

@@ -7,7 +7,7 @@ on:
 
 jobs:
   build-and-test-daily:
-    runs-on: [self-hosted, linux, X64]
+    runs-on: [self-hosted, linux, X64, gpu]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false

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

@@ -8,6 +8,10 @@ on:
       - reopened
       - labeled
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   make-sure-label-is-present:
     uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
@@ -17,7 +21,7 @@ jobs:
   build-and-test-differential-arm64:
     needs: make-sure-label-is-present
     if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
-    runs-on: [self-hosted, linux, ARM64]
+    runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-arm-3.0-large
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -44,6 +48,9 @@ jobs:
       - name: Show disk space before the tasks
         run: df -h
 
+      - name: Show machine specs
+        run: lscpu && free -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -69,6 +76,7 @@ jobs:
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
           cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+          build-pre-command: taskset --cpu-list 0-6
 
       - name: Test
         id: test