feat(clang-tidy, colcon-build): make CMAKE_BUILD_TYPE optional

[kenji-miyake]

Description

Release can overlook some mistakes.

Related: autowarefoundation/autoware.universe#1959

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[kenji-miyake]

From this comment, I'll use Debug.
autowarefoundation/autoware.universe#1959 (comment)

[ambroise-arm]

What I had in mind was adding a step to also compile and run tests with Debug, not replacing Release. I believe continuing to test Release is important because it reflects the state that the end application will (or at least should) be using.
Doing both compilations and tests all the time would probably be wasteful in time and resources. So maybe only on the nightly trigger?

But I was checking locally the result of colcon test on the whole autoware repository and I get a lot of packages failing:

14 packages had test failures: autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_control_msgs autoware_localization_msgs autoware_sensing_msgs behavior_velocity_planner freespace_planning_algorithms tamagawa_imu_driver velodyne_msgs

So maybe it's not such a good idea to add Debug right now. I think it would be good to look into each failure and fixing those first before adding it. For example, behavior_velocity_planner failed with:

2: occlusion_spot-test: /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:117: Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::operator()(Eigen::Index, Eigen::Index) const [with Derived = Eigen::Matrix<float, -1, -1>; Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType = const float&; Eigen::Index = long int]: Assertion `row >= 0 && row < rows() && col >= 0 && col < cols()' failed.

which doesn't look great.

[kenji-miyake]

@ambroise-arm Thank you for your comment. Okay, then I'll make it an option.

[kenji-miyake]

@ambroise-arm How about this?

[ambroise-arm]

@kenji-miyake Yep, looks good!

[kenji-miyake]

Thanks. I'll test it in autoware.universe.

[kenji-miyake]

Seems it's working.
autowarefoundation/autoware.universe#1965