Merge branch 'main' into feature/add_raw_output_from_gyro_odometer

.github/sync-files.yaml

@@ -35,6 +35,7 @@
     - source: .github/workflows/build-and-test-self-hosted.yaml
     - source: .github/workflows/check-build-depends.yaml
     - source: .github/workflows/clang-tidy-pr-comments.yaml
+    - source: codecov.yaml
 
 - repository: autowarefoundation/autoware-documentation
   files:

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

@@ -42,11 +42,12 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v2
+        uses: codecov/codecov-action@v3
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
           verbose: true
+          flags: differential
 
   clang-tidy-differential:
     runs-on: ubuntu-latest

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

@@ -41,8 +41,9 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v2
+        uses: codecov/codecov-action@v3
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
           verbose: true
+          flags: total

.markdownlint.yaml

@@ -1,7 +1,9 @@
+# See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules.
 default: true
 MD013: false
 MD024:
   siblings_only: true
 MD033: false
 MD041: false
 MD046: false
+MD049: false

.pre-commit-config.yaml

@@ -4,7 +4,7 @@ ci:
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.1.0
+    rev: v4.2.0
     hooks:
       - id: check-json
       - id: check-merge-conflict
@@ -19,13 +19,13 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.30.0
+    rev: v0.31.1
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v2.5.1
+    rev: v2.6.2
     hooks:
       - id: prettier
 
@@ -35,19 +35,21 @@ repos:
       - id: yamllint
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.5.1
+    rev: v0.6.0
     hooks:
+      - id: prettier-xacro
+      - id: prettier-launch-xml
       - id: prettier-package-xml
       - id: sort-package-xml
       - id: ros-include-guard
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.8.0.3
+    rev: v0.8.0.4
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.4.2-1
+    rev: v3.4.3-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
@@ -86,7 +88,7 @@ repos:
         types_or: [c++, c, cuda]
 
   - repo: https://github.com/cpplint/cpplint
-    rev: 1.5.5
+    rev: 1.6.0
     hooks:
       - id: cpplint
         args: [--quiet]

.prettierrc.yaml

@@ -1,2 +1,20 @@
 printWidth: 100
 tabWidth: 2
+overrides:
+  - files: package.xml
+    options:
+      printWidth: 1000
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
+
+  - files: "*.launch.xml"
+    options:
+      printWidth: 200
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
+
+  - files: "*.xacro"
+    options:
+      printWidth: 200
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore

CPPLINT.cfg

@@ -11,3 +11,4 @@ filter=-whitespace/parens         # we allow closing parenthesis to be on the ne
 filter=-whitespace/semicolon      # we allow the developer to decide about whitespace after a semicolon
 filter=-build/header_guard        # we automatically fix the names of header guards using pre-commit
 filter=-build/include_order       # we use the custom include order
+filter=-build/include_subdir      # we allow the style of "foo.hpp"

codecov.yaml

@@ -0,0 +1,22 @@
+coverage:
+  status:
+    project:
+      default:
+        target: auto
+    patch:
+      default:
+        target: auto
+
+comment:
+  show_carryforward_flags: true
+
+flag_management:
+  default_rules:
+    carryforward: true
+    statuses:
+      - name_prefix: project-
+        type: project
+        target: auto
+      - name_prefix: patch-
+        type: patch
+        target: auto

common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml

@@ -1,6 +1,6 @@
 <launch>
-  <arg name="oneshot" default="false" />
-  <arg name="config_file" default="$(find-pkg-share goal_distance_calculator)/config/goal_distance_calculator.param.yaml" />
+  <arg name="oneshot" default="false"/>
+  <arg name="config_file" default="$(find-pkg-share goal_distance_calculator)/config/goal_distance_calculator.param.yaml"/>
   <node pkg="goal_distance_calculator" exec="goal_distance_calculator_node" name="goal_distance_calculator" output="screen">
     <param from="$(var config_file)"/>
     <param name="oneshot" value="$(var oneshot)"/>

common/goal_distance_calculator/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>goal_distance_calculator</name>
   <version>0.0.0</version>
-  <description>The goal_distance_calculator package </description>
+  <description>The goal_distance_calculator package</description>
   <maintainer email="[email protected]">Taiki Tanaka</maintainer>
   <license>Apache License 2.0</license>
 

common/path_distance_calculator/launch/path_distance_calculator.launch.xml

@@ -1,8 +1,8 @@
 <launch>
-  <arg name="path" default="/planning/scenario_planning/lane_driving/behavior_planning/path" />
-  <arg name="distance" default="~/distance" />
+  <arg name="path" default="/planning/scenario_planning/lane_driving/behavior_planning/path"/>
+  <arg name="distance" default="~/distance"/>
   <node pkg="path_distance_calculator" exec="path_distance_calculator_node" name="path_distance_calculator">
-    <remap from="~/input/path" to="$(var path)" />
-    <remap from="~/output/distance" to="$(var distance)" />
+    <remap from="~/input/path" to="$(var path)"/>
+    <remap from="~/output/distance" to="$(var distance)"/>
   </node>
 </launch>

common/path_distance_calculator/package.xml

@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-
   <name>path_distance_calculator</name>
   <version>0.0.0</version>
   <description>The path_distance_calculator package</description>
@@ -20,5 +19,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>

common/polar_grid/package.xml

@@ -24,5 +24,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_api_utils/package.xml

@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-
   <name>tier4_api_utils</name>
   <version>0.0.0</version>
   <description>The tier4_api_utils package</description>
@@ -24,5 +23,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>

common/tier4_datetime_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="2">
-
   <name>tier4_datetime_rviz_plugin</name>
   <version>0.0.0</version>
   <description>The tier4_datetime_rviz_plugin package</description>
@@ -22,5 +21,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_debug_tools/launch/lateral_error_publisher.launch.xml

@@ -1,6 +1,5 @@
 <launch>
-
-   <arg name="lateral_error_publisher_param_path" default="$(find-pkg-share tier4_debug_tools)/config/lateral_error_publisher.param.yaml"/>
+  <arg name="lateral_error_publisher_param_path" default="$(find-pkg-share tier4_debug_tools)/config/lateral_error_publisher.param.yaml"/>
 
   <!-- mpc for trajectory following -->
   <node pkg="tier4_debug_tools" exec="lateral_error_publisher_node" name="lateral_error_publisher" output="screen">
@@ -9,5 +8,4 @@
     <remap from="~/input/vehicle_pose_with_covariance" to="/localization/pose_with_covariance"/>
     <remap from="~/input/ground_truth_pose_with_covariance" to="/localization/pose_with_covariance"/>
   </node>
-
 </launch>

common/tier4_localization_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="3">
-
   <name>tier4_localization_rviz_plugin</name>
   <version>0.1.0</version>
   <description>The tier4_localization_rviz_plugin package</description>
@@ -25,5 +24,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_planning_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="3">
-
   <name>tier4_planning_rviz_plugin</name>
   <version>0.1.0</version>
   <description>The tier4_planning_rviz_plugin package</description>
@@ -28,5 +27,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_simulated_clock_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="2">
-
   <name>tier4_simulated_clock_rviz_plugin</name>
   <version>0.0.1</version>
   <description>Rviz plugin to publish and control the /clock topic</description>
@@ -23,5 +22,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_state_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="2">
-
   <name>tier4_state_rviz_plugin</name>
   <version>0.0.0</version>
   <description>The autoware state rviz plugin package</description>
@@ -26,5 +25,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp

@@ -109,11 +109,11 @@ void AutowareStatePanel::onInitialize()
   sub_gear_ = raw_node_->create_subscription<autoware_auto_vehicle_msgs::msg::GearReport>(
     "/vehicle/status/gear_status", 10, std::bind(&AutowareStatePanel::onShift, this, _1));
 
-  sub_engage_ = raw_node_->create_subscription<tier4_external_api_msgs::msg::EngageStatus>(
-    "/api/external/get/engage", 10, std::bind(&AutowareStatePanel::onEngageStatus, this, _1));
+  sub_engage_ = raw_node_->create_subscription<autoware_auto_vehicle_msgs::msg::Engage>(
+    "/api/autoware/get/engage", 10, std::bind(&AutowareStatePanel::onEngageStatus, this, _1));
 
   client_engage_ = raw_node_->create_client<tier4_external_api_msgs::srv::Engage>(
-    "/api/external/set/engage", rmw_qos_profile_services_default);
+    "/api/autoware/set/engage", rmw_qos_profile_services_default);
 }
 
 void AutowareStatePanel::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg)
@@ -209,7 +209,7 @@ void AutowareStatePanel::onShift(
 }
 
 void AutowareStatePanel::onEngageStatus(
-  const tier4_external_api_msgs::msg::EngageStatus::ConstSharedPtr msg)
+  const autoware_auto_vehicle_msgs::msg::Engage::ConstSharedPtr msg)
 {
   current_engage_ = msg->engage;
   engage_status_label_ptr_->setText(QString::fromStdString(Bool2String(current_engage_)));

common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp

@@ -23,10 +23,10 @@
 #include <rviz_common/panel.hpp>
 
 #include <autoware_auto_system_msgs/msg/autoware_state.hpp>
+#include <autoware_auto_vehicle_msgs/msg/engage.hpp>
 #include <autoware_auto_vehicle_msgs/msg/gear_report.hpp>
 #include <tier4_control_msgs/msg/external_command_selector_mode.hpp>
 #include <tier4_control_msgs/msg/gate_mode.hpp>
-#include <tier4_external_api_msgs/msg/engage_status.hpp>
 #include <tier4_external_api_msgs/srv/engage.hpp>
 
 namespace rviz_plugins
@@ -48,7 +48,7 @@ public Q_SLOTS:
     const tier4_control_msgs::msg::ExternalCommandSelectorMode::ConstSharedPtr msg);
   void onAutowareState(const autoware_auto_system_msgs::msg::AutowareState::ConstSharedPtr msg);
   void onShift(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg);
-  void onEngageStatus(const tier4_external_api_msgs::msg::EngageStatus::ConstSharedPtr msg);
+  void onEngageStatus(const autoware_auto_vehicle_msgs::msg::Engage::ConstSharedPtr msg);
 
   rclcpp::Node::SharedPtr raw_node_;
   rclcpp::Subscription<tier4_control_msgs::msg::GateMode>::SharedPtr sub_gate_mode_;
@@ -57,7 +57,7 @@ public Q_SLOTS:
   rclcpp::Subscription<autoware_auto_system_msgs::msg::AutowareState>::SharedPtr
     sub_autoware_state_;
   rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::GearReport>::SharedPtr sub_gear_;
-  rclcpp::Subscription<tier4_external_api_msgs::msg::EngageStatus>::SharedPtr sub_engage_;
+  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::Engage>::SharedPtr sub_engage_;
 
   rclcpp::Client<tier4_external_api_msgs::srv::Engage>::SharedPtr client_engage_;
 

common/tier4_traffic_light_rviz_plugin/CMakeLists.txt

@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 3.5)
+project(tier4_traffic_light_rviz_plugin)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
+set(QT_LIBRARIES Qt5::Widgets)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+add_definitions(-DQT_NO_KEYWORDS)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/traffic_light_publish_panel.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${QT_LIBRARIES}
+)
+
+# Export the plugin to be imported by rviz2
+pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  icons
+  plugins
+)