fix conflict

Signed-off-by: Oguz Ozturk <[email protected]>
autowarefoundation · Sep 20, 2024 · 93c0129 · 93c0129
2 parents 138e433 + 8864099
commit 93c0129
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Showing 62 changed files with 2,209 additions and 35 deletions.
diff --git a/.dockerignore b/.dockerignore
@@ -13,14 +13,10 @@ docker
 # Ignore a part of files under src
 src/**/.*
 src/**/*.asc
-src/**/*.csv
 src/**/*.gif
 src/**/*.md
 src/**/*.pcd
-src/**/*.png
 src/**/*.svg
-!src/universe/autoware.universe/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets
-!src/universe/autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter/data/default
 
 # Ignore generated files by colcon
 build

diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
@@ -78,8 +78,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=base${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=base${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=base${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=base${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-base
         flavor: |
           latest=false
@@ -90,8 +90,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=core-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=core-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=core-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=core-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-core-devel
         flavor: |
           latest=false
@@ -102,8 +102,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-sensing-perception-devel
         flavor: |
           latest=false
@@ -114,8 +114,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-sensing-perception${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-sensing-perception${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-sensing-perception
         flavor: |
           latest=false
@@ -126,8 +126,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-localization-mapping-devel
         flavor: |
           latest=false
@@ -138,8 +138,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-localization-mapping${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-localization-mapping${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-localization-mapping${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe-localization-mapping${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-localization-mapping
         flavor: |
           latest=false
@@ -150,8 +150,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-planning-control-devel
         flavor: |
           latest=false
@@ -162,8 +162,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-planning-control${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=universe-planning-control${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=raw,value=universe-planning-control${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe-planning-control${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-planning-control
         flavor: |
           latest=false
@@ -174,8 +174,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
-          type=raw,value=universe-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
+          type=raw,value=universe-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe-devel
         flavor: |
           latest=false
@@ -186,8 +186,8 @@ runs:
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=universe${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
-          type=raw,value=universe${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
+          type=raw,value=universe${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-universe
         flavor: |
           latest=auto

diff --git a/.github/workflows/docker-build-and-push-arm64.yaml b/.github/workflows/docker-build-and-push-arm64.yaml
@@ -26,12 +26,12 @@ jobs:
             base_image_env: base_image
             lib_dir: aarch64
             setup-args: --no-nvidia
-            additional-tag-suffix: ""
+            tag-suffix: ""
           - name: cuda
             platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
-            additional-tag-suffix: cuda
+            tag-suffix: -cuda
     steps:
       # https://github.com/actions/checkout/issues/211
       - name: Change permission of workspace
@@ -80,7 +80,7 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }}
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }},mode=max
-          tag-suffix: ${{ matrix.additional-tag-suffix }}
+          tag-suffix: ${{ matrix.tag-suffix }}
 
       - name: Show disk space
         run: |

diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
@@ -26,12 +26,12 @@ jobs:
             base_image_env: base_image
             lib_dir: x86_64
             setup-args: --no-nvidia
-            additional-tag-suffix: ""
+            tag-suffix: ""
           - name: cuda
             platform: amd64
             base_image_env: base_image
             lib_dir: x86_64
-            additional-tag-suffix: cuda
+            tag-suffix: -cuda
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -75,7 +75,7 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }}
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }},mode=max
-          tag-suffix: ${{ matrix.additional-tag-suffix }}
+          tag-suffix: ${{ matrix.tag-suffix }}
 
       - name: Show disk space
         run: |

diff --git a/.github/workflows/health-check-arm64.yaml b/.github/workflows/health-check-arm64.yaml
@@ -24,12 +24,10 @@ jobs:
             base_image_env: base_image
             lib_dir: aarch64
             setup-args: --no-nvidia
-            additional-tag-suffix: ""
           - name: cuda
             platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
-            additional-tag-suffix: -cuda
     steps:
       # https://github.com/actions/checkout/issues/211
       - name: Change permission of workspace

diff --git a/.github/workflows/health-check.yaml b/.github/workflows/health-check.yaml
@@ -39,12 +39,10 @@ jobs:
             base_image_env: base_image
             lib_dir: x86_64
             setup-args: --no-nvidia
-            additional-tag-suffix: ""
           - name: cuda
             platform: amd64
             base_image_env: base_image
             lib_dir: x86_64
-            additional-tag-suffix: -cuda
     steps:
       - name: Check out repository
         uses: actions/checkout@v4

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -38,7 +38,7 @@ repos:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.8.0-1
+    rev: v3.9.0-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]

diff --git a/ansible/playbooks/install_rviz_theme.yaml b/ansible/playbooks/install_rviz_theme.yaml
@@ -0,0 +1,4 @@
+- name: Install RViz theme
+  hosts: localhost
+  roles:
+    - autoware.dev_env.qt5ct_setup
diff --git a/ansible/playbooks/universe.yaml b/ansible/playbooks/universe.yaml
@@ -62,3 +62,6 @@
     # ONNX files and other artifacts
     - role: autoware.dev_env.artifacts
       when: prompt_download_artifacts == 'y'
+
+    # Qt5ct setup (RViz theme)
+    - role: autoware.dev_env.qt5ct_setup
diff --git a/ansible/roles/qt5ct_setup/README.md b/ansible/roles/qt5ct_setup/README.md
@@ -0,0 +1,60 @@
+# qt5ct_setup Ansible role
+
+## Overview
+
+The `qt5ct_setup` Ansible role automates the configuration of the `qt5ct` environment for Autoware.
+It won't affect the system-wide configuration.
+
+## Installation
+
+Follow the instructions below to **install** or **update** the custom theme for `RViz2` in Autoware.
+
+> **Important:** Both commands must be run when you want to update the theme.
+
+```bash
+cd ~/autoware # The root directory of the cloned repository
+ansible-galaxy collection install -f -r "ansible-galaxy-requirements.yaml"
+ansible-playbook autoware.dev_env.install_rviz_theme  --ask-become-pass
+```
+
+## How to use the custom theme in RViz2
+
+To apply a custom theme to RViz2, you can use the `qt5ct` platform theme. Follow these steps to ensure that the `QT_QPA_PLATFORMTHEME` environment variable is set correctly for your RViz2 instance when used with Autoware.
+
+### Manual setup for running RViz2
+
+Before running RViz2 manually, set the `QT_QPA_PLATFORMTHEME` environment variable to `qt5ct`.
+This ensures that the custom theme settings are applied.
+
+```bash
+export QT_QPA_PLATFORMTHEME=qt5ct
+```
+
+Then, start RViz2 as usual.
+
+```bash
+rviz2
+```
+
+### Automatic setup in Autoware
+
+In Autoware, the `QT_QPA_PLATFORMTHEME` environment variable is automatically set within the main [autoware.launch.xml](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/launch/autoware.launch.xml) file.
+Therefore, you do not need to manually set this environment variable when launching Autoware.
+
+In the `autoware.launch.xml` file, RViz2 is configured with the following `<node>` element:
+
+```xml
+<node
+  pkg="rviz2"
+  exec="rviz2"
+  name="rviz2"
+  output="screen"
+  args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
+  if="$(var rviz)"
+  respawn="$(var rviz_respawn)">
+  <env name="QT_QPA_PLATFORMTHEME" value="qt5ct"/>
+</node>
+```
+
+This configuration automatically sets the `QT_QPA_PLATFORMTHEME` to `qt5ct` when RViz2 is launched as part of Autoware.
+It also includes additional options such as respawn behavior and custom RViz2 configurations.
diff --git a/ansible/roles/qt5ct_setup/defaults/main.yml b/ansible/roles/qt5ct_setup/defaults/main.yml
@@ -0,0 +1 @@
+# defaults file for qt5ct_setup
diff --git a/ansible/roles/qt5ct_setup/files/autoware-rviz-icons/active/downarrow.svg b/ansible/roles/qt5ct_setup/files/autoware-rviz-icons/active/downarrow.svg
diff --git a/ansible/roles/qt5ct_setup/files/autoware-rviz-icons/active/uparrow.svg b/ansible/roles/qt5ct_setup/files/autoware-rviz-icons/active/uparrow.svg
diff --git a/ansible/roles/qt5ct_setup/files/autoware-rviz-icons/disabled/branch-end.svg b/ansible/roles/qt5ct_setup/files/autoware-rviz-icons/disabled/branch-end.svg