Merge pull request #1202 from tier4/sync-upstream

chore: sync tier4/autoware.universe:awf-latest
tier4 · Mar 21, 2024 · 0b70d0b · 0b70d0b
2 parents ee9a54e + 46ac827
commit 0b70d0b
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Showing 297 changed files with 7,792 additions and 9,455 deletions.
diff --git a/.cspell-partial.json b/.cspell-partial.json
diff --git a/.cspell.json b/.cspell.json
@@ -0,0 +1,5 @@
+{
+  "ignorePaths": ["perception/bytetrack/lib/**"],
+  "ignoreRegExpList": [],
+  "words": ["dltype", "tvmgen"]
+}
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -77,7 +77,7 @@ evaluator/kinematic_evaluator/** [email protected] fumiya.watanabe@tier4
 evaluator/localization_evaluator/** [email protected] [email protected]
 evaluator/perception_online_evaluator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 evaluator/planning_evaluator/** [email protected] [email protected]
-evaluator/tier4_metrics_rviz_plugin/** [email protected] [email protected] [email protected]
+evaluator/tier4_metrics_rviz_plugin/** [email protected] [email protected] [email protected] [email protected] [email protected]
 launch/tier4_autoware_api_launch/** [email protected] [email protected]
 launch/tier4_control_launch/** [email protected] [email protected]
 launch/tier4_localization_launch/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -121,7 +121,7 @@ perception/detected_object_feature_remover/** [email protected]
 perception/detected_object_validation/** [email protected] [email protected] [email protected] [email protected]
 perception/detection_by_tracker/** [email protected] [email protected] [email protected]
 perception/elevation_map_loader/** [email protected] [email protected] [email protected]
-perception/euclidean_cluster/** [email protected]
+perception/euclidean_cluster/** [email protected] [email protected]
 perception/ground_segmentation/** [email protected] [email protected] [email protected] [email protected]
 perception/image_projection_based_fusion/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 perception/lidar_apollo_instance_segmentation/** [email protected]
@@ -212,7 +212,7 @@ sensing/image_diagnostics/** [email protected]
 sensing/image_transport_decompressor/** [email protected]
 sensing/imu_corrector/** [email protected] [email protected] [email protected]
 sensing/livox/livox_tag_filter/** [email protected]
-sensing/pointcloud_preprocessor/** [email protected] [email protected] [email protected] [email protected]
+sensing/pointcloud_preprocessor/** [email protected] [email protected] [email protected] [email protected] [email protected]
 sensing/radar_scan_to_pointcloud2/** [email protected] [email protected] [email protected] [email protected]
 sensing/radar_static_pointcloud_filter/** [email protected] [email protected] [email protected] [email protected]
 sensing/radar_threshold_filter/** [email protected] [email protected] [email protected] [email protected]

diff --git a/...workflows/build-and-test-self-hosted.yaml → .github/workflows/build-and-test-arm64.yaml b/...workflows/build-and-test-self-hosted.yaml → .github/workflows/build-and-test-arm64.yaml
@@ -1,12 +1,12 @@
-name: build-and-test-self-hosted
+name: build-and-test-arm64
 
 on:
   schedule:
     - cron: 0 0 * * *
   workflow_dispatch:
 
 jobs:
-  build-and-test-self-hosted:
+  build-and-test-arm64:
     runs-on: [self-hosted, linux, ARM64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
@@ -19,12 +19,15 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
+            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
 
+      - name: Show disk space before the tasks
+        run: df -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -47,3 +50,6 @@ jobs:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Show disk space after the tasks
+        run: df -h
diff --git a/...ld-and-test-differential-self-hosted.yaml → ...ws/build-and-test-differential-arm64.yaml b/...ld-and-test-differential-self-hosted.yaml → ...ws/build-and-test-differential-arm64.yaml
@@ -1,4 +1,4 @@
-name: build-and-test-differential-self-hosted
+name: build-and-test-differential-arm64
 
 on:
   pull_request:
@@ -12,9 +12,9 @@ jobs:
   prevent-no-label-execution:
     uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
     with:
-      label: ARM64
+      label: type:arm64
 
-  build-and-test-differential-self-hosted:
+  build-and-test-differential-arm64:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
     runs-on: [self-hosted, linux, ARM64]
@@ -29,14 +29,17 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
+            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
         with:
           fetch-depth: 0
 
+      - name: Show disk space before the tasks
+        run: df -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -59,3 +62,6 @@ jobs:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Show disk space after the tasks
+        run: df -h
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
@@ -16,26 +16,27 @@ jobs:
   build-and-test-differential:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
-    runs-on: [self-hosted, linux, X64]
+    runs-on: ubuntu-latest
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
       matrix:
         rosdistro:
           - humble
         container-suffix:
+          - ""
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
+            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
         with:
           fetch-depth: 0
 
-      - name: Check disk space before build
+      - name: Show disk space before the tasks
         run: df -h
 
       - name: Remove exec_depend
@@ -71,5 +72,42 @@ jobs:
           verbose: true
           flags: differential
 
-      - name: Check disk space after build
+      - name: Show disk space after the tasks
         run: df -h
+
+  clang-tidy-differential:
+    runs-on: ubuntu-latest
+    container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt-cuda
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Show disk space before the tasks
+        run: df -h
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Get modified files
+        id: get-modified-files
+        uses: tj-actions/changed-files@v35
+        with:
+          files: |
+            **/*.cpp
+            **/*.hpp
+
+      - name: Run clang-tidy
+        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
+        with:
+          rosdistro: humble
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
+          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
+          build-depends-repos: build_depends.repos
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
@@ -9,7 +9,7 @@ on:
 jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
-    runs-on: [self-hosted, linux, X64]
+    runs-on: ubuntu-latest
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -21,12 +21,15 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
+            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
 
+      - name: Show disk space before the tasks
+        run: df -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -59,3 +62,6 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total
+
+      - name: Show disk space after the tasks
+        run: df -h
diff --git a/.github/workflows/pr-agent.yaml b/.github/workflows/pr-agent.yaml
@@ -0,0 +1,31 @@
+name: PR-Agent
+
+on:
+  pull_request:
+    types: [opened, labeled, unlabeled, synchronize]
+  issue_comment:
+
+jobs:
+  prevent-no-label-execution-pr-agent:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+    with:
+      label: tag:pr-agent
+  pr_agent_job:
+    needs: prevent-no-label-execution-pr-agent
+    if: ${{ needs.prevent-no-label-execution-pr-agent.outputs.run == 'true' }}
+    runs-on: ubuntu-latest
+    permissions:
+      issues: write
+      pull-requests: write
+      contents: write
+    name: Run pr agent on every pull request, respond to user comments
+    steps:
+      - name: PR Agent action step
+        id: pragent
+        uses: Codium-ai/pr-agent@main
+        env:
+          OPENAI_KEY: ${{ secrets.OPENAI_KEY_PR_AGENT }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          github_action_config.auto_review: "false"
+          github_action_config.auto_describe: "false"
+          github_action_config.auto_improve: "false"
diff --git a/.github/workflows/spell-check-all.yaml b/.github/workflows/spell-check-all.yaml
diff --git a/.github/workflows/spell-check-partial.yaml b/.github/workflows/spell-check-partial.yaml
@@ -2,17 +2,20 @@ name: spell-check-partial
 
 on:
   pull_request:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
 
 jobs:
   spell-check-partial:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Run spell-check
         uses: autowarefoundation/autoware-github-actions/spell-check@v1
         with:
           cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json
-          local-cspell-json: .cspell-partial.json
+          local-cspell-json: .cspell.json
           incremental-files-only: false
diff --git a/build_depends.repos b/build_depends.repos
@@ -16,6 +16,10 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
     version: main
+  core/autoware_internal_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+    version: main
   core/external/autoware_auto_msgs:
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git