Merge pull request #1534 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.34 with tier4/main

.cppcheck_suppressions

@@ -3,10 +3,8 @@
 checkersReport
 missingInclude
 missingIncludeSystem
-noConstructor
 unknownMacro
 unmatchedSuppression
-unreadVariable
 unusedFunction
 useInitializationList
 useStlAlgorithm

.cspell.json

@@ -1,7 +1,7 @@
 {
   "ignorePaths": [
-    "perception/bytetrack/lib/**",
-    "planning/behavior_velocity_intersection_module/scripts/**"
+    "perception/autoware_bytetrack/lib/**",
+    "planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/scripts/**"
   ],
   "ignoreRegExpList": [],
   "words": ["dltype", "tvmgen", "fromarray"]

.github/actions/build-and-test-differential/action.yaml

@@ -0,0 +1,109 @@
+name: build-and-test-differential
+description: ""
+
+inputs:
+  rosdistro:
+    description: ""
+    required: true
+  container:
+    description: ""
+    required: true
+  container-suffix:
+    description: ""
+    required: true
+  runner:
+    description: ""
+    required: true
+  build-depends-repos:
+    description: ""
+    required: true
+  build-pre-command:
+    description: ""
+    required: true
+  codecov-token:
+    description: ""
+    required: true
+
+runs:
+  using: composite
+  steps:
+    - name: Show disk space before the tasks
+      run: df -h
+      shell: bash
+
+    - name: Show machine specs
+      run: lscpu && free -h
+      shell: bash
+
+    - 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: Create ccache directory
+      run: |
+        mkdir -p ${CCACHE_DIR}
+        du -sh ${CCACHE_DIR} && ccache -s
+      shell: bash
+
+    - name: Attempt to restore ccache
+      uses: actions/cache/restore@v4
+      with:
+        path: |
+          /root/.ccache
+        key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.event.pull_request.base.sha }}
+        restore-keys: |
+          ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-
+
+    - name: Show ccache stats before build
+      run: du -sh ${CCACHE_DIR} && ccache -s
+      shell: bash
+
+    - name: Export CUDA state as a variable for adding to cache key
+      run: |
+        build_type_cuda_state=nocuda
+        if [[ "${{ inputs.container-suffix }}" == "-cuda" ]]; then
+          build_type_cuda_state=cuda
+        fi
+        echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
+        echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
+      shell: bash
+
+    - name: Build
+      if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+      uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+      with:
+        rosdistro: ${{ inputs.rosdistro }}
+        target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+        build-depends-repos: ${{ inputs.build-depends-repos }}
+        cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+        build-pre-command: ${{ inputs.build-pre-command }}
+
+    - name: Show ccache stats after build
+      run: du -sh ${CCACHE_DIR} && ccache -s
+      shell: bash
+
+    - name: Test
+      id: test
+      if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+      uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+      with:
+        rosdistro: ${{ inputs.rosdistro }}
+        target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+        build-depends-repos: ${{ inputs.build-depends-repos }}
+
+    - name: Upload coverage to CodeCov
+      if: ${{ steps.test.outputs.coverage-report-files != '' }}
+      uses: codecov/codecov-action@v4
+      with:
+        files: ${{ steps.test.outputs.coverage-report-files }}
+        fail_ci_if_error: false
+        verbose: true
+        flags: differential
+        token: ${{ inputs.codecov-token }}
+
+    - name: Show disk space after the tasks
+      run: df -h
+      shell: bash

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

@@ -22,8 +22,13 @@ jobs:
     with:
       label: tag:run-build-and-test-differential
 
+  make-sure-require-cuda-label-is-present:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
+    with:
+      label: tag:require-cuda-build-and-test
+
   build-and-test-differential:
-    needs: make-sure-label-is-present
+    needs: [make-sure-label-is-present, make-sure-require-cuda-label-is-present]
     if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
     runs-on: ${{ matrix.runner }}
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
@@ -48,90 +53,25 @@ jobs:
     steps:
       - name: Set PR fetch depth
         run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+        shell: bash
 
       - name: Checkout PR branch and all PR commits
         uses: actions/checkout@v4
         with:
           ref: ${{ github.event.pull_request.head.sha }}
           fetch-depth: ${{ env.PR_FETCH_DEPTH }}
 
-      - 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
-
-      - name: Get modified packages
-        id: get-modified-packages
-        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
-
-      - name: Create ccache directory
-        run: |
-          mkdir -p ${CCACHE_DIR}
-          du -sh ${CCACHE_DIR} && ccache -s
-        shell: bash
-
-      - name: Attempt to restore ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: |
-            /root/.ccache
-          key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.event.pull_request.base.sha }}
-          restore-keys: |
-            ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-
-
-      - name: Show ccache stats before build
-        run: du -sh ${CCACHE_DIR} && ccache -s
-        shell: bash
-
-      - name: Export CUDA state as a variable for adding to cache key
-        run: |
-          build_type_cuda_state=nocuda
-          if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
-            build_type_cuda_state=cuda
-          fi
-          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
-          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
-        shell: bash
-
-      - name: Build
-        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+      - name: Run build-and-test-differential action
+        if: ${{ !(matrix.container-suffix == '-cuda') || needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }}
+        uses: ./.github/actions/build-and-test-differential
         with:
           rosdistro: ${{ matrix.rosdistro }}
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          container: ${{ matrix.container }}
+          container-suffix: ${{ matrix.container-suffix }}
+          runner: ${{ matrix.runner }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
-          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
           build-pre-command: ${{ matrix.build-pre-command }}
-
-      - name: Show ccache stats after build
-        run: du -sh ${CCACHE_DIR} && ccache -s
-        shell: bash
-
-      - name: Test
-        id: test
-        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
-        with:
-          rosdistro: ${{ matrix.rosdistro }}
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: ${{ matrix.build-depends-repos }}
-
-      - name: Upload coverage to CodeCov
-        if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v4
-        with:
-          files: ${{ steps.test.outputs.coverage-report-files }}
-          fail_ci_if_error: false
-          verbose: true
-          flags: differential
-          token: ${{ secrets.CODECOV_TOKEN }}
-
-      - name: Show disk space after the tasks
-        run: df -h
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}
 
   clang-tidy-differential:
     needs: build-and-test-differential

.github/workflows/cppcheck-daily.yaml → .github/workflows/cppcheck-weekly.yaml

@@ -1,12 +1,12 @@
-name: cppcheck-daily
+name: cppcheck-weekly
 
 on:
   schedule:
-    - cron: 0 0 * * *
+    - cron: 0 0 * * 1
   workflow_dispatch:
 
 jobs:
-  cppcheck-daily:
+  cppcheck-weekly:
     runs-on: ubuntu-latest
 
     steps:

common/autoware_motion_utils/CMakeLists.txt

@@ -1,15 +1,22 @@
 cmake_minimum_required(VERSION 3.14)
 project(autoware_motion_utils)
 
+option(BUILD_EXAMPLES "Build examples" OFF)
+
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(Boost REQUIRED)
+find_package(fmt REQUIRED)
 
 ament_auto_add_library(autoware_motion_utils SHARED
   DIRECTORY src
 )
 
+target_link_libraries(autoware_motion_utils
+  fmt::fmt
+)
+
 if(BUILD_TESTING)
   find_package(ament_cmake_ros REQUIRED)
 
@@ -22,4 +29,27 @@ if(BUILD_TESTING)
   )
 endif()
 
+if(BUILD_EXAMPLES)
+  message(STATUS "Building examples")
+
+  include(FetchContent)
+  fetchcontent_declare(
+    matplotlibcpp17
+    GIT_REPOSITORY https://github.com/soblin/matplotlibcpp17.git
+    GIT_TAG master
+  )
+  fetchcontent_makeavailable(matplotlibcpp17)
+
+  file(GLOB_RECURSE example_files examples/*.cpp)
+
+  foreach(example_file ${example_files})
+    get_filename_component(example_name ${example_file} NAME_WE)
+    ament_auto_add_executable(${example_name} ${example_file})
+    target_link_libraries(${example_name}
+      autoware_motion_utils
+      matplotlibcpp17::matplotlibcpp17
+    )
+  endforeach()
+endif()
+
 ament_auto_package()