Merge branch 'main' into support-new-traffic-signal-interface

Signed-off-by: Tomohito Ando <[email protected]>

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

@@ -27,6 +27,14 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v3
 
+      - name: Free disk space (Ubuntu)
+        uses: jlumbroso/[email protected]
+        with:
+          tool-cache: false
+          dotnet: false
+          swap-storage: false
+          large-packages: false
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 

.github/workflows/json-schema-check.yaml

@@ -0,0 +1,17 @@
+name: json-schema-check
+
+on:
+  pull_request:
+    paths:
+      - "**/schema/*.schema.json"
+      - "**/config/*.param.yaml"
+
+jobs:
+  json-schema-check:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+
+      - name: Run json-schema-check
+        uses: autowarefoundation/autoware-github-actions/json-schema-check@v1

.github/workflows/update-codeowners-from-packages.yaml

@@ -27,7 +27,6 @@ jobs:
         uses: autowarefoundation/autoware-github-actions/update-codeowners-from-packages@v1
         with:
           token: ${{ steps.generate-token.outputs.token }}
-          global-codeowners: "@autowarefoundation/autoware-global-codeowners"
           pr-labels: |
             bot
             update-codeowners-from-packages

common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp

@@ -0,0 +1,53 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
+#define AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/vehicle_kinematics.hpp>
+#include <autoware_adapi_v1_msgs/msg/vehicle_status.hpp>
+#include <autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.hpp>
+
+namespace autoware_ad_api::vehicle
+{
+
+struct VehicleKinematics
+{
+  using Message = autoware_adapi_v1_msgs::msg::VehicleKinematics;
+  static constexpr char name[] = "/api/vehicle/kinematics";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct VehicleStatus
+{
+  using Message = autoware_adapi_v1_msgs::msg::VehicleStatus;
+  static constexpr char name[] = "/api/vehicle/status";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct Dimensions
+{
+  using Service = autoware_adapi_v1_msgs::srv::GetVehicleDimensions;
+  static constexpr char name[] = "/api/vehicle/dimensions";
+};
+
+}  // namespace autoware_ad_api::vehicle
+
+#endif  // AUTOWARE_AD_API_SPECS__VEHICLE_HPP_

common/component_interface_specs/include/component_interface_specs/localization.hpp

@@ -19,6 +19,7 @@
 
 #include <autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>
 #include <autoware_adapi_v1_msgs/srv/initialize_localization.hpp>
+#include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
 namespace localization_interface
@@ -48,6 +49,15 @@ struct KinematicState
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
+struct Acceleration
+{
+  using Message = geometry_msgs::msg::AccelWithCovarianceStamped;
+  static constexpr char name[] = "/localization/acceleration";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
 }  // namespace localization_interface
 
 #endif  // COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_

common/component_interface_specs/include/component_interface_specs/map.hpp

@@ -0,0 +1,36 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#define COMPONENT_INTERFACE_SPECS__MAP_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <tier4_map_msgs/msg/map_projector_info.hpp>
+
+namespace map_interface
+{
+
+struct MapProjectorInfo
+{
+  using Message = tier4_map_msgs::msg::MapProjectorInfo;
+  static constexpr char name[] = "/map/map_projector_type";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace map_interface
+
+#endif  // COMPONENT_INTERFACE_SPECS__MAP_HPP_

common/component_interface_specs/include/component_interface_specs/vehicle.hpp

@@ -0,0 +1,76 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
+#define COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_auto_vehicle_msgs/msg/gear_report.hpp>
+#include <autoware_auto_vehicle_msgs/msg/hazard_lights_report.hpp>
+#include <autoware_auto_vehicle_msgs/msg/steering_report.hpp>
+#include <autoware_auto_vehicle_msgs/msg/turn_indicators_report.hpp>
+#include <tier4_vehicle_msgs/msg/battery_status.hpp>
+
+namespace vehicle_interface
+{
+
+struct SteeringStatus
+{
+  using Message = autoware_auto_vehicle_msgs::msg::SteeringReport;
+  static constexpr char name[] = "/vehicle/status/steering_status";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct GearStatus
+{
+  using Message = autoware_auto_vehicle_msgs::msg::GearReport;
+  static constexpr char name[] = "/vehicle/status/gear_status";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct TurnIndicatorStatus
+{
+  using Message = autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport;
+  static constexpr char name[] = "/vehicle/status/turn_indicators_status";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct HazardLightStatus
+{
+  using Message = autoware_auto_vehicle_msgs::msg::HazardLightsReport;
+  static constexpr char name[] = "/vehicle/status/hazard_lights_status";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct EnergyStatus
+{
+  using Message = tier4_vehicle_msgs::msg::BatteryStatus;
+  static constexpr char name[] = "/vehicle/status/battery_charge";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+}  // namespace vehicle_interface
+
+#endif  // COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_

common/component_interface_specs/package.xml

@@ -14,6 +14,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>tier4_map_msgs</depend>
+  <depend>tier4_vehicle_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

common/global_parameter_loader/package.xml

@@ -4,7 +4,7 @@
   <name>global_parameter_loader</name>
   <version>0.1.0</version>
   <description>The global_parameter_loader package</description>
-  <maintainer email="kenji.miyake@tier4.jp">Kenji Miyake</maintainer>
+  <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

common/perception_utils/CMakeLists.txt

@@ -8,6 +8,7 @@ find_package(Boost REQUIRED)
 
 ament_auto_add_library(perception_utils SHARED
   src/predicted_path_utils.cpp
+  src/traffic_light_utils.cpp
   src/conversion.cpp
 )