chore: sync upstream

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

@@ -80,7 +80,7 @@ jobs:
 
       - name: Get modified files
         id: get-modified-files
-        uses: tj-actions/changed-files@v31
+        uses: tj-actions/changed-files@v32
         with:
           files: |
             **/*.cpp

common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp

@@ -0,0 +1,73 @@
+// Copyright 2022 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__OPERATION_MODE_HPP_
+#define AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
+#include <autoware_adapi_v1_msgs/srv/change_operation_mode.hpp>
+
+namespace autoware_ad_api::operation_mode
+{
+
+struct ChangeToStop
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/change_to_stop";
+};
+
+struct ChangeToAutonomous
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/change_to_autonomous";
+};
+
+struct ChangeToLocal
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/change_to_local";
+};
+
+struct ChangeToRemote
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/change_to_remote";
+};
+
+struct EnableAutowareControl
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/enable_autoware_control";
+};
+
+struct DisableAutowareControl
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/disable_autoware_control";
+};
+
+struct OperationModeState
+{
+  using Message = autoware_adapi_v1_msgs::msg::OperationModeState;
+  static constexpr char name[] = "/api/operation_mode/state";
+  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 autoware_ad_api::operation_mode
+
+#endif  // AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_

common/component_interface_specs/include/component_interface_specs/system.hpp

@@ -0,0 +1,50 @@
+// Copyright 2022 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__SYSTEM_HPP_
+#define COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
+#include <tier4_system_msgs/srv/change_autoware_control.hpp>
+#include <tier4_system_msgs/srv/change_operation_mode.hpp>
+
+namespace system_interface
+{
+
+struct ChangeAutowareControl
+{
+  using Service = tier4_system_msgs::srv::ChangeAutowareControl;
+  static constexpr char name[] = "/system/operation_mode/change_autoware_control";
+};
+
+struct ChangeOperationMode
+{
+  using Service = tier4_system_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/system/operation_mode/change_operation_mode";
+};
+
+struct OperationModeState
+{
+  using Message = autoware_adapi_v1_msgs::msg::OperationModeState;
+  static constexpr char name[] = "/system/operation_mode/state";
+  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 system_interface
+
+#endif  // COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_

common/component_interface_specs/package.xml

@@ -11,6 +11,8 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_adapi_v1_msgs</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

common/motion_utils/include/motion_utils/resample/resample.hpp

@@ -39,39 +39,39 @@ namespace motion_utils
 {
 /**
  * @brief A resampling function for a path(poses). Note that in a default setting, position xy are
- * resampled by spline interpolation, position z are resampled by linear interpolation, and
- * orientation of the resampled path are calculated by a forward difference method
- * based on the interpolated position x and y.
+ *        resampled by spline interpolation, position z are resampled by linear interpolation, and
+ *        orientation of the resampled path are calculated by a forward difference method
+ *        based on the interpolated position x and y.
  * @param input_path input path(poses) to resample
  * @param resampled_arclength arclength that contains length of each resampling points from initial
- * point
+ *        point
  * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and
- * y. Otherwise, it uses spline interpolation
+ *        y. Otherwise, it uses spline interpolation
  * @param use_lerp_for_z If true, it uses linear interpolation to resample position z.
- * Otherwise, it uses spline interpolation
+ *        Otherwise, it uses spline interpolation
  * @return resampled path(poses)
  */
-std::vector<geometry_msgs::msg::Pose> resamplePath(
+std::vector<geometry_msgs::msg::Pose> resamplePoseVector(
   const std::vector<geometry_msgs::msg::Pose> & points,
   const std::vector<double> & resampled_arclength, const bool use_lerp_for_xy = false,
   const bool use_lerp_for_z = true);
 
 /**
  * @brief A resampling function for a path with lane id. Note that in a default setting, position xy
- * are resampled by spline interpolation, position z are resampled by linear interpolation,
- * longitudinal and lateral velocity are resampled by zero_order_hold, and heading rate is resampled
- * by linear interpolation. Orientation of the resampled path are calculated by a forward difference
- * method based on the interpolated position x and y. Moreover, lane_ids and is_final are also
- * interpolated by zero order hold
+ *        are resampled by spline interpolation, position z are resampled by linear interpolation,
+ *        longitudinal and lateral velocity are resampled by zero_order_hold, and heading rate is
+ *        resampled by linear interpolation. Orientation of the resampled path are calculated by a
+ *        forward difference method based on the interpolated position x and y. Moreover, lane_ids
+ *        and is_final are also interpolated by zero order hold
  * @param input_path input path to resample
  * @param resampled_arclength arclength that contains length of each resampling points from initial
- * point
+ *        point
  * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and
- * y. Otherwise, it uses spline interpolation
+ *        y. Otherwise, it uses spline interpolation
  * @param use_lerp_for_z If true, it uses linear interpolation to resample position z.
- * Otherwise, it uses spline interpolation
+ *        Otherwise, it uses spline interpolation
  * @param use_zero_order_hold_for_v If true, it uses zero_order_hold to resample
- * longitudinal and lateral velocity. Otherwise, it uses linear interpolation
+ *        longitudinal and lateral velocity. Otherwise, it uses linear interpolation
  * @return resampled path
  */
 autoware_auto_planning_msgs::msg::PathWithLaneId resamplePath(
@@ -81,20 +81,19 @@ autoware_auto_planning_msgs::msg::PathWithLaneId resamplePath(
 
 /**
  * @brief A resampling function for a path with lane id. Note that in a default setting, position xy
- * are resampled by spline interpolation, position z are resampled by linear interpolation,
- * longitudinal and lateral velocity are resampled by zero_order_hold, and heading rate is resampled
- * by linear interpolation. Orientation of the resampled path are calculated by a forward difference
- * method based on the interpolated position x and y. Moreover, lane_ids and is_final are also
- * interpolated by zero order hold
+ *        are resampled by spline interpolation, position z are resampled by linear interpolation,
+ *        longitudinal and lateral velocity are resampled by zero_order_hold, and heading rate is
+ *        resampled by linear interpolation. Orientation of the resampled path are calculated by a
+ *        forward difference method based on the interpolated position x and y. Moreover, lane_ids
+ *        and is_final are also interpolated by zero order hold
  * @param input_path input path to resample
- * @param resampled_interval resampling interval
- * point
+ * @param resampled_interval resampling interval point
  * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and
- * y. Otherwise, it uses spline interpolation
+ *        y. Otherwise, it uses spline interpolation
  * @param use_lerp_for_z If true, it uses linear interpolation to resample position z.
- * Otherwise, it uses spline interpolation
+ *        Otherwise, it uses spline interpolation
  * @param use_zero_order_hold_for_v If true, it uses zero_order_hold to resample
- * longitudinal and lateral velocity. Otherwise, it uses linear interpolation
+ *        longitudinal and lateral velocity. Otherwise, it uses linear interpolation
  * @param resample_input_path_stop_point If true, resample closest stop point in input path
  * @return resampled path
  */
@@ -106,42 +105,64 @@ autoware_auto_planning_msgs::msg::PathWithLaneId resamplePath(
 
 /**
  * @brief A resampling function for a path. Note that in a default setting, position xy are
- * resampled by spline interpolation, position z are resampled by linear interpolation, longitudinal
- * and lateral velocity are resampled by zero_order_hold, and heading rate is resampled by linear
- * interpolation. Orientation of the resampled path are calculated by a forward difference method
- * based on the interpolated position x and y.
+ *        resampled by spline interpolation, position z are resampled by linear interpolation,
+ *        longitudinal and lateral velocity are resampled by zero_order_hold, and heading rate is
+ *        resampled by linear interpolation. Orientation of the resampled path are calculated by a
+ *        forward difference method based on the interpolated position x and y.
  * @param input_path input path to resample
  * @param resampled_arclength arclength that contains length of each resampling points from initial
- * point
+ *        point
  * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and
- * y. Otherwise, it uses spline interpolation
+ *        y. Otherwise, it uses spline interpolation
  * @param use_lerp_for_z If true, it uses linear interpolation to resample position z.
- * Otherwise, it uses spline interpolation
+ *        Otherwise, it uses spline interpolation
  * @param use_zero_order_hold_for_v If true, it uses zero_order_hold to resample
- * longitudinal and lateral velocity. Otherwise, it uses linear interpolation
+ *        longitudinal and lateral velocity. Otherwise, it uses linear interpolation
  * @return resampled path
  */
 autoware_auto_planning_msgs::msg::Path resamplePath(
   const autoware_auto_planning_msgs::msg::Path & input_path,
   const std::vector<double> & resampled_arclength, const bool use_lerp_for_xy = false,
   const bool use_lerp_for_z = true, const bool use_zero_order_hold_for_v = true);
 
+/**
+ * @brief A resampling function for a path. Note that in a default setting, position xy
+ *        are resampled by spline interpolation, position z are resampled by linear interpolation,
+ *        longitudinal and lateral velocity are resampled by zero_order_hold, and heading rate is
+ *        resampled by linear interpolation. Orientation of the resampled path are calculated by a
+ *        forward difference method based on the interpolated position x and y.
+ * @param input_path input path to resample
+ * @param resampled_interval resampling interval point
+ * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and
+ *        y. Otherwise, it uses spline interpolation
+ * @param use_lerp_for_z If true, it uses linear interpolation to resample position z.
+ *        Otherwise, it uses spline interpolation
+ * @param use_zero_order_hold_for_v If true, it uses zero_order_hold to resample
+ *        longitudinal and lateral velocity. Otherwise, it uses linear interpolation
+ * @param resample_input_path_stop_point If true, resample closest stop point in input path
+ * @return resampled path
+ */
+autoware_auto_planning_msgs::msg::Path resamplePath(
+  const autoware_auto_planning_msgs::msg::Path & input_path, const double resample_interval,
+  const bool use_lerp_for_xy = false, const bool use_lerp_for_z = true,
+  const bool use_zero_order_hold_for_v = true, const bool resample_input_path_stop_point = true);
+
 /**
  * @brief A resampling function for a trajectory. Note that in a default setting, position xy are
- * resampled by spline interpolation, position z are resampled by linear interpolation, twist
- * informaiton(velocity and acceleration) are resampled by zero_order_hold, and heading rate is
- * resampled by linear interpolation. The rest of the category is resampled by linear interpolation.
- * Orientation of the resampled path are calculated by a forward difference method based on the
- * interpolated position x and y.
+ *        resampled by spline interpolation, position z are resampled by linear interpolation, twist
+ *        informaiton(velocity and acceleration) are resampled by zero_order_hold, and heading rate
+ *        is resampled by linear interpolation. The rest of the category is resampled by linear
+ *        interpolation. Orientation of the resampled path are calculated by a forward difference
+ *        method based on the interpolated position x and y.
  * @param input_trajectory input trajectory to resample
  * @param resampled_arclength arclength that contains length of each resampling points from initial
- * point
+ *        point
  * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and
- * y. Otherwise, it uses spline interpolation
+ *        y. Otherwise, it uses spline interpolation
  * @param use_lerp_for_z If true, it uses linear interpolation to resample position z.
- * Otherwise, it uses spline interpolation
+ *        Otherwise, it uses spline interpolation
  * @param use_zero_order_hold_for_twist If true, it uses zero_order_hold to resample
- * longitudinal, lateral velocity and acceleration. Otherwise, it uses linear interpolation
+ *        longitudinal, lateral velocity and acceleration. Otherwise, it uses linear interpolation
  * @return resampled trajectory
  */
 autoware_auto_planning_msgs::msg::Trajectory resampleTrajectory(
@@ -151,22 +172,22 @@ autoware_auto_planning_msgs::msg::Trajectory resampleTrajectory(
 
 /**
  * @brief A resampling function for a trajectory. This function resamples closest stop point,
- * terminal point and points by resample interval. Note that in a default setting, position xy are
- * resampled by spline interpolation, position z are resampled by linear interpolation, twist
- * informaiton(velocity and acceleration) are resampled by zero_order_hold, and heading rate is
- * resampled by linear interpolation. The rest of the category is resampled by linear interpolation.
- * Orientation of the resampled path are calculated by a forward difference method based on the
- * interpolated position x and y.
+ *        terminal point and points by resample interval. Note that in a default setting, position
+ * xy are resampled by spline interpolation, position z are resampled by linear interpolation, twist
+ *        informaiton(velocity and acceleration) are resampled by zero_order_hold, and heading rate
+ *        is resampled by linear interpolation. The rest of the category is resampled by linear
+ *        interpolation. Orientation of the resampled path are calculated by a forward difference
+ *        method based on the interpolated position x and y.
  * @param input_trajectory input trajectory to resample
  * @param resampled_interval resampling interval
  * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and
- * y. Otherwise, it uses spline interpolation
+ *        y. Otherwise, it uses spline interpolation
  * @param use_lerp_for_z If true, it uses linear interpolation to resample position z.
- * Otherwise, it uses spline interpolation
+ *        Otherwise, it uses spline interpolation
  * @param use_zero_order_hold_for_twist If true, it uses zero_order_hold to resample
- * longitudinal, lateral velocity and acceleration. Otherwise, it uses linear interpolation
+ *        longitudinal, lateral velocity and acceleration. Otherwise, it uses linear interpolation
  * @param resample_input_trajectory_stop_point If true, resample closest stop point in input
- * trajectory
+ *        trajectory
  * @return resampled trajectory
  */
 autoware_auto_planning_msgs::msg::Trajectory resampleTrajectory(