Merge pull request #235 from tier4/sync-upstream

chore: sync upstream

.github/sync-files.yaml

@@ -1,6 +1,7 @@
 - repository: autowarefoundation/autoware
   files:
     - source: .github/dependabot.yaml
+    - source: .github/workflows/github-release.yaml
     - source: .github/workflows/pre-commit.yaml
     - source: .github/workflows/pre-commit-optional.yaml
     - source: .github/workflows/semantic-pull-request.yaml

.github/workflows/github-release.yaml

@@ -0,0 +1,77 @@
+name: github-release
+
+on:
+  push:
+    branches:
+      - beta/v*
+    tags:
+      - v*
+  workflow_dispatch:
+    inputs:
+      beta-branch-or-tag-name:
+        type: string
+        required: true
+
+jobs:
+  github-release:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Set tag name
+        id: set-tag-name
+        run: |
+          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
+            REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}"
+          else
+            REF_NAME="${{ github.ref_name }}"
+          fi
+
+          echo ::set-output name=ref-name::"$REF_NAME"
+          echo ::set-output name=tag-name::"${REF_NAME#beta/}"
+
+      - name: Check out repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          ref: ${{ steps.set-tag-name.outputs.ref-name }}
+
+      - name: Set target name for beta branches
+        id: set-target-name
+        run: |
+          if [[ "${{ steps.set-tag-name.outputs.ref-name }}" =~ "beta/" ]]; then
+            echo ::set-output name=target-name::"${{ steps.set-tag-name.outputs.ref-name }}"
+          fi
+
+      - name: Create a local tag for beta branches
+        run: |
+          if [ "${{ steps.set-target-name.outputs.target-name }}" != "" ]; then
+            git tag "${{ steps.set-tag-name.outputs.tag-name }}"
+          fi
+
+      - name: Run generate-changelog
+        id: generate-changelog
+        uses: autowarefoundation/autoware-github-actions/generate-changelog@v1
+
+      - name: Select verb
+        id: select-verb
+        run: |
+          has_previous_draft=$(gh release view --json isDraft -q ".isDraft" "${{ steps.set-tag-name.outputs.tag-name }}")
+
+          verb=create
+          if [ "$has_previous_draft" = "true" ]; then
+            verb=edit
+          fi
+
+          echo ::set-output name=verb::"$verb"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Release to GitHub
+        run: |
+          gh release ${{ steps.select-verb.outputs.verb }} "${{ steps.set-tag-name.outputs.tag-name }}" \
+            --draft \
+            --target "${{ steps.set-target-name.outputs.target-name }}" \
+            --title "Release ${{ steps.set-tag-name.outputs.tag-name }}" \
+            --notes "$NOTES"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          NOTES: ${{ steps.generate-changelog.outputs.changelog }}

.github/workflows/sync-files.yaml

@@ -6,7 +6,14 @@ on:
   workflow_dispatch:
 
 jobs:
+  check-secret:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1
+    secrets:
+      secret: ${{ secrets.APP_ID }}
+
   sync-files:
+    needs: check-secret
+    if: ${{ needs.check-secret.outputs.set == 'true' }}
     runs-on: ubuntu-latest
     steps:
       - name: Generate token

.pre-commit-config.yaml

@@ -34,8 +34,9 @@ repos:
       - id: yamllint
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.6.0
+    rev: v0.7.0
     hooks:
+      - id: flake8-ros
       - id: prettier-package-xml
       - id: sort-package-xml
 
@@ -61,20 +62,4 @@ repos:
       - id: black
         args: [--line-length=100]
 
-  - repo: https://github.com/PyCQA/flake8
-    rev: 4.0.1
-    hooks:
-      - id: flake8
-        additional_dependencies:
-          [
-            flake8-blind-except,
-            flake8-builtins,
-            flake8-class-newline,
-            flake8-comprehensions,
-            flake8-deprecated,
-            flake8-docstrings,
-            flake8-import-order,
-            flake8-quotes,
-          ]
-
 exclude: .svg

autoware_launch/rviz/autoware.rviz

@@ -1182,7 +1182,7 @@ Visualization Manager:
                         detection_area: false
                         slow factor_text: true
                         path_raw: false
-                        path_interp: false
+                        path_interpolated: false
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile

control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml

@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    control_rate: 30.0
+    longitudinal_ctrl_period: 0.03
     delay_compensation_time: 0.40
 
     enable_smooth_stop: true

map_launch/launch/map.launch.py

@@ -11,7 +11,9 @@
 # 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.
+import os
 
+from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import GroupAction
@@ -23,9 +25,17 @@
 from launch_ros.actions import Node
 from launch_ros.actions import PushRosNamespace
 from launch_ros.descriptions import ComposableNode
+import yaml
 
 
 def generate_launch_description():
+
+    lanelet2_map_origin_path = os.path.join(
+        get_package_share_directory("map_loader"), "config/lanelet2_map_loader.param.yaml"
+    )
+
+    with open(lanelet2_map_origin_path, "r") as f:
+        lanelet2_map_origin_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     map_hash_generator = Node(
         package="map_loader",
         executable="map_hash_generator",
@@ -47,7 +57,9 @@ def generate_launch_description():
             {
                 "center_line_resolution": 5.0,
                 "lanelet2_map_path": LaunchConfiguration("lanelet2_map_path"),
-            }
+                "lanelet2_map_projector_type": "MGRS",  # Options: MGRS, UTM
+            },
+            lanelet2_map_origin_param,
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )

map_launch/launch/map.launch.xml

@@ -1,4 +1,5 @@
 <launch>
+  <arg name="param_file" default="$(find-pkg-share map_loader)/config/lanelet2_map_loader.param.yaml"/>
   <arg name="map_path" default="" />
   <arg name="lanelet2_map_path" default="$(var map_path)/lanelet2_map.osm" />
   <arg name="pointcloud_map_path" default="$(var map_path)/pointcloud_map.pcd" />
@@ -12,6 +13,9 @@
     <node pkg="map_loader" exec="pointcloud_map_loader" name="pointcloud_map_loader">
       <remap from="output/pointcloud_map" to="/map/pointcloud_map" />
       <param name="pcd_paths_or_directory" value="[$(var pointcloud_map_path)]" />
+      <param name="lanelet2_map_projector_type" value="MGRS"/>
+      <!-- UTM or MGRS -->
+      <param from="$(var param_file)"/>
     </node>
 
     <include file="$(find-pkg-share map_tf_generator)/launch/map_tf_generator.launch.xml">

perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml

@@ -147,15 +147,20 @@
   </group>
 
   <!-- Merger -->
-  <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-    <arg name="input/object0" value="$(var lidar_detection_model)/validation/objects"/>
-    <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
-    <arg name="output/object" value="camera_lidar_fusion/objects"/>
-  </include>
-  <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-    <arg name="input/object0" value="detection_by_tracker/objects"/>
-    <arg name="input/object1" value="camera_lidar_fusion/objects"/>
-    <arg name="output/object" value="objects"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="input/object0" value="$(var lidar_detection_model)/validation/objects"/>
+      <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
+      <arg name="output/object" value="camera_lidar_fusion/objects"/>
+    </include>
+  </group>
+
+  <group>
+    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="input/object0" value="detection_by_tracker/objects"/>
+      <arg name="input/object1" value="camera_lidar_fusion/objects"/>
+      <arg name="output/object" value="objects"/>
+    </include>
+  </group>
 
 </launch>

planning_launch/config/planning_diagnostics/planning_error_monitor.param.yaml

@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    # trajectory check
+    error_interval: 100.0 # error interval distance threshold [m]
+    error_curvature: 2.0 # error curvature threshold [rad/m]
+    error_sharp_angle: 0.785398 # error sharp angle threshold [rad]
+    ignore_too_close_points: 0.01 # ignore too close distance threshold [m]

planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml

@@ -123,6 +123,8 @@
           eps_rel: 1.0e-10 # eps rel when solving OSQP
 
       mpt:
+        bounds_search_widths: [0.45, 0.15, 0.05, 0.01]
+
         clearance:  # clearance(distance) between vehicle and roads/objects when generating trajectory
           hard_clearance_from_road: 0.0 # clearance from road boundary[m]
           soft_clearance_from_road: 0.1 # clearance from road boundary[m]

planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml

@@ -3,6 +3,8 @@
   <!-- planning_error_monitor -->
   <group>
     <include file="$(find-pkg-share planning_error_monitor)/launch/planning_error_monitor.launch.xml">
+      <!-- load config a file -->
+      <arg name="planning_error_monitor_param_path" value="$(find-pkg-share planning_launch)/config/planning_diagnostics/planning_error_monitor.param.yaml" />
     </include>
   </group>
 </launch>

setup.cfg

@@ -1,7 +1,7 @@
 [flake8]
 # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini
 extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000
-import-order-style = google
+import-order-style = pep8
 max-line-length = 100
 show-source = true
 statistics = true

system_launch/launch/dummy_diag_publisher/system.launch.xml

@@ -60,10 +60,6 @@
     <arg name="diag_name" value="HDD Temperature"/>
   </include>
 
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="Network Traffic"/>
-  </include>
-
   <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
     <arg name="diag_name" value="HDD Usage"/>
   </include>