chore: sync upstream tier4 universe (#264)

* chore: fix CI settings (#182) Signed-off-by: Kenji Miyake <[email protected]> * chore: sync files (#180) Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]> * chore: sync files (#184) Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]> * feat: add paricle param (#181) Signed-off-by: YamatoAndo <[email protected]> * chore: sync files (#185) * chore: sync files Signed-off-by: GitHub <[email protected]> * Update sync-files.yaml Co-authored-by: kenji-miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * chore: sync files (#186) Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]> * chore: sync system config (#187) Signed-off-by: wep21 <[email protected]> * chore: sync files (#189) Signed-off-by: GitHub <[email protected]> Co-authored-by: wep21 <[email protected]> * chore: replace system config in system launch (#188) Signed-off-by: wep21 <[email protected]> * feat: adds additional configuration flags for behavior_path_planner (#171) * feat: adds additional configuration flags for behavior_path_planner The additional configuration is used to allows avoidance over lane with same and different direction, as well as allows safety margin between linestring and ego. This is a `.iv` launcher https://github.com/tier4/autoware_launcher/pull/496 port. Related PR: autowarefoundation/autoware.universe#285 autowarefoundation/autoware.universe#287 Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Change lateral_collision_margion to 1.0 to reflect changes. The decision to change the parameter value to 1.0 is made after performing drivable area experiment at Odaiba areas on 2nd of February 2022 and meeting between planning control team on 3rd of February 2022. Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix: slightly increase the safety buffer. This increases the shift length to 1.7 + 0.5 * vehicle width. The decision to increase is based on the discussion between planning team and also the advice from the FI team. Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * feat(behavior_velocity): add path marker visualization (#190) Signed-off-by: tanaka3 <[email protected]> * chore: sync files (#193) Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]> * chore: sync files (#194) * chore: sync files Signed-off-by: GitHub <[email protected]> * chore: update workflow files name Signed-off-by: h-ohta <[email protected]> Co-authored-by: h-ohta <[email protected]> Co-authored-by: h-ohta <[email protected]> * chore: sync files (#195) Signed-off-by: GitHub <[email protected]> Co-authored-by: h-ohta <[email protected]> * feat: lateral controller param (#191) * feat: define lat_controller_param_path * feat: change for trajectory_follower params * add args for lat_controller_param_path * chore: fix wrong essential param to optional (#197) * fix wrong param line * move pointcloud_container_name param to optional * fix: typo extra `>` (#199) * Chore arrange perception rviz topics (#196) * feat(autoware_launch): add occupancy grid vizualization Signed-off-by: tanaka3 <[email protected]> * feat(autoware_launch): add object recognition namespace to rviz Signed-off-by: tanaka3 <[email protected]> * fix: delete unused in control_launch (#200) * fix: delete unused in control.launch.py * fix: delete velocity_controller.param.yaml * feat: add system_monitor parameters in sync-files (#201) * chore: update settings of sync-files (#204) Signed-off-by: Kenji Miyake <[email protected]> * feat(control_launch): remove unnecessary params (#206) Signed-off-by: Takayuki Murooka <[email protected]> * chore: sync files (#208) Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]> * feat(atutoware.rviz): disable selectable for pointcloud visualization (#207) Signed-off-by: YamatoAndo <[email protected]> * chore: sync files (#212) Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]> * feat(behavior path planner): update params of behavior path for dynamic drivable area (#209) * feat: load global param (#216) * feat: load global param Signed-off-by: wep21 <[email protected]> * chore: add comment about rosdistro migration Signed-off-by: wep21 <[email protected]> * fix: add feature_remover after apollo segmentation (#217) Signed-off-by: tomoya.kimura <[email protected]> * chore: sync files (#222) * chore: sync files Signed-off-by: GitHub <[email protected]> * Update sync-param-files.yaml Co-authored-by: kenji-miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * chore(perception_launch): update laserscan angle increment to pandar 64 level resolution (#220) Signed-off-by: taikitanaka <[email protected]> * feat: add enable option for image decompressor (#224) * feat: add enable option for image decompressor Signed-off-by: wep21 <[email protected]> * ci: fix flake8 Signed-off-by: wep21 <[email protected]> * feat(behavior_velocity): add merge from private marker (#223) * feat(behavior_velocity): add merge from private marker Signed-off-by: tanaka3 <[email protected]> * feat(behavior_velocity): add factor text Signed-off-by: tanaka3 <[email protected]> * chore: expose traffic light model path arg (#225) Signed-off-by: wep21 <[email protected]> * feat(autoware_launch, simulator_launch): move perception modules to simulator.launch.xml (#227) * feat(autoware_launch, simulator_launch): move perception modules to simulator.launch.xml Signed-off-by: Takayuki Murooka <[email protected]> * remove unnecessary comment Signed-off-by: Takayuki Murooka <[email protected]> * feat(ndt_scan_matcher): add the tolerance of initial pose (#211) * feat(ndt_scan_matcher): add the tolerance of initial pose Signed-off-by: YamatoAndo <[email protected]> * change param name Signed-off-by: YamatoAndo <[email protected]> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: sync files (#229) Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]> * chore: sync files (#230) * chore: sync files Signed-off-by: GitHub <[email protected]> * remove tier4/proposal Signed-off-by: Kenji Miyake <[email protected]> * change cron schedules Signed-off-by: Kenji Miyake <[email protected]> * sync sync-files.yaml Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: kenji-miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * feat: add launch description for cpu usage adaptor (#210) Signed-off-by: TakumiKozaka-T4 <[email protected]> * fix: delete aip dependents (#235) * fix: delete aip dependents * Update package.xml Co-authored-by: Kenji Miyake <[email protected]> * fix: disable awapi_vehicle_get_door_topic_state_monitor (#271) Signed-off-by: Yuma Nihei <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: tier4-autoware-bot[bot] <98652886+tier4-autoware-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <[email protected]> Co-authored-by: Yamato Ando <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: wep21 <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: h-ohta <[email protected]> Co-authored-by: h-ohta <[email protected]> Co-authored-by: Yukihiro Saito <[email protected]> Co-authored-by: Takayuki Murooka <[email protected]> Co-authored-by: Tomoya Kimura <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: TakumiKozaka-T4 <[email protected]> Co-authored-by: Yuma Nihei <[email protected]>
tier4 · Mar 11, 2022 · d5a275b · d5a275b
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diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
@@ -1,22 +1,22 @@
 - repository: autowarefoundation/autoware
   files:
     - source: .github/dependabot.yaml
-    - source: .github/workflows/automatic-rebase.yaml
+    - source: .github/workflows/pre-commit.yaml
     - source: .github/workflows/pre-commit-optional.yaml
     - source: .github/workflows/semantic-pull-request.yaml
-    - source: .github/workflows/spell-check.yaml
+    - source: .github/workflows/spell-check-differential.yaml
     - source: .clang-format
     - source: .markdown-link-check.json
     - source: .markdownlint.yaml
     - source: .pre-commit-config-optional.yaml
     - source: .prettierignore
-    - source: .prettierrc
+    - source: .prettierrc.yaml
     - source: .yamllint.yaml
     - source: CPPLINT.cfg
     - source: setup.cfg
 
 - repository: autowarefoundation/autoware_common
   files:
     - source: .github/workflows/build-and-test.yaml
-    - source: .github/workflows/build-and-test-pr.yaml
-    - source: .github/workflows/pre-commit.yaml
+    - source: .github/workflows/build-and-test-differential.yaml
+    - source: .github/workflows/sync-files.yaml
diff --git a/.github/sync-param-files.yaml b/.github/sync-param-files.yaml
@@ -0,0 +1,30 @@
+- repository: tier4/autoware.universe
+  files:
+    # system
+    ## ad_service_state_monitor
+    - source: system/ad_service_state_monitor/config/ad_service_state_monitor.param.yaml
+      dest: system_launch/config/ad_service_state_monitor.param.yaml
+    - source: system/ad_service_state_monitor/config/ad_service_state_monitor.planning_simulation.param.yaml
+      dest: system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml
+
+    ## system_error_monitor
+    - source: system/system_error_monitor/config/system_error_monitor.param.yaml
+      dest: system_launch/config/system_error_monitor.param.yaml
+    - source: system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml
+      dest: system_launch/config/system_error_monitor.planning_simulation.param.yaml
+
+    ## system_monitor
+    - source: system/system_monitor/config/cpu_monitor.param.yaml
+      dest: system_launch/config/system_monitor/cpu_monitor.param.yaml
+    - source: system/system_monitor/config/gpu_monitor.param.yaml
+      dest: system_launch/config/system_monitor/gpu_monitor.param.yaml
+    - source: system/system_monitor/config/hdd_monitor.param.yaml
+      dest: system_launch/config/system_monitor/hdd_monitor.param.yaml
+    - source: system/system_monitor/config/mem_monitor.param.yaml
+      dest: system_launch/config/system_monitor/mem_monitor.param.yaml
+    - source: system/system_monitor/config/net_monitor.param.yaml
+      dest: system_launch/config/system_monitor/net_monitor.param.yaml
+    - source: system/system_monitor/config/ntp_monitor.param.yaml
+      dest: system_launch/config/system_monitor/ntp_monitor.param.yaml
+    - source: system/system_monitor/config/process_monitor.param.yaml
+      dest: system_launch/config/system_monitor/process_monitor.param.yaml
diff --git a/.github/workflows/automatic-rebase.yaml b/.github/workflows/automatic-rebase.yaml
diff --git a/.github/workflows/build-and-test-pr.yaml → ...orkflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-pr.yaml → ...orkflows/build-and-test-differential.yaml
@@ -1,68 +1,75 @@
-name: build-and-test-pr
+name: build-and-test-differential
 
 on:
   pull_request:
 
 jobs:
-  build-and-test:
+  build-and-test-differential:
     runs-on: ubuntu-latest
-    container: ros:galactic
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
     steps:
       - name: Cancel previous runs
         uses: styfle/[email protected]
 
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
 
       - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
-
-      - name: Register AutonomouStuff repository
-        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
-        with:
-          rosdistro: galactic
+        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@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
 
-      - name: Build and test
+      - name: Build
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           build-depends-repos: build_depends.repos
 
-  clang-tidy:
+      - name: Test
+        id: test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v2
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true
+
+  clang-tidy-differential:
     runs-on: ubuntu-latest
     container: ros:galactic
-    needs: build-and-test
+    needs: build-and-test-differential
     steps:
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
 
       - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
-
-      - name: Register AutonomouStuff repository
-        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
-        with:
-          rosdistro: galactic
+        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@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
 
       - name: Run clang-tidy
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/tier4/proposal/.clang-tidy
+          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
@@ -2,36 +2,47 @@ name: build-and-test
 
 on:
   push:
-    branches:
-      - main
-      - tier4/proposal
   schedule:
-    - cron: 0 19 * * * # run at 4 AM JST
+    - cron: 0 0 * * *
   workflow_dispatch:
 
 jobs:
   build-and-test:
+    if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
     runs-on: ubuntu-latest
-    container: ros:galactic
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
-
-      - name: Register AutonomouStuff repository
-        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
-        with:
-          rosdistro: galactic
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
       - name: Get self packages
         id: get-self-packages
-        uses: autowarefoundation/autoware-github-actions/get-self-packages@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
+
+      - name: Build
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: build_depends.repos
 
-      - name: Build and test
-        uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
+      - name: Test
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        id: test
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
           build-depends-repos: build_depends.repos
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v2
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true
diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml
@@ -8,9 +8,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Run pre-commit
-        uses: autowarefoundation/autoware-github-actions/pre-commit@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/pre-commit@v1
         with:
           pre-commit-config: .pre-commit-config-optional.yaml
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
@@ -8,9 +8,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Run pre-commit
-        uses: autowarefoundation/autoware-github-actions/pre-commit@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/pre-commit@v1
         with:
           pre-commit-config: .pre-commit-config.yaml
diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml
@@ -9,4 +9,4 @@ on:
 
 jobs:
   semantic-pull-request:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@tier4/proposal
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@v1
diff --git a/.github/workflows/spell-check.yaml → ...b/workflows/spell-check-differential.yaml b/.github/workflows/spell-check.yaml → ...b/workflows/spell-check-differential.yaml
@@ -1,16 +1,16 @@
-name: spell-check
+name: spell-check-differential
 
 on:
   pull_request:
 
 jobs:
-  spell-check:
+  spell-check-differential:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Run spell-check
-        uses: autowarefoundation/autoware-github-actions/spell-check@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/spell-check@v1
         with:
           cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/cspell/.cspell.json
diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml
@@ -2,7 +2,7 @@ name: sync-files
 
 on:
   schedule:
-    - cron: 0 19 * * * # run at 4 AM JST
+    - cron: 0 0 * * *
   workflow_dispatch:
 
 jobs:
@@ -17,6 +17,6 @@ jobs:
           private_key: ${{ secrets.PRIVATE_KEY }}
 
       - name: Run sync-files
-        uses: autowarefoundation/autoware-github-actions/sync-files@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/sync-files@v1
         with:
           token: ${{ steps.generate-token.outputs.token }}
diff --git a/.github/workflows/sync-param-files.yaml b/.github/workflows/sync-param-files.yaml
@@ -0,0 +1,26 @@
+name: sync-param-files
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-param-files:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-files
+        uses: autowarefoundation/autoware-github-actions/sync-files@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          config: .github/sync-param-files.yaml
+          pr-branch: sync-param-files
+          pr-title: "chore: sync param files"
+          pr-commit-message: "chore: sync param files"
diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml
@@ -2,7 +2,7 @@ name: sync-upstream
 
 on:
   schedule:
-    - cron: 0 19 * * * # run at 4 AM JST
+    - cron: 0 0 * * *
   workflow_dispatch:
 
 jobs:
@@ -17,7 +17,7 @@ jobs:
           private_key: ${{ secrets.PRIVATE_KEY }}
 
       - name: Run sync-branches
-        uses: autowarefoundation/autoware-github-actions/sync-branches@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
         with:
           token: ${{ steps.generate-token.outputs.token }}
           base-branch: tier4/universe

diff --git a/.prettierrc.yaml b/.prettierrc.yaml
@@ -1,2 +1,2 @@
-printWidth: 120
+printWidth: 100
 tabWidth: 2
diff --git a/.yamllint.yaml b/.yamllint.yaml
@@ -5,6 +5,9 @@ ignore: |
   *.param.yaml
 
 rules:
+  braces:
+    level: error
+    max-spaces-inside: 1 # To format with Prettier
   comments:
     level: error
     min-spaces-from-content: 1 # To be compatible with C++ and Python

diff --git a/CPPLINT.cfg b/CPPLINT.cfg
@@ -9,5 +9,5 @@ filter=-whitespace/braces         # we wrap open curly braces for namespaces, cl
 filter=-whitespace/indent         # we don't indent keywords like public, protected and private with one space
 filter=-whitespace/parens         # we allow closing parenthesis to be on the next line
 filter=-whitespace/semicolon      # we allow the developer to decide about whitespace after a semicolon
-filter=-build/header_guard        # TODO(Kenji Miyake): Support ROS-style rule in cpplint or add auto-fix script in pre-commit
+filter=-build/header_guard        # we automatically fix the names of header guards using pre-commit
 filter=-build/include_order       # we use the custom include order
diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py
@@ -29,6 +29,7 @@ def _create_api_node(node_name, class_name, **kwargs):
 
 def generate_launch_description():
     components = [
+        _create_api_node("cpu_usage", "CpuUsage"),
         _create_api_node("diagnostics", "Diagnostics"),
         _create_api_node("door", "Door"),
         _create_api_node("emergency", "Emergency"),