Merge pull request #349 from tier4/sync-upstream

chore: sync upstream

.github/sync-files.yaml

@@ -21,3 +21,8 @@
     - source: .github/workflows/build-and-test.yaml
     - source: .github/workflows/build-and-test-differential.yaml
     - source: .github/workflows/cancel-previous-workflows.yaml
+
+- repository: autowarefoundation/autoware_launch
+  files:
+    - source: .github/update-sync-param-files.py
+    - source: .github/workflows/update-sync-param-files.yaml

.github/sync-launch-files.yaml

@@ -0,0 +1,13 @@
+- repository: autowarefoundation/autoware_launch
+  files:
+    - source: autoware_launch/launch/autoware.launch.xml
+    - source: autoware_launch/launch/e2e_simulator.launch.xml
+    - source: autoware_launch/launch/logging_simulator.launch.xml
+    - source: autoware_launch/launch/planning_simulator.launch.xml
+    - source: autoware_launch/launch/pointcloud_container.launch.py
+    - source: autoware_launch/rviz/autoware.rviz
+    - source: autoware_launch/rviz/image/autoware.png
+    - source: autoware_launch/CMakeLists.txt
+    - source: autoware_launch/README.md
+    - source: autoware_launch/autoware_launch.drawio.svg
+    - source: autoware_launch/package.xml

.github/update-sync-param-files.py

@@ -0,0 +1,80 @@
+import argparse
+import dataclasses
+from pathlib import Path
+from typing import List
+from typing import Optional
+
+import git
+
+"""
+This module updates `sync-param-files.yaml` based on the launch parameter files in `autoware.universe`.
+"""
+
+REPO_NAME = "autowarefoundation/autoware.universe"
+REPO_URL = f"https://github.com/{REPO_NAME}.git"
+CLONE_PATH = Path("/tmp/autoware.universe")
+
+
+@dataclasses.dataclass
+class FileSyncConfig:
+    source: str
+    dest: str
+    replace: Optional[bool] = None
+    delete_orphaned: Optional[bool] = None
+    pre_commands: Optional[str] = None
+    post_commands: Optional[str] = None
+
+
+def create_tier4_launch_sync_configs(tier4_launch_package_path: Path) -> List[FileSyncConfig]:
+    launch_package_name = tier4_launch_package_path.name
+    launch_config_path = tier4_launch_package_path / "config"
+
+    sync_configs = []
+    for param_file_path in tier4_launch_package_path.glob("config/**/*.param.yaml"):
+        relative_param_file_path = param_file_path.relative_to(launch_config_path)
+
+        source = param_file_path.relative_to(CLONE_PATH)
+        dest = Path("autoware_launch/config") / launch_package_name / relative_param_file_path
+
+        sync_configs.append(FileSyncConfig(str(source), str(dest)))
+
+    return sync_configs
+
+
+def dump_sync_config(section_name: str, sync_configs: List[FileSyncConfig]) -> List[str]:
+    indent = 4 * " "
+    lines = [f"{indent}# {section_name}\n"]
+    for sync_config in sync_configs:
+        lines.append(f"{indent}- source: {sync_config.source}\n")
+        lines.append(f"{indent}  dest: {sync_config.dest}\n")
+    lines.append("\n")
+    return lines
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("sync_param_files_path", type=Path, help="path to sync-param-files.yaml")
+    args = parser.parse_args()
+
+    # Clone Autoware
+    if not CLONE_PATH.exists():
+        git.Repo.clone_from(REPO_URL, CLONE_PATH)
+
+    # Create sync config for tier4_*_launch
+    tier4_launch_package_paths = sorted(
+        CLONE_PATH.glob("launch/tier4_*_launch"), key=lambda p: p.name
+    )
+    tier4_launch_sync_configs_map = {
+        p.name: create_tier4_launch_sync_configs(p) for p in tier4_launch_package_paths
+    }
+
+    # Create sync-param-files.yaml
+    with open(args.sync_param_files_path, "w") as f:
+        f.write(f"- repository: {REPO_NAME}\n")
+        f.write("  files:\n")
+        for section_name, sync_config in tier4_launch_sync_configs_map.items():
+            f.writelines(dump_sync_config(section_name, sync_config))
+
+
+if __name__ == "__main__":
+    main()

.github/workflows/sync-launch-files.yaml

@@ -0,0 +1,37 @@
+name: sync-launch-files
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  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
+        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-launch-files.yaml
+          pr-branch: sync-launch-files
+          pr-title: "chore: sync launch files"
+          pr-commit-message: "chore: sync launch files"
+          pr-labels: |
+            bot
+            sync-launch-files
+          auto-merge-method: squash

.github/workflows/update-sync-param-files.yaml

@@ -0,0 +1,54 @@
+name: update-sync-param-files
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  update-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: Check out repository
+        uses: actions/checkout@v3
+
+      - name: Install GitPython
+        run: |
+          pip3 install GitPython
+        shell: bash
+
+      - name: Generate sync-param-files.yaml
+        run: |
+          python3 .github/update-sync-param-files.py .github/sync-param-files.yaml
+
+      - name: Create PR
+        id: create-pr
+        uses: peter-evans/create-pull-request@v4
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base: ${{ github.event.repository.default_branch }}
+          branch: update-sync-param-files
+          title: "chore: update sync-param-files.yaml"
+          commit-message: "chore: update sync-param-files.yaml"
+          body: ${{ steps.create-pr-body.outputs.body }}
+
+      - name: Check outputs
+        run: |
+          echo "Pull Request Number - ${{ steps.create-pr.outputs.pull-request-number }}"
+          echo "Pull Request URL - ${{ steps.create-pr.outputs.pull-request-url }}"
+        shell: bash
+
+      - name: Enable auto-merge
+        if: ${{ steps.create-pr.outputs.pull-request-operation == 'created' }}
+        uses: peter-evans/enable-pull-request-automerge@v2
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          pull-request-number: ${{ steps.create-pr.outputs.pull-request-number }}
+          merge-method: squash

autoware_launch/launch/autoware.launch.xml

@@ -4,13 +4,16 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
+
   <!-- Optional parameters -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <arg name="cruise_planner_type" default="obstacle_cruise_planner" description="type of cruise planner"/>
   <arg name="use_foa" default="false"/>
   <arg name="use_perfect_lane_change" default="false" />
 
@@ -30,10 +33,11 @@
 
   <!-- Vehicle -->
   <group>
-    <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
+    <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="launch_vehicle_interface" value="true"/>
+      <arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
     </include>
   </group>
 
@@ -84,6 +88,7 @@
     <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml">
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
       <arg name="use_foa" value="$(var use_foa)" />
     </include>
   </group>

autoware_launch/launch/logging_simulator.launch.xml

@@ -44,11 +44,12 @@
 
   <!-- Vehicle -->
   <group>
-    <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml" if="$(var vehicle)">
+    <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml" if="$(var vehicle)">
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="vehicle_id" value="$(var vehicle_id)"/>
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
+      <arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
     </include>
   </group>
 

autoware_launch/launch/planning_simulator.launch.xml

@@ -4,6 +4,8 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
+
   <!-- Optional parameters -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -32,10 +34,11 @@
     <let name="launch_vehicle_interface" value="false" if="$(var vehicle_simulation)"/>
     <let name="launch_vehicle_interface" value="true" unless="$(var vehicle_simulation)"/>
 
-    <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
+    <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
+      <arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
     </include>
   </group>
 

autoware_launch/package.xml

@@ -23,7 +23,7 @@
   <exec_depend>system_launch</exec_depend>
   <exec_depend>tier4_map_launch</exec_depend>
   <exec_depend>tier4_sensing_launch</exec_depend>
-  <exec_depend>vehicle_launch</exec_depend>
+  <exec_depend>tier4_vehicle_launch</exec_depend>
   <exec_depend>web_controller</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml

@@ -2,6 +2,7 @@
 
 /**:
   ros__parameters:
+    transition_timeout: 3.0
     frequency_hz: 10.0
     engage_acceptable_limits:
       allow_autonomous_in_stopped: true  # no check if the velocity is zero, always allowed.

control_launch/launch/control.launch.py

@@ -134,7 +134,7 @@ def launch_setup(context, *args, **kwargs):
         remappings=[
             ("input/emergency_state", "/system/emergency/emergency_state"),
             ("input/steering", "/vehicle/status/steering_status"),
-            ("input/operation_mode", "/control/operation_mode"),
+            ("input/operation_mode", "/system/operation_mode/state"),
             ("input/auto/control_cmd", "/control/trajectory_follower/control_cmd"),
             ("input/auto/turn_indicators_cmd", "/planning/turn_indicators_cmd"),
             ("input/auto/hazard_lights_cmd", "/planning/hazard_lights_cmd"),
@@ -148,6 +148,7 @@ def launch_setup(context, *args, **kwargs):
             ("input/emergency/control_cmd", "/system/emergency/control_cmd"),
             ("input/emergency/hazard_lights_cmd", "/system/emergency/hazard_lights_cmd"),
             ("input/emergency/gear_cmd", "/system/emergency/gear_cmd"),
+            ("input/mrm_state", "/system/fail_safe/mrm_state"),
             ("output/vehicle_cmd_emergency", "/control/command/emergency_cmd"),
             ("output/control_cmd", "/control/command/control_cmd"),
             ("output/gear_cmd", "/control/command/gear_cmd"),
@@ -188,10 +189,8 @@ def launch_setup(context, *args, **kwargs):
             ("control_cmd", "/control/command/control_cmd"),
             ("control_mode_report", "/vehicle/status/control_mode"),
             ("gate_operation_mode", "/control/vehicle_cmd_gate/operation_mode"),
-            ("operation_mode_request", "/system/operation_mode_request"),
             # output
             ("is_autonomous_available", "/control/is_autonomous_available"),
-            ("operation_mode", "/control/operation_mode"),
             ("control_mode_request", "/control/control_mode_request"),
         ],
         parameters=[