Merge pull request autowarefoundation#17 from tier4/sync-upstream

chore: sync upstream
yukkysaito · Mar 4, 2022 · f92e938 · f92e938
2 parents acf26ea + eb8015b
commit f92e938
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Showing 93 changed files with 910 additions and 602 deletions.
diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
@@ -26,6 +26,8 @@
     - source: .github/workflows/build-and-test-differential-self-hosted.yaml
     - source: .github/workflows/build-and-test-self-hosted.yaml
     - source: .github/workflows/check-build-depends.yaml
+    - source: .github/workflows/clang-tidy-pr-comments.yaml
+    - source: .github/workflows/sync-files.yaml
 
 - repository: autowarefoundation/autoware-documentation
   files:

diff --git a/.github/workflows/build-and-test-differential-self-hosted.yaml b/.github/workflows/build-and-test-differential-self-hosted.yaml
@@ -10,7 +10,7 @@ on:
 
 jobs:
   prevent-no-label-execution:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@tier4/proposal
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
     with:
       label: ARM64
 
@@ -21,28 +21,28 @@ jobs:
     container: ghcr.io/autowarefoundation/autoware-universe:latest
     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
+        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
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-build@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
 
       - name: Test
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}

diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
@@ -12,20 +12,20 @@ jobs:
         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
+        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
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
@@ -34,7 +34,7 @@ jobs:
       - name: Test
         id: test
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
@@ -54,22 +54,22 @@ jobs:
     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
+        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-self-hosted.yaml b/.github/workflows/build-and-test-self-hosted.yaml
@@ -2,7 +2,7 @@ name: build-and-test-self-hosted
 
 on:
   schedule:
-    - cron: 0 19 * * * # run at 4 AM JST
+    - cron: 0 0 * * *
   workflow_dispatch:
 
 jobs:
@@ -11,26 +11,26 @@ jobs:
     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
+        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@tier4/proposal
+        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: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}

diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
@@ -3,7 +3,7 @@ name: build-and-test
 on:
   push:
   schedule:
-    - cron: 0 19 * * * # run at 4 AM JST
+    - cron: 0 0 * * *
   workflow_dispatch:
 
 jobs:
@@ -13,18 +13,18 @@ jobs:
     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
+        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@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
@@ -33,7 +33,7 @@ jobs:
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         id: test
-        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}

diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml
@@ -14,17 +14,17 @@ jobs:
         uses: styfle/[email protected]
 
       - 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
+        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
-        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}

diff --git a/.github/workflows/clang-tidy-pr-comments.yaml b/.github/workflows/clang-tidy-pr-comments.yaml
@@ -13,7 +13,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Download analysis results
         run: |
@@ -29,7 +29,7 @@ jobs:
           echo ::set-output name=pr-head-ref::"$(cat /tmp/clang-tidy-result/pr-head-ref.txt)"
 
       - name: Check out PR head
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           repository: ${{ steps.set-variables.outputs.pr-head-repo }}
           ref: ${{ steps.set-variables.outputs.pr-head-ref }}

diff --git a/.github/workflows/delete-closed-pr-docs.yaml b/.github/workflows/delete-closed-pr-docs.yaml
@@ -2,19 +2,19 @@ name: delete-closed-pr-docs
 
 on:
   schedule:
-    - cron: 0 19 * * * # run at 4 AM JST
+    - cron: 0 0 * * *
   workflow_dispatch:
 
 jobs:
   delete-closed-pr-docs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
 
       - name: Delete closed PR docs
-        uses: autowarefoundation/autoware-github-actions/delete-closed-pr-docs@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/delete-closed-pr-docs@v1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/deploy-docs.yaml b/.github/workflows/deploy-docs.yaml
@@ -4,7 +4,6 @@ on:
   push:
     branches:
       - main
-      - tier4/proposal
     paths:
       - mkdocs.yaml
       - "**/*.md"
@@ -20,7 +19,7 @@ on:
 
 jobs:
   prevent-no-label-execution:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@tier4/proposal
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
     with:
       label: documentation
 
@@ -30,12 +29,12 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
           ref: ${{ github.event.pull_request.head.sha }}
 
       - name: Deploy docs
-        uses: autowarefoundation/autoware-github-actions/deploy-docs@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/deploy-docs@v1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
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-differential.yaml b/.github/workflows/spell-check-differential.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 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.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/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/build_depends.repos b/build_depends.repos
@@ -7,11 +7,11 @@ repositories:
   core/common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git
-    version: tier4/proposal
+    version: main
   core/autoware:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git
-    version: tier4/proposal
+    version: main
   # universe
   universe/tier4_autoware_msgs:
     type: git

diff --git a/launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml b/launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml
@@ -29,6 +29,12 @@
     # The number of particles to estimate initial pose
     initial_estimate_particles_num: 100
 
+    # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec]
+    initial_pose_timeout_sec: 1.0
+
+    # Tolerance of distance difference between two initial poses used for linear interpolation. [m]
+    initial_pose_distance_tolerance_m: 10.0
+
     # neighborhood search method in OMP
     # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1
     omp_neighborhood_search_method: 0

diff --git a/launch/tier4_perception_launch/launch/occupancy_grid_map/occupancy_grid_map.launch.py b/launch/tier4_perception_launch/launch/occupancy_grid_map/occupancy_grid_map.launch.py
@@ -59,7 +59,7 @@ def add_launch_arg(name: str, default_value=None):
                     "max_height": 2.0,
                     "angle_min": -3.141592,  # -M_PI
                     "angle_max": 3.141592,  # M_PI
-                    "angle_increment": 0.00436332222,  # 0.25*M_PI/180.0
+                    "angle_increment": 0.00349065850,  # 0.20*M_PI/180.0
                     "scan_time": 0.0,
                     "range_min": 1.0,
                     "range_max": 200.0,