Merge branch 'main' into mrm-emergency-stop-operator

.cspell.json

@@ -0,0 +1,8 @@
+{
+  "ignorePaths": [
+    "perception/bytetrack/lib/**",
+    "planning/behavior_velocity_intersection_module/scripts/**"
+  ],
+  "ignoreRegExpList": [],
+  "words": ["dltype", "tvmgen", "fromarray"]
+}

.github/PULL_REQUEST_TEMPLATE/small-change.md

@@ -15,6 +15,10 @@ Not applicable.
 
 Not applicable.
 
+## Interface changes
+
+<!-- Describe any changed interfaces, such as topics, services, or parameters, including debugging interfaces -->
+
 ## Pre-review checklist for the PR author
 
 The PR author **must** check the checkboxes below when creating the PR.

.github/PULL_REQUEST_TEMPLATE/standard-change.md

@@ -18,6 +18,19 @@
 
 <!-- Describe any changed interfaces, such as topics, services, or parameters. -->
 
+### ROS Topic Changes
+
+<!-- | Topic Name       | Type                | Direction | Update Description                                            | -->
+<!-- | ---------------- | ------------------- | --------- | ------------------------------------------------------------- | -->
+<!-- | `/example_topic` | `std_msgs/String`   | Subscribe | Description of what the topic is used for in the system       | -->
+<!-- | `/another_topic` | `sensor_msgs/Image` | Publish   | Also explain if it is added / modified / deleted with the PR | -->
+
+### ROS Parameter Changes
+
+<!-- | Parameter Name       | Default Value | Update Description                                  | -->
+<!-- | -------------------- | ------------- | --------------------------------------------------- | -->
+<!-- | `example_parameters` | `1.0`         | Describe the parameter and also explain the updates | -->
+
 ## Effects on system behavior
 
 <!-- Describe how this PR affects the system behavior. -->

.github/workflows/build-and-test-arm64.yaml

@@ -0,0 +1,55 @@
+name: build-and-test-arm64
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  build-and-test-arm64:
+    runs-on: [self-hosted, linux, ARM64]
+    container: ${{ matrix.container }}${{ matrix.container-suffix }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - humble
+        container-suffix:
+          - ""
+          - -cuda
+        include:
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
+            build-depends-repos: build_depends.repos
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Show disk space before the tasks
+        run: df -h
+
+      - name: Remove exec_depend
+        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@v1
+
+      - name: Build
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Test
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Show disk space after the tasks
+        run: df -h

.github/workflows/build-and-test-differential-arm64.yaml

@@ -0,0 +1,67 @@
+name: build-and-test-differential-arm64
+
+on:
+  pull_request:
+    types:
+      - opened
+      - synchronize
+      - labeled
+  workflow_dispatch:
+
+jobs:
+  prevent-no-label-execution:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+    with:
+      label: type:arm64
+
+  build-and-test-differential-arm64:
+    needs: prevent-no-label-execution
+    if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
+    runs-on: [self-hosted, linux, ARM64]
+    container: ${{ matrix.container }}${{ matrix.container-suffix }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - humble
+        container-suffix:
+          - ""
+          - -cuda
+        include:
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
+            build-depends-repos: build_depends.repos
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Show disk space before the tasks
+        run: df -h
+
+      - name: Remove exec_depend
+        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@v1
+
+      - name: Build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Show disk space after the tasks
+        run: df -h

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

@@ -16,7 +16,7 @@ jobs:
   build-and-test-differential:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
-    runs-on: [self-hosted, linux, X64]
+    runs-on: ubuntu-latest
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -28,14 +28,17 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
+            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
+      - name: Show disk space before the tasks
+        run: df -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -69,16 +72,21 @@ jobs:
           verbose: true
           flags: differential
 
+      - name: Show disk space after the tasks
+        run: df -h
+
   clang-tidy-differential:
-    runs-on: [self-hosted, linux, X64]
-    container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
-    needs: build-and-test-differential
+    runs-on: ubuntu-latest
+    container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt-cuda
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
+      - name: Show disk space before the tasks
+        run: df -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 

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

@@ -21,19 +21,14 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
+            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
-      - name: Free disk space (Ubuntu)
-        uses: jlumbroso/[email protected]
-        with:
-          tool-cache: false
-          dotnet: false
-          swap-storage: false
-          large-packages: false
+      - name: Show disk space before the tasks
+        run: df -h
 
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
@@ -67,3 +62,6 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total
+
+      - name: Show disk space after the tasks
+        run: df -h

.github/workflows/check-build-depends.yaml

@@ -20,7 +20,7 @@ jobs:
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1

.github/workflows/clang-tidy-pr-comments-manually.yaml

@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Download analysis results
         run: |
@@ -36,7 +36,7 @@ jobs:
 
       - name: Check out PR head
         if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           repository: ${{ steps.set-variables.outputs.pr-head-repo }}
           ref: ${{ steps.set-variables.outputs.pr-head-ref }}