fix(tier4_perception_launch): camera lidar fusion launch

.github/workflows/beta-to-tier4-main-sync.yaml

@@ -0,0 +1,34 @@
+name: beta-to-tier4-main-sync
+
+on:
+  workflow_dispatch:
+    inputs:
+      source_branch:
+        description: Source branch
+        required: true
+        type: string
+
+jobs:
+  sync-beta-branch:
+    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-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: tier4/main
+          sync-pr-branch: beta-to-tier4-main-sync
+          sync-target-repository: https://github.com/tier4/autoware.universe.git
+          sync-target-branch: ${{ inputs.source_branch }}
+          pr-title: "chore: sync beta branch ${{ inputs.source_branch }} with tier4/main"
+          pr-labels: |
+            bot
+            sync-beta-branch
+          auto-merge-method: merge

.github/workflows/dispatch-push-event.yaml

@@ -0,0 +1,45 @@
+name: dispatch-push-event
+on:
+  push:
+
+jobs:
+  search-dispatch-repo:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - { version: beta/v0.3.**, dispatch-repo: pilot-auto.x1.eve }
+    outputs:
+      dispatch-repo: ${{ steps.search-dispatch-repo.outputs.value }}
+    steps:
+      - name: Search dispatch repo
+        id: search-dispatch-repo
+        run: |
+          if [[ ${{ github.ref_name }} =~ ${{ matrix.version }} ]]; then
+            echo ::set-output name=value::"${{ matrix.dispatch-repo }}"
+            echo "Detected beta branch: ${{ github.ref_name }}"
+            echo "Dispatch repository: ${{ matrix.dispatch-repo }}"
+          fi
+
+  dispatch-push-event:
+    runs-on: ubuntu-latest
+    needs: search-dispatch-repo
+    if: ${{ needs.search-dispatch-repo.outputs.dispatch-repo != '' }}
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.INTERNAL_APP_ID }}
+          private_key: ${{ secrets.INTERNAL_PRIVATE_KEY }}
+
+      # 注意: workflow_dispatchで指定するブランチはmain固定となっているため、dispatch-repoのmainブランチにupdate-beta-branch.yamlが存在することが前提条件。
+      - name: Dispatch the update-beta-branch workflow
+        run: |
+          curl -L \
+          -X POST \
+          -H "Accept: application/vnd.github+json" \
+          -H "Authorization: Bearer ${{ steps.generate-token.outputs.token }}" \
+          -H "X-GitHub-Api-Version: 2022-11-28" \
+          https://api.github.com/repos/tier4/${{ needs.search-dispatch-repo.outputs.dispatch-repo }}/actions/workflows/update-beta-branch.yaml/dispatches \
+          -d '{"ref":"main"}'

.github/workflows/dispatch-release-note.yaml

@@ -0,0 +1,46 @@
+name: dispatch-release-note
+on:
+  push:
+    branches:
+      - beta/v*
+      - tier4/main
+    tags:
+      - v*
+  workflow_dispatch:
+    inputs:
+      beta-branch-or-tag-name:
+        description: The name of the beta branch or tag to write release note
+        type: string
+        required: true
+jobs:
+  dispatch-release-note:
+    runs-on: ubuntu-latest
+    name: release-repository-dispatch
+    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: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Repository dispatch for release note
+        run: |
+          curl \
+          -X POST \
+          -H "Accept: application/vnd.github+json" \
+          -H "Authorization: token ${{ steps.generate-token.outputs.token }}" \
+          -H "X-GitHub-Api-Version: 2022-11-28" \
+          "https://api.github.com/repos/tier4/update-release-notes/dispatches" \
+          -d '{"event_type":"${{ steps.set-tag-name.outputs.ref-name }}"}'

.github/workflows/slack-send.yaml

@@ -0,0 +1,25 @@
+name: slack-send
+on:
+  workflow_run:
+    workflows:
+      - build-and-test
+    types:
+      - completed
+
+jobs:
+  on-failure:
+    if: ${{ github.event.workflow_run.conclusion == 'failure' }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+
+      - name: Send to Slack workflow
+        uses: slackapi/slack-github-action@v1
+        with:
+          payload: |
+            {
+              "workflow-url": "${{ github.event.workflow_run.html_url }}"
+            }
+        env:
+          SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WORKFLOW_WEBHOOK_URL }}

.github/workflows/sync-upstream.yaml

@@ -0,0 +1,49 @@
+name: sync-upstream
+
+on:
+  workflow_dispatch:
+    inputs:
+      target_branch:
+        description: Target branch
+        required: true
+        type: string
+
+jobs:
+  sync-upstream:
+    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: ${{ secrets.PRIVATE_KEY }}
+
+      - uses: actions/setup-node@v3
+        with:
+          node-version: 16
+
+      - run: npm install @holiday-jp/holiday_jp
+
+      - uses: actions/github-script@v6
+        id: is-holiday
+        with:
+          script: |
+            const holiday_jp = require(`${process.env.GITHUB_WORKSPACE}/node_modules/@holiday-jp/holiday_jp`)
+            core.setOutput('holiday', holiday_jp.isHoliday(new Date()));
+      - name: Print warning for invalid branch name
+        if: ${{ inputs.target_branch  == 'tier4/main' }}
+        run: |
+          echo This action cannot be performed on 'tier4/main' branch
+
+      - name: Run sync-branches
+        if: ${{ inputs.target_branch  != 'tier4/main' }}
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: ${{ inputs.target_branch }}
+          sync-pr-branch: sync-upstream
+          sync-target-repository: https://github.com/autowarefoundation/autoware.universe.git
+          sync-target-branch: main
+          pr-title: "chore: sync upstream"
+          auto-merge-method: merge

launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml

@@ -339,22 +339,11 @@
     </include>
   </group>
 
-  <group>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
-      <arg name="input/object1" value="roi_pointcloud_fusion/objects"/>
-      <arg name="output/object" value="$(var lidar_detection_model)_roi_fusion/objects"/>
-      <arg name="priority_mode" value="0"/>
-      <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
-      <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
-    </include>
-  </group>
-
   <group>
     <let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
     <let name="merger/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var lidar_detection_model)_roi_fusion/objects"/>
+      <arg name="input/object0" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
       <arg name="input/object1" value="detection_by_tracker/objects"/>
       <arg name="priority_mode" value="0"/>
       <arg name="output/object" value="$(var merger/output/objects)"/>

perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml

@@ -28,6 +28,7 @@
   <!-- debug -->
   <!-- cspell: ignore minx, maxx, miny, maxy, minz, maxz  -->
   <arg name="debug_mode" default="false"/>
+
   <arg name="filter_scope_minx" default="-100"/>
   <arg name="filter_scope_maxx" default="100"/>
   <arg name="filter_scope_miny" default="-100"/>