Merge pull request #1403 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.30.0 with tier4/main

.cppcheck_suppressions

@@ -1,59 +1,33 @@
-arrayIndexThenCheck
-assignBoolToFloat
+*:*/test/*
+
 checkersReport
-constParameterPointer
 constParameterReference
-constStatement
-constVariable
-constVariablePointer
 constVariableReference
-containerOutOfBounds
+// cspell: ignore cstyle
 cstyleCast
-ctuOneDefinitionRuleViolation
-current_deleted_index
-duplicateAssignExpression
-duplicateBranch
-duplicateBreak
-duplicateCondition
-duplicateExpression
 funcArgNamesDifferent
 functionConst
 functionStatic
 invalidPointerCast
 knownConditionTrueFalse
 missingInclude
 missingIncludeSystem
-multiCondition
 noConstructor
 noExplicitConstructor
 noValidConfiguration
-obstacle_cruise_planner
 passedByValue
 preprocessorErrorDirective
-redundantAssignment
-redundantContinue
-redundantIfRemove
 redundantInitialization
-returnByReference
-selfAssignment
-shadowArgument
 shadowFunction
 shadowVariable
-stlFindInsert
-syntaxError
+// cspell: ignore uninit
 uninitMemberVar
 unknownMacro
 unmatchedSuppression
-unpreciseMathCall
 unreadVariable
-unsignedLessThanZero
 unusedFunction
-unusedScopedObject
 unusedStructMember
-unusedVariable
 useInitializationList
 useStlAlgorithm
-uselessCallsSubstr
-uselessOverride
 variableScope
 virtualCallInConstructor

.github/cppcheck-problem-matcher.json

@@ -0,0 +1,16 @@
+{
+  "problemMatcher": [
+    {
+      "owner": "cppcheck",
+      "pattern": [
+        {
+          "regexp": "^([^:]+):(\\d+):(\\d*):\\s(style|portability|performance|warning|error):\\s(.*)$",
+          "file": 1,
+          "line": 2,
+          "column": 3,
+          "message": 5
+        }
+      ]
+    }
+  ]
+}

.github/pull_request_template.md

@@ -0,0 +1,61 @@
+## Description
+
+## Related links
+
+**Parent Issue:**
+
+- Link
+
+<!-- ⬇️🟢
+**Private Links:**
+
+- [CompanyName internal link]()
+⬆️🟢 -->
+
+## How was this PR tested?
+
+## Notes for reviewers
+
+None.
+
+## Interface changes
+
+None.
+
+<!-- ⬇️🔴
+
+### Topic changes
+
+#### Additions and removals
+
+| Change type   | Topic Type      | Topic Name    | Message Type        | Description       |
+|:--------------|:----------------|:--------------|:--------------------|:------------------|
+| Added/Removed | Pub/Sub/Srv/Cli | `/topic_name` | `std_msgs/String`   | Topic description |
+
+#### Modifications
+
+| Version | Topic Type      | Topic Name        | Message Type        | Description       |
+|:--------|:----------------|:------------------|:--------------------|:------------------|
+| Old     | Pub/Sub/Srv/Cli | `/old_topic_name` | `sensor_msgs/Image` | Topic description |
+| New     | Pub/Sub/Srv/Cli | `/new_topic_name` | `sensor_msgs/Image` | Topic description |
+
+### ROS Parameter Changes
+
+#### Additions and removals
+
+| Change type   | Parameter Name | Type     | Default Value | Description       |
+|:--------------|:---------------|:---------|:--------------|:------------------|
+| Added/Removed | `param_name`   | `double` | `1.0`         | Param description |
+
+#### Modifications
+
+| Version | Parameter Name   | Type     | Default Value | Description       |
+|:--------|:-----------------|:---------|:--------------|:------------------|
+| Old     | `old_param_name` | `double` | `1.0`         | Param description |
+| New     | `new_param_name` | `double` | `1.0`         | Param description |
+
+🔴⬆️ -->
+
+## Effects on system behavior
+
+None.

.github/sync-files.yaml

@@ -7,9 +7,6 @@
     - source: .github/ISSUE_TEMPLATE/bug.yaml
     - source: .github/ISSUE_TEMPLATE/config.yml
     - source: .github/ISSUE_TEMPLATE/task.yaml
-    - source: .github/PULL_REQUEST_TEMPLATE.md
-    - source: .github/PULL_REQUEST_TEMPLATE/small-change.md
-    - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md
     - source: .github/dependabot.yaml
     - source: .github/stale.yml
     - source: .github/workflows/cancel-previous-workflows.yaml

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

@@ -37,13 +37,24 @@ jobs:
         id: get-self-packages
         uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
 
+      - name: Export CUDA state as a variable for adding to cache key
+        run: |
+          build_type_cuda_state=nocuda
+          if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
+            build_type_cuda_state=cuda
+          fi
+          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
+          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
+        shell: bash
+
       - 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 }}
+          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
@@ -62,6 +73,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total-arm64
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

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

@@ -37,13 +37,24 @@ jobs:
         id: get-self-packages
         uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
 
+      - name: Export CUDA state as a variable for adding to cache key
+        run: |
+          build_type_cuda_state=nocuda
+          if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
+            build_type_cuda_state=cuda
+          fi
+          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
+          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
+        shell: bash
+
       - 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 }}
+          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
@@ -62,6 +73,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

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

@@ -51,13 +51,24 @@ jobs:
         id: get-modified-packages
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
 
+      - name: Export CUDA state as a variable for adding to cache key
+        run: |
+          build_type_cuda_state=nocuda
+          if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
+            build_type_cuda_state=cuda
+          fi
+          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
+          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
+        shell: bash
+
       - 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 }}
+          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
 
       - name: Test
         id: test
@@ -76,6 +87,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: differential-arm64
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h