Merge pull request #946 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.14.0 with tier4/main

.github/CODEOWNERS

@@ -41,6 +41,7 @@ common/tier4_datetime_rviz_plugin/** [email protected] [email protected]
 common/tier4_debug_rviz_plugin/** [email protected]
 common/tier4_debug_tools/** [email protected]
 common/tier4_localization_rviz_plugin/** [email protected] [email protected] [email protected] [email protected]
+common/tier4_logging_level_configure_rviz_plugin/** [email protected] [email protected] [email protected]
 common/tier4_perception_rviz_plugin/** [email protected]
 common/tier4_planning_rviz_plugin/** [email protected] [email protected] [email protected]
 common/tier4_screen_capture_rviz_plugin/** [email protected]
@@ -84,9 +85,10 @@ launch/tier4_sensing_launch/** [email protected]
 launch/tier4_simulator_launch/** [email protected] [email protected] [email protected] [email protected] [email protected]
 launch/tier4_system_launch/** [email protected] [email protected]
 launch/tier4_vehicle_launch/** [email protected]
-localization/ar_tag_based_localizer/** [email protected] [email protected]
 localization/ekf_localizer/** [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/gyro_odometer/** [email protected] [email protected]
+localization/landmark_based_localizer/ar_tag_based_localizer/** [email protected] [email protected]
+localization/landmark_based_localizer/landmark_tf_caster/** [email protected] [email protected]
 localization/localization_error_monitor/** [email protected] [email protected] [email protected]
 localization/ndt_scan_matcher/** [email protected] [email protected] [email protected] [email protected]
 localization/pose2twist/** [email protected] [email protected]
@@ -150,7 +152,7 @@ planning/behavior_path_planner/** [email protected] kosuke.takeuchi@tier4
 planning/behavior_velocity_blind_spot_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_crosswalk_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_detection_area_module/** [email protected] [email protected] [email protected]
-planning/behavior_velocity_intersection_module/** [email protected] [email protected] [email protected] [email protected]
+planning/behavior_velocity_intersection_module/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_no_drivable_lane_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_no_stopping_area_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_occlusion_spot_module/** [email protected] [email protected] [email protected]
@@ -160,6 +162,7 @@ planning/behavior_velocity_planner_common/** [email protected] shumpei.wakab
 planning/behavior_velocity_run_out_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_speed_bump_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_stop_line_module/** [email protected] [email protected] [email protected]
+planning/behavior_velocity_template_module/** [email protected]
 planning/behavior_velocity_traffic_light_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]
@@ -215,6 +218,8 @@ system/dummy_infrastructure/** [email protected]
 system/emergency_handler/** [email protected]
 system/mrm_comfortable_stop_operator/** [email protected]
 system/mrm_emergency_stop_operator/** [email protected]
+system/system_diagnostic_graph/** [email protected]
+system/system_diagnostic_monitor/** [email protected]
 system/system_error_monitor/** [email protected]
 system/system_monitor/** [email protected] [email protected]
 system/topic_state_monitor/** [email protected]
@@ -224,4 +229,4 @@ vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/** taiki.tanaka@ti
 vehicle/external_cmd_converter/** [email protected]
 vehicle/raw_vehicle_cmd_converter/** [email protected] [email protected] [email protected]
 vehicle/steer_offset_estimator/** [email protected]
-vehicle/vehicle_info_util/** [email protected] [email protected] [email protected] [email protected]
+vehicle/vehicle_info_util/** [email protected] [email protected] [email protected]

.github/sync-files.yaml

@@ -42,20 +42,6 @@
                   - \"\"
                   - -cuda
                 include:" {source}
-    - source: .github/workflows/build-and-test-differential.yaml
-      pre-commands: |
-        sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source}
-
-        sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source}
-        sd -- \
-        "       include:" \
-        "       container-suffix:
-                  - \"\"
-                  - -cuda
-                include:" {source}
-
-        sd "^    container: ghcr.io/autowarefoundation/autoware-universe:(\w+)-latest\$" \
-            "    container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {source}
     - source: .github/workflows/build-and-test-differential-self-hosted.yaml
       pre-commands: |
         sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source}

common/component_interface_specs/CMakeLists.txt

@@ -4,4 +4,38 @@ project(component_interface_specs)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
+include_directories(
+  include
+  SYSTEM
+  ${rclcpp_INCLUDE_DIRS}
+  ${rosidl_runtime_cpp_INCLUDE_DIRS}
+  ${rcl_INCLUDE_DIRS}
+  ${autoware_adapi_v1_msgs_INCLUDE_DIRS}
+  ${autoware_auto_planning_msgs_INCLUDE_DIRS}
+  ${autoware_planning_msgs_INCLUDE_DIRS}
+  ${autoware_auto_vehicle_msgs_INCLUDE_DIRS}
+  ${tier4_control_msgs_INCLUDE_DIRS}
+  ${nav_msgs_INCLUDE_DIRS}
+  ${tier4_system_msgs_INCLUDE_DIRS}
+  ${tier4_vehicle_msgs_INCLUDE_DIRS}
+  ${autoware_auto_perception_msgs_INCLUDE_DIRS}
+  ${tier4_map_msgs_INCLUDE_DIRS}
+)
+
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_component_interface_specs
+    test/gtest_main.cpp
+    test/test_planning.cpp
+    test/test_control.cpp
+    test/test_localization.cpp
+    test/test_system.cpp
+    test/test_map.cpp
+    test/test_perception.cpp
+    test/test_vehicle.cpp
+  )
+  target_include_directories(test_component_interface_specs
+    PRIVATE include
+  )
+endif()
+
 ament_auto_package()

common/component_interface_specs/package.xml

@@ -11,13 +11,28 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ament_cmake_core</buildtool_depend>
+  <buildtool_depend>ament_cmake_export_dependencies</buildtool_depend>
+  <buildtool_depend>ament_cmake_test</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
+  <buildtool_export_depend>ament_cmake_test</buildtool_export_depend>
+
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_auto_perception_msgs</depend>
+  <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>rcl</depend>
+  <depend>rclcpp</depend>
+  <depend>rosidl_runtime_cpp</depend>
+  <depend>tier4_control_msgs</depend>
   <depend>tier4_map_msgs</depend>
+  <depend>tier4_system_msgs</depend>
   <depend>tier4_vehicle_msgs</depend>
-
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

common/component_interface_specs/test/gtest_main.cpp

@@ -0,0 +1,21 @@
+// Copyright 2023 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "gtest/gtest.h"
+
+int main(int argc, char * argv[])
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

common/component_interface_specs/test/test_control.cpp

@@ -0,0 +1,46 @@
+// Copyright 2023 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "component_interface_specs/control.hpp"
+#include "gtest/gtest.h"
+
+TEST(control, interface)
+{
+  {
+    using control_interface::IsPaused;
+    IsPaused is_paused;
+    size_t depth = 1;
+    EXPECT_EQ(is_paused.depth, depth);
+    EXPECT_EQ(is_paused.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+    EXPECT_EQ(is_paused.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+  }
+
+  {
+    using control_interface::IsStartRequested;
+    IsStartRequested is_start_requested;
+    size_t depth = 1;
+    EXPECT_EQ(is_start_requested.depth, depth);
+    EXPECT_EQ(is_start_requested.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+    EXPECT_EQ(is_start_requested.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+  }
+
+  {
+    using control_interface::IsStopped;
+    IsStopped is_stopped;
+    size_t depth = 1;
+    EXPECT_EQ(is_stopped.depth, depth);
+    EXPECT_EQ(is_stopped.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+    EXPECT_EQ(is_stopped.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+  }
+}

common/component_interface_specs/test/test_localization.cpp

@@ -0,0 +1,46 @@
+// Copyright 2023 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "component_interface_specs/localization.hpp"
+#include "gtest/gtest.h"
+
+TEST(localization, interface)
+{
+  {
+    using localization_interface::InitializationState;
+    InitializationState initialization_state;
+    size_t depth = 1;
+    EXPECT_EQ(initialization_state.depth, depth);
+    EXPECT_EQ(initialization_state.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+    EXPECT_EQ(initialization_state.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+  }
+
+  {
+    using localization_interface::KinematicState;
+    KinematicState kinematic_state;
+    size_t depth = 1;
+    EXPECT_EQ(kinematic_state.depth, depth);
+    EXPECT_EQ(kinematic_state.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+    EXPECT_EQ(kinematic_state.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
+  }
+
+  {
+    using localization_interface::Acceleration;
+    Acceleration acceleration;
+    size_t depth = 1;
+    EXPECT_EQ(acceleration.depth, depth);
+    EXPECT_EQ(acceleration.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+    EXPECT_EQ(acceleration.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
+  }
+}

common/component_interface_specs/test/test_map.cpp

@@ -0,0 +1,28 @@
+// Copyright 2023 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "component_interface_specs/map.hpp"
+#include "gtest/gtest.h"
+
+TEST(map, interface)
+{
+  {
+    using map_interface::MapProjectorInfo;
+    MapProjectorInfo map_projector;
+    size_t depth = 1;
+    EXPECT_EQ(map_projector.depth, depth);
+    EXPECT_EQ(map_projector.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+    EXPECT_EQ(map_projector.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+  }
+}

common/component_interface_specs/test/test_perception.cpp

@@ -0,0 +1,28 @@
+// Copyright 2023 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "component_interface_specs/perception.hpp"
+#include "gtest/gtest.h"
+
+TEST(perception, interface)
+{
+  {
+    using perception_interface::ObjectRecognition;
+    ObjectRecognition object_recognition;
+    size_t depth = 1;
+    EXPECT_EQ(object_recognition.depth, depth);
+    EXPECT_EQ(object_recognition.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+    EXPECT_EQ(object_recognition.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
+  }
+}

common/component_interface_specs/test/test_planning.cpp

@@ -0,0 +1,64 @@
+// Copyright 2023 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "component_interface_specs/planning.hpp"
+#include "gtest/gtest.h"
+
+TEST(planning, interface)
+{
+  {
+    using planning_interface::RouteState;
+    RouteState state;
+    size_t depth = 1;
+    EXPECT_EQ(state.depth, depth);
+    EXPECT_EQ(state.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+    EXPECT_EQ(state.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+  }
+
+  {
+    using planning_interface::Route;
+    Route route;
+    size_t depth = 1;
+    EXPECT_EQ(route.depth, depth);
+    EXPECT_EQ(route.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+    EXPECT_EQ(route.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+  }
+
+  {
+    using planning_interface::NormalRoute;
+    NormalRoute route;
+    size_t depth = 1;
+    EXPECT_EQ(route.depth, depth);
+    EXPECT_EQ(route.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+    EXPECT_EQ(route.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+  }
+
+  {
+    using planning_interface::MrmRoute;
+    MrmRoute route;
+    size_t depth = 1;
+    EXPECT_EQ(route.depth, depth);
+    EXPECT_EQ(route.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+    EXPECT_EQ(route.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+  }
+
+  {
+    using planning_interface::Trajectory;
+    Trajectory trajectory;
+    size_t depth = 1;
+    EXPECT_EQ(trajectory.depth, depth);
+    EXPECT_EQ(trajectory.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+    EXPECT_EQ(trajectory.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
+  }
+}