Merge pull request #1448 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.32.0 with tier4/main

.cppcheck_suppressions

@@ -2,17 +2,14 @@
 
 checkersReport
 constParameterReference
-constVariableReference
 funcArgNamesDifferent
 functionConst
 functionStatic
-knownConditionTrueFalse
 missingInclude
 missingIncludeSystem
 noConstructor
 passedByValue
 redundantInitialization
-shadowVariable
 // cspell: ignore uninit
 uninitMemberVar
 unknownMacro

.github/sync-files.yaml

@@ -38,7 +38,7 @@
   files:
     - source: .github/workflows/clang-tidy-differential.yaml
       pre-commands: |
-        sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda' {source}
+        sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda' {source}
     - source: .github/workflows/check-build-depends.yaml
     - source: .github/workflows/clang-tidy-pr-comments.yaml
     - source: .github/workflows/clang-tidy-pr-comments-manually.yaml

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

@@ -19,7 +19,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
+            container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository

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

@@ -19,7 +19,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
+            container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository

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

@@ -29,7 +29,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
+            container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
             build-depends-repos: build_depends.repos
     steps:
       - name: Set PR fetch depth

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

@@ -33,7 +33,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
+            container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
             build-depends-repos: build_depends.repos
     steps:
       - name: Set PR fetch depth
@@ -130,7 +130,7 @@ jobs:
   clang-tidy-differential:
     needs: build-and-test-differential
     runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
+    container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda
     steps:
       - name: Set PR fetch depth
         run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"

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

@@ -23,7 +23,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
+            container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository

.github/workflows/pr-agent.yaml

@@ -36,3 +36,5 @@ jobs:
           config.max_model_tokens: 64000
           pr_code_suggestions.max_context_tokens: 12000
           pr_code_suggestions.commitable_code_suggestions: true
+          pr_reviewer.enable_review_labels_effort: false
+          pr_reviewer.enable_review_labels_security: false

build_depends.repos

@@ -8,31 +8,31 @@ repositories:
   core/autoware_cmake:
     type: git
     url: https://github.com/autowarefoundation/autoware_cmake.git
-    version: main
+    version: 1.0.0
   core/autoware_utils:
     type: git
     url: https://github.com/autowarefoundation/autoware_utils.git
-    version: main
+    version: 1.0.0
   core/autoware_lanelet2_extension:
     type: git
     url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
-    version: main
+    version: 0.5.0
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git
     version: main
   core/autoware_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
-    version: main
+    version: 1.1.0
   core/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
-    version: main
+    version: 1.3.0
   core/autoware_internal_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git
-    version: main
+    version: 1.1.0
   # universe
   universe/external/tier4_autoware_msgs:
     type: git

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp

@@ -61,6 +61,10 @@ private Q_SLOTS:
   rviz_common::properties::IntProperty * property_height_;
   rviz_common::properties::IntProperty * property_right_;
   rviz_common::properties::IntProperty * property_top_;
+  rviz_common::properties::ColorProperty * property_bg_color_;
+  rviz_common::properties::FloatProperty * property_bg_alpha_;
+  rviz_common::properties::ColorProperty * property_text_color_;
+
   std::unique_ptr<rviz_common::properties::RosTopicProperty>
     remaining_distance_time_topic_property_;
 

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp

@@ -36,16 +36,15 @@ class RemainingDistanceTimeDisplay
 {
 public:
   RemainingDistanceTimeDisplay();
-  void drawRemainingDistanceTimeDisplay(QPainter & painter, const QRectF & backgroundRect);
+  void drawRemainingDistanceTimeDisplay(
+    QPainter & painter, const QRectF & backgroundRect, const QColor & text_color);
   void updateRemainingDistanceTimeData(
     const autoware_internal_msgs::msg::MissionRemainingDistanceTime::ConstSharedPtr & msg);
 
 private:
   double remaining_distance_;  // Internal variable to store remaining distance
   double remaining_time_;      // Internal variable to store remaining time
 
-  QColor gray = QColor(194, 194, 194);
-
   QImage icon_dist_;
   QImage icon_dist_scaled_;
   QImage icon_time_;

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp

@@ -39,6 +39,12 @@ MissionDetailsDisplay::MissionDetailsDisplay()
     "Right", 10, "Margin from the right border", this, SLOT(update_size()));
   property_top_ = new rviz_common::properties::IntProperty(
     "Top", 10, "Margin from the top border", this, SLOT(update_size()));
+  property_bg_alpha_ = new rviz_common::properties::FloatProperty(
+    "Background Alpha", 0.3, "Background Alpha", this, SLOT(update_size()));
+  property_bg_color_ = new rviz_common::properties::ColorProperty(
+    "Background Color", QColor(0, 0, 0), "Background Color", this, SLOT(update_size()));
+  property_text_color_ = new rviz_common::properties::ColorProperty(
+    "Text Color", QColor(194, 194, 194), "Text Color", this, SLOT(update_size()));
 
   // Initialize the component displays
   remaining_distance_time_display_ = std::make_unique<RemainingDistanceTimeDisplay>();
@@ -154,7 +160,8 @@ void MissionDetailsDisplay::draw_widget(QImage & hud)
   draw_rounded_rect(painter, backgroundRect);
 
   if (remaining_distance_time_display_) {
-    remaining_distance_time_display_->drawRemainingDistanceTimeDisplay(painter, backgroundRect);
+    remaining_distance_time_display_->drawRemainingDistanceTimeDisplay(
+      painter, backgroundRect, property_text_color_->getColor());
   }
 
   painter.end();
@@ -164,8 +171,10 @@ void MissionDetailsDisplay::draw_rounded_rect(QPainter & painter, const QRectF &
 {
   painter.setRenderHint(QPainter::Antialiasing, true);
   QColor colorFromHSV;
-  colorFromHSV.setHsv(0, 0, 29);
-  colorFromHSV.setAlphaF(0.60);
+  colorFromHSV.setHsv(
+    property_bg_color_->getColor().hue(), property_bg_color_->getColor().saturation(),
+    property_bg_color_->getColor().value());
+  colorFromHSV.setAlphaF(property_bg_alpha_->getFloat());
 
   painter.setBrush(colorFromHSV);
 

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp

@@ -60,7 +60,7 @@ void RemainingDistanceTimeDisplay::updateRemainingDistanceTimeData(
 }
 
 void RemainingDistanceTimeDisplay::drawRemainingDistanceTimeDisplay(
-  QPainter & painter, const QRectF & backgroundRect)
+  QPainter & painter, const QRectF & backgroundRect, const QColor & text_color)
 {
   const QFont font("Quicksand", 15, QFont::Bold);
   painter.setFont(font);
@@ -107,7 +107,7 @@ void RemainingDistanceTimeDisplay::drawRemainingDistanceTimeDisplay(
     QRectF rect_text_unit(
       rect.topRight().x() - unit_width, rect.topRight().y(), unit_width, rect.height());
 
-    painter.setPen(gray);
+    painter.setPen(text_color);
     painter.drawText(rect_text_unit, Qt::AlignLeft | Qt::AlignVCenter, str_unit);
 
     // place the value text

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp

@@ -36,7 +36,9 @@ class GearDisplay
 {
 public:
   GearDisplay();
-  void drawGearIndicator(QPainter & painter, const QRectF & backgroundRect);
+  void drawGearIndicator(
+    QPainter & painter, const QRectF & backgroundRect, const QColor & color,
+    const QColor & bg_color);
   void updateGearData(const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
 
 private:

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp

@@ -77,6 +77,12 @@ private Q_SLOTS:
   rviz_common::properties::IntProperty * property_top_;
   rviz_common::properties::ColorProperty * property_signal_color_;
   rviz_common::properties::FloatProperty * property_handle_angle_scale_;
+  rviz_common::properties::ColorProperty * property_background_color_;
+  rviz_common::properties::FloatProperty * property_background_alpha_;
+  rviz_common::properties::ColorProperty * property_primary_color_;
+  rviz_common::properties::ColorProperty * property_light_limit_color_;
+  rviz_common::properties::ColorProperty * property_dark_limit_color_;
+
   std::unique_ptr<rviz_common::properties::RosTopicProperty> steering_topic_property_;
   std::unique_ptr<rviz_common::properties::RosTopicProperty> gear_topic_property_;
   std::unique_ptr<rviz_common::properties::RosTopicProperty> speed_topic_property_;
@@ -103,8 +109,7 @@ private Q_SLOTS:
     turn_signals_sub_;
   rclcpp::Subscription<autoware_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
     hazard_lights_sub_;
-  rclcpp::Subscription<autoware_perception_msgs::msg::TrafficLightGroupArray>::SharedPtr
-    traffic_sub_;
+  rclcpp::Subscription<autoware_perception_msgs::msg::TrafficLightGroup>::SharedPtr traffic_sub_;
   rclcpp::Subscription<tier4_planning_msgs::msg::VelocityLimit>::SharedPtr speed_limit_sub_;
 
   std::mutex property_mutex_;
@@ -118,7 +123,7 @@ private Q_SLOTS:
     const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg);
   void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
   void updateTrafficLightData(
-    const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr msg);
+    const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr msg);
   void drawWidget(QImage & hud);
 };
 }  // namespace autoware_overlay_rviz_plugin

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp

@@ -36,12 +36,11 @@ class SpeedDisplay
 {
 public:
   SpeedDisplay();
-  void drawSpeedDisplay(QPainter & painter, const QRectF & backgroundRect);
+  void drawSpeedDisplay(QPainter & painter, const QRectF & backgroundRect, const QColor & color);
   void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
 
 private:
   float current_speed_;  // Internal variable to store current speed
-  QColor gray = QColor(194, 194, 194);
 };
 
 }  // namespace autoware_overlay_rviz_plugin

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp

@@ -37,14 +37,16 @@ class SpeedLimitDisplay
 {
 public:
   SpeedLimitDisplay();
-  void drawSpeedLimitIndicator(QPainter & painter, const QRectF & backgroundRect);
+  void drawSpeedLimitIndicator(
+    QPainter & painter, const QRectF & backgroundRect, const QColor & color,
+    const QColor & light_color, const QColor & dark_color, const QColor & bg_color,
+    const float bg_alpha);
   void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
   void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
 
 private:
   float current_limit;   // Internal variable to store current gear
   float current_speed_;  // Internal variable to store current speed
-  QColor gray = QColor(194, 194, 194);
 };
 
 }  // namespace autoware_overlay_rviz_plugin

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp

@@ -25,7 +25,6 @@
 
 #include <autoware_perception_msgs/msg/traffic_light_element.hpp>
 #include <autoware_perception_msgs/msg/traffic_light_group.hpp>
-#include <autoware_perception_msgs/msg/traffic_light_group_array.hpp>
 
 #include <OgreColourValue.h>
 #include <OgreMaterial.h>
@@ -40,8 +39,8 @@ class TrafficDisplay
   TrafficDisplay();
   void drawTrafficLightIndicator(QPainter & painter, const QRectF & backgroundRect);
   void updateTrafficLightData(
-    const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr & msg);
-  autoware_perception_msgs::msg::TrafficLightGroupArray current_traffic_;
+    const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr & msg);
+  autoware_perception_msgs::msg::TrafficLightGroup current_traffic_;
 
 private:
   QImage traffic_light_image_;

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp

@@ -54,7 +54,8 @@ void GearDisplay::updateGearData(const autoware_vehicle_msgs::msg::GearReport::C
   current_gear_ = msg->report;  // Assuming msg->report contains the gear information
 }
 
-void GearDisplay::drawGearIndicator(QPainter & painter, const QRectF & backgroundRect)
+void GearDisplay::drawGearIndicator(
+  QPainter & painter, const QRectF & backgroundRect, const QColor & color, const QColor & bg_color)
 {
   // we deal with the different gears here
   std::string gearString;
@@ -90,9 +91,9 @@ void GearDisplay::drawGearIndicator(QPainter & painter, const QRectF & backgroun
   double gearX = backgroundRect.left() + 54;
   double gearY = backgroundRect.height() / 2 - gearBoxSize / 2;
   QRect gearRect(gearX, gearY, gearBoxSize, gearBoxSize);
-  painter.setBrush(gray);
+  painter.setBrush(color);
   painter.drawRoundedRect(gearRect, 10, 10);
-  painter.setPen(Qt::black);
+  painter.setPen(bg_color);
   painter.drawText(gearRect, Qt::AlignCenter, QString::fromStdString(gearString));
 }