Merge pull request #1557 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.35 with tier4/main

.github/CODEOWNERS

@@ -13,19 +13,18 @@ common/autoware_point_types/** [email protected] [email protected]
 common/autoware_test_utils/** [email protected] [email protected] [email protected] [email protected]
 common/autoware_testing/** [email protected] [email protected] [email protected] [email protected]
 common/autoware_universe_utils/** [email protected] [email protected] [email protected]
+common/autoware_vehicle_info_utils/** [email protected] [email protected] [email protected]
 common/bag_time_manager_rviz_plugin/** [email protected]
 common/component_interface_specs/** [email protected] [email protected]
 common/component_interface_tools/** [email protected]
 common/component_interface_utils/** [email protected] [email protected]
-common/cuda_utils/** [email protected] [email protected]
 common/fake_test_node/** [email protected] [email protected] [email protected] [email protected]
 common/global_parameter_loader/** [email protected]
 common/glog_component/** [email protected]
 common/goal_distance_calculator/** [email protected]
 common/interpolation/** [email protected] [email protected]
 common/object_recognition_utils/** [email protected] [email protected] [email protected]
 common/osqp_interface/** [email protected] [email protected] [email protected] [email protected]
-common/perception_utils/** [email protected] [email protected]
 common/polar_grid/** [email protected]
 common/qp_interface/** [email protected] [email protected] [email protected] [email protected]
 common/signal_processing/** [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -35,7 +34,6 @@ common/tier4_api_utils/** [email protected]
 common/tier4_camera_view_rviz_plugin/** [email protected] [email protected]
 common/tier4_datetime_rviz_plugin/** [email protected]
 common/tier4_localization_rviz_plugin/** [email protected] [email protected] [email protected]
-common/tier4_perception_rviz_plugin/** [email protected]
 common/tier4_planning_rviz_plugin/** [email protected] [email protected]
 common/tier4_state_rviz_plugin/** [email protected] [email protected] [email protected]
 common/tier4_system_rviz_plugin/** [email protected]
@@ -62,7 +60,7 @@ control/autoware_vehicle_cmd_gate/** [email protected] tomoya.kimura@tier
 control/control_performance_analysis/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 control/obstacle_collision_checker/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 control/predicted_path_checker/** [email protected]
-evaluator/autoware_control_evaluator/** [email protected] [email protected]
+evaluator/autoware_control_evaluator/** [email protected] [email protected] takayuki.murooka@tier4.jp temkei.kem@tier4.jp
 evaluator/autoware_evaluator_utils/** [email protected] [email protected]
 evaluator/autoware_planning_evaluator/** [email protected] [email protected]
 evaluator/diagnostic_converter/** [email protected] [email protected] [email protected]
@@ -79,6 +77,7 @@ 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/autoware_ekf_localizer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/autoware_geo_pose_projector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/autoware_gyro_odometer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -88,13 +87,12 @@ localization/autoware_localization_error_monitor/** [email protected] kento.
 localization/autoware_pose2twist/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/autoware_pose_covariance_modifier/** [email protected]
 localization/autoware_pose_estimator_arbiter/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+localization/autoware_pose_initializer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/autoware_pose_instability_detector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/autoware_stop_filter/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/autoware_twist2accel/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-localization/ekf_localizer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/localization_util/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/ndt_scan_matcher/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-localization/autoware_pose_initializer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/yabloc/yabloc_common/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/yabloc/yabloc_image_processing/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/yabloc/yabloc_monitor/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -104,7 +102,6 @@ map/autoware_map_height_fitter/** [email protected] [email protected] ke
 map/autoware_map_projection_loader/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 map/autoware_map_tf_generator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 map/map_loader/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-map/util/lanelet2_map_preprocessor/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 perception/autoware_bytetrack/** [email protected] [email protected]
 perception/autoware_cluster_merger/** [email protected] [email protected] [email protected]
 perception/autoware_compare_map_segmentation/** [email protected] [email protected] [email protected]
@@ -144,6 +141,7 @@ perception/autoware_traffic_light_map_based_detector/** [email protected]
 perception/autoware_traffic_light_multi_camera_fusion/** [email protected] [email protected]
 perception/autoware_traffic_light_occlusion_predictor/** [email protected] [email protected]
 perception/autoware_traffic_light_visualization/** [email protected] [email protected]
+perception/perception_utils/** [email protected] [email protected]
 planning/autoware_costmap_generator/** [email protected] [email protected] [email protected]
 planning/autoware_external_velocity_limit_selector/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_freespace_planner/** [email protected] [email protected] [email protected]
@@ -210,15 +208,17 @@ sensing/autoware_radar_scan_to_pointcloud2/** [email protected] shunsuke.m
 sensing/autoware_radar_static_pointcloud_filter/** [email protected] [email protected] [email protected] [email protected]
 sensing/autoware_radar_threshold_filter/** [email protected] [email protected] [email protected] [email protected]
 sensing/autoware_radar_tracks_noise_filter/** [email protected] [email protected] [email protected] [email protected]
+sensing/cuda_utils/** [email protected] [email protected]
 sensing/livox/autoware_livox_tag_filter/** [email protected] [email protected]
 sensing/vehicle_velocity_converter/** [email protected]
 simulator/autoware_carla_interface/** [email protected] [email protected]
 simulator/dummy_perception_publisher/** [email protected]
 simulator/fault_injection/** [email protected]
 simulator/learning_based_vehicle_model/** [email protected] [email protected]
 simulator/simple_planning_simulator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+simulator/tier4_dummy_object_rviz_plugin/** [email protected]
 simulator/vehicle_door_simulator/** [email protected]
-system/autoware_component_monitor/** [email protected]
+system/autoware_component_monitor/** [email protected] memin@leodrive.ai yavuz@leodrive.ai
 system/autoware_default_adapi/** [email protected] [email protected] [email protected]
 system/autoware_processing_time_checker/** [email protected] [email protected]
 system/bluetooth_monitor/** [email protected]
@@ -231,13 +231,11 @@ system/diagnostic_graph_utils/** [email protected]
 system/dummy_diag_publisher/** [email protected] [email protected]
 system/dummy_infrastructure/** [email protected]
 system/duplicated_node_checker/** [email protected] [email protected] [email protected]
-system/emergency_handler/** [email protected] [email protected] [email protected]
 system/hazard_status_converter/** [email protected]
 system/mrm_comfortable_stop_operator/** [email protected] [email protected]
 system/mrm_emergency_stop_operator/** [email protected] [email protected]
 system/mrm_handler/** [email protected] [email protected] [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]
 system/velodyne_monitor/** [email protected]
@@ -246,6 +244,5 @@ vehicle/autoware_accel_brake_map_calibrator/** [email protected] taiki.tana
 vehicle/autoware_external_cmd_converter/** [email protected] [email protected]
 vehicle/autoware_raw_vehicle_cmd_converter/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 vehicle/autoware_steer_offset_estimator/** [email protected]
-vehicle/autoware_vehicle_info_utils/** [email protected] [email protected] [email protected]
 
 ### Copied from .github/CODEOWNERS-manual ###

.github/workflows/cppcheck-differential.yaml

@@ -85,7 +85,7 @@ jobs:
 
       - name: Upload Cppcheck report
         if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' }}
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: cppcheck-report
           path: cppcheck-report.txt

.github/workflows/cppcheck-weekly.yaml

@@ -37,7 +37,7 @@ jobs:
         shell: bash
 
       - name: Upload Cppcheck report
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: cppcheck-report
           path: cppcheck-report.xml

.pre-commit-config.yaml

@@ -34,7 +34,7 @@ repos:
       - id: yamllint
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.9.0
+    rev: v0.10.0
     hooks:
       - id: flake8-ros
       - id: prettier-xacro
@@ -49,7 +49,7 @@ repos:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.8.0-1
+    rev: v3.9.0-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
@@ -60,7 +60,7 @@ repos:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 24.4.2
+    rev: 24.8.0
     hooks:
       - id: black
         args: [--line-length=100]
@@ -79,7 +79,7 @@ repos:
         exclude: .cu
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.6
+    rev: 0.29.2
     hooks:
       - id: check-metaschema
         files: ^.+/schema/.*schema\.json$

build_depends.repos

@@ -16,7 +16,7 @@ repositories:
   core/autoware_lanelet2_extension:
     type: git
     url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
-    version: 0.5.0
+    version: 0.6.1
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git

common/.pages

@@ -41,7 +41,6 @@ nav:
     - 'tier4_camera_view_rviz_plugin': common/tier4_camera_view_rviz_plugin
     - 'tier4_datetime_rviz_plugin': common/tier4_datetime_rviz_plugin
     - 'tier4_localization_rviz_plugin': common/tier4_localization_rviz_plugin
-    - 'tier4_perception_rviz_plugin': common/tier4_perception_rviz_plugin
     - 'tier4_planning_rviz_plugin': common/tier4_planning_rviz_plugin
     - 'tier4_state_rviz_plugin': common/tier4_state_rviz_plugin
     - 'tier4_system_rviz_plugin': common/tier4_system_rviz_plugin

common/autoware_motion_utils/README.md

@@ -97,19 +97,6 @@ const size_t traffic_obj_nearest_idx = findNearestIndexFromLaneId(path_with_lane
 const size_t traffic_obj_nearest_seg_idx = findNearestSegmentIndexFromLaneId(path_with_lane_id, traffic_obj_pos, lane_id);
 ```
 
-## Path/Trajectory length calculation between designated points
-
-Based on the discussion so far, the nearest index search algorithm is different depending on the object type.
-Therefore, we recommended using the wrapper utility functions which require the nearest index search (e.g., calculating the path length) with each nearest index search.
-
-For example, when we want to calculate the path length between the ego and the dynamic object, the implementation is as follows.
-
-```cpp
-const size_t ego_nearest_seg_idx = findFirstNearestSegmentIndex(points, ego_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold);
-const size_t dyn_obj_nearest_seg_idx = findFirstNearestSegmentIndex(points, dyn_obj_pose, dyn_obj_nearest_dist_threshold);
-const double length_from_ego_to_obj = calcSignedArcLength(points, ego_pose, ego_nearest_seg_idx, dyn_obj_pose, dyn_obj_nearest_seg_idx);
-```
-
 ## For developers
 
 Some of the template functions in `trajectory.hpp` are mostly used for specific types (`autoware_planning_msgs::msg::PathPoint`, `autoware_planning_msgs::msg::PathPoint`, `autoware_planning_msgs::msg::TrajectoryPoint`), so they are exported as `extern template` functions to speed-up compilation time.

common/autoware_motion_utils/src/resample/resample.cpp

@@ -21,6 +21,8 @@
 #include "interpolation/spline_interpolation.hpp"
 #include "interpolation/zero_order_hold.hpp"
 
+#include <cstdlib>
+
 namespace autoware::motion_utils
 {
 std::vector<geometry_msgs::msg::Point> resamplePointVector(
@@ -601,11 +603,13 @@ autoware_planning_msgs::msg::Trajectory resampleTrajectory(
   rear_wheel_angle.push_back(input_trajectory.points.front().rear_wheel_angle_rad);
   time_from_start.push_back(
     rclcpp::Duration(input_trajectory.points.front().time_from_start).seconds());
+
   for (size_t i = 1; i < input_trajectory.points.size(); ++i) {
     const auto & prev_pt = input_trajectory.points.at(i - 1);
     const auto & curr_pt = input_trajectory.points.at(i);
     const double ds =
       autoware::universe_utils::calcDistance2d(prev_pt.pose.position, curr_pt.pose.position);
+
     input_arclength.push_back(ds + input_arclength.back());
     input_pose.push_back(curr_pt.pose);
     v_lon.push_back(curr_pt.longitudinal_velocity_mps);
@@ -617,6 +621,19 @@ autoware_planning_msgs::msg::Trajectory resampleTrajectory(
     time_from_start.push_back(rclcpp::Duration(curr_pt.time_from_start).seconds());
   }
 
+  // Set Zero Velocity After Stop Point
+  // If the longitudinal velocity is zero, set the velocity to zero after that point.
+  bool stop_point_found_in_v_lon = false;
+  constexpr double epsilon = 1e-4;
+  for (size_t i = 0; i < v_lon.size(); ++i) {
+    if (std::abs(v_lon.at(i)) < epsilon) {
+      stop_point_found_in_v_lon = true;
+    }
+    if (stop_point_found_in_v_lon) {
+      v_lon.at(i) = 0.0;
+    }
+  }
+
   // Interpolate
   const auto lerp = [&](const auto & input) {
     return interpolation::lerp(input_arclength, input, resampled_arclength);