chore: sync tier4/autoware.universe:awf-latest

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

@@ -75,7 +75,7 @@ jobs:
 
   clang-tidy-differential:
     needs: build-and-test-differential
-    runs-on: ubuntu-22.04
+    runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
     container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda
     steps:
       - name: Set PR fetch depth

build_depends.repos

@@ -28,7 +28,7 @@ repositories:
   core/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
-    version: 1.3.0
+    version: beta/1.7.0
   core/autoware_internal_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git

common/.pages

@@ -2,7 +2,7 @@ nav:
   - 'Introduction': common
   - 'Testing Libraries':
     - 'autoware_testing': common/autoware_testing/design/autoware_testing-design
-    - 'fake_test_node': common/fake_test_node/design/fake_test_node-design
+    - 'autoware_fake_test_node': common/autoware_fake_test_node/design/fake_test_node-design
     - 'Test Utils': common/autoware_test_utils
   - 'Common Libraries':
     - 'autoware_auto_common':
@@ -22,8 +22,8 @@ nav:
     - 'Signal Processing':
       - 'Introduction': common/autoware_signal_processing
       - 'Butterworth Filter': common/autoware_signal_processing/documentation/ButterworthFilter
+    - 'autoware_traffic_light_utils': common/autoware_traffic_light_utils
     - 'autoware_universe_utils': common/autoware_universe_utils
-    - 'traffic_light_utils': common/traffic_light_utils
   - 'RVIZ2 Plugins':
     - 'autoware_perception_rviz_plugin': common/autoware_perception_rviz_plugin
     - 'autoware_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin
@@ -40,7 +40,7 @@ nav:
     - 'tier4_system_rviz_plugin': common/tier4_system_rviz_plugin
     - 'tier4_traffic_light_rviz_plugin': common/tier4_traffic_light_rviz_plugin
     - 'tier4_vehicle_rviz_plugin': common/tier4_vehicle_rviz_plugin
-    - 'traffic_light_recognition_marker_publisher': common/traffic_light_recognition_marker_publisher/Readme
+    - 'autoware_traffic_light_recognition_marker_publisher': common/autoware_traffic_light_recognition_marker_publisher/Readme
   - 'Node':
     - 'Goal Distance Calculator': common/autoware_goal_distance_calculator/Readme
     - 'Path Distance Calculator': common/autoware_path_distance_calculator/Readme

common/autoware_component_interface_tools/CMakeLists.txt

@@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "ServiceLogChecker"
+  PLUGIN "autoware::component_interface_tools::ServiceLogChecker"
   EXECUTABLE service_log_checker_node
 )
 

common/autoware_component_interface_tools/src/service_log_checker.cpp

@@ -22,6 +22,8 @@
 #define FMT_HEADER_ONLY
 #include <fmt/format.h>
 
+namespace autoware::component_interface_tools
+{
 ServiceLogChecker::ServiceLogChecker(const rclcpp::NodeOptions & options)
 : Node("service_log_checker", options), diagnostics_(this)
 {
@@ -98,6 +100,6 @@ void ServiceLogChecker::update_diagnostics(diagnostic_updater::DiagnosticStatusW
     stat.summary(DiagnosticStatus::ERROR, "ERROR");
   }
 }
-
+}  // namespace autoware::component_interface_tools
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(ServiceLogChecker)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::component_interface_tools::ServiceLogChecker)

common/autoware_component_interface_tools/src/service_log_checker.hpp

@@ -23,6 +23,8 @@
 #include <string>
 #include <unordered_map>
 
+namespace autoware::component_interface_tools
+{
 class ServiceLogChecker : public rclcpp::Node
 {
 public:
@@ -38,5 +40,5 @@ class ServiceLogChecker : public rclcpp::Node
   void update_diagnostics(diagnostic_updater::DiagnosticStatusWrapper & stat);
   std::unordered_map<std::string, std::string> errors_;
 };
-
+}  // namespace autoware::component_interface_tools
 #endif  // SERVICE_LOG_CHECKER_HPP_

common/fake_test_node/CMakeLists.txt → common/autoware_fake_test_node/CMakeLists.txt

@@ -1,17 +1,17 @@
 cmake_minimum_required(VERSION 3.14)
-project(fake_test_node)
+project(autoware_fake_test_node)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(fake_test_node SHARED src/fake_test_node.cpp)
+ament_auto_add_library(${PROJECT_NAME} SHARED src/fake_test_node.cpp)
 
 if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(test_fake_test_node
     test/test_fake_test_node.cpp
   )
-  add_dependencies(test_fake_test_node fake_test_node)
-  target_link_libraries(test_fake_test_node fake_test_node)
+  add_dependencies(test_fake_test_node ${PROJECT_NAME})
+  target_link_libraries(test_fake_test_node ${PROJECT_NAME})
 endif()
 
 ament_auto_package()

common/fake_test_node/design/fake_test_node-design.md → common/autoware_fake_test_node/design/fake_test_node-design.md

@@ -10,8 +10,8 @@ fixture.
 This package contains a library that introduces two utility classes that can be used in place of
 custom fixtures described above to write integration tests for a node:
 
-- `autoware::tools::testing::FakeTestNode` - to use as a custom test fixture with `TEST_F` tests
-- `autoware::tools::testing::FakeTestNodeParametrized` - to use a custom test fixture with the
+- `autoware::fake_test_node::FakeTestNode` - to use as a custom test fixture with `TEST_F` tests
+- `autoware::fake_test_node::FakeTestNodeParametrized` - to use a custom test fixture with the
   parametrized `TEST_P` tests (accepts a template parameter that gets forwarded to
   `testing::TestWithParam<T>`)
 
@@ -30,10 +30,10 @@ Let's say there is a node `NodeUnderTest` that requires testing. It just
 subscribes to `std_msgs::msg::Int32` messages and publishes a
 `std_msgs::msg::Bool` to indicate that the input is positive. To test such a
 node the following code can be used utilizing the
-`autoware::tools::testing::FakeTestNode`:
+`autoware::fake_test_node::FakeTestNode`:
 
 ```cpp
-using FakeNodeFixture = autoware::tools::testing::FakeTestNode;
+using FakeNodeFixture = autoware::fake_test_node::FakeTestNode;
 
 /// @test Test that we can use a non-parametrized test.
 TEST_F(FakeNodeFixture, Test) {

common/fake_test_node/include/fake_test_node/fake_test_node.hpp → common/autoware_fake_test_node/include/autoware/fake_test_node/fake_test_node.hpp

@@ -17,10 +17,10 @@
 /// \copyright Copyright 2021 Apex.AI, Inc.
 /// All rights reserved.
 
-#ifndef FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_
-#define FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_
+#ifndef AUTOWARE__FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_
+#define AUTOWARE__FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_
 
-#include <fake_test_node/visibility_control.hpp>
+#include <autoware/fake_test_node/visibility_control.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <gtest/gtest.h>
@@ -30,11 +30,7 @@
 #include <string>
 #include <type_traits>
 
-namespace autoware
-{
-namespace tools
-{
-namespace testing
+namespace autoware::fake_test_node
 {
 
 ///
@@ -237,8 +233,6 @@ class FAKE_TEST_NODE_PUBLIC FakeTestNode : public detail::FakeNodeCore, public :
   void TearDown() override;
 };
 
-}  // namespace testing
-}  // namespace tools
-}  // namespace autoware
+}  // namespace autoware::fake_test_node
 
-#endif  // FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_
+#endif  // AUTOWARE__FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_

common/fake_test_node/include/fake_test_node/visibility_control.hpp → common/autoware_fake_test_node/include/autoware/fake_test_node/visibility_control.hpp

@@ -17,8 +17,8 @@
 /// \copyright Copyright 2021 Apex.AI, Inc.
 /// All rights reserved.
 
-#ifndef FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_
-#define FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_
+#ifndef AUTOWARE__FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_
+#define AUTOWARE__FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_
 
 ////////////////////////////////////////////////////////////////////////////////
 #if defined(__WIN32)
@@ -39,4 +39,4 @@
 #error "Unsupported Build Configuration"
 #endif  // defined(__WIN32)
 
-#endif  // FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_
+#endif  // AUTOWARE__FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_

common/fake_test_node/package.xml → common/autoware_fake_test_node/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>fake_test_node</name>
+  <name>autoware_fake_test_node</name>
   <version>0.38.0</version>
   <description>A fake node that we can use in the integration-like cpp tests.</description>
   <maintainer email="[email protected]">Apex.AI, Inc.</maintainer>

common/fake_test_node/src/fake_test_node.cpp → common/autoware_fake_test_node/src/fake_test_node.cpp

@@ -17,12 +17,12 @@
 /// \copyright Copyright 2021 Apex.AI, Inc.
 /// All rights reserved.
 
-#include <fake_test_node/fake_test_node.hpp>
+#include <autoware/fake_test_node/fake_test_node.hpp>
 
 #include <memory>
 #include <string>
 
-namespace
+namespace autoware::fake_test_node
 {
 constexpr auto kSpinThread = false;
 constexpr auto kArgc = 0;
@@ -34,15 +34,6 @@ std::string sanitize_test_name(const std::string & name)
   return sanitize_test_name;
 }
 
-}  // namespace
-
-namespace autoware
-{
-namespace tools
-{
-namespace testing
-{
-
 void detail::FakeNodeCore::set_up(const std::string & test_name)
 {
   ASSERT_FALSE(rclcpp::ok());
@@ -76,6 +67,4 @@ void FakeTestNode::TearDown()
   tear_down();
 }
 
-}  // namespace testing
-}  // namespace tools
-}  // namespace autoware
+}  // namespace autoware::fake_test_node

common/fake_test_node/test/test_fake_test_node.cpp → common/autoware_fake_test_node/test/test_fake_test_node.cpp

@@ -17,7 +17,7 @@
 /// \copyright Copyright 2021 Apex.AI, Inc.
 /// All rights reserved.
 
-#include <fake_test_node/fake_test_node.hpp>
+#include <autoware/fake_test_node/fake_test_node.hpp>
 
 #include <std_msgs/msg/bool.hpp>
 #include <std_msgs/msg/int32.hpp>
@@ -30,8 +30,8 @@
 
 using bool8_t = bool;
 
-using FakeNodeFixture = autoware::tools::testing::FakeTestNode;
-using FakeNodeFixtureParametrized = autoware::tools::testing::FakeTestNodeParametrized<bool8_t>;
+using FakeNodeFixture = autoware::fake_test_node::FakeTestNode;
+using FakeNodeFixtureParametrized = autoware::fake_test_node::FakeTestNodeParametrized<bool8_t>;
 using std_msgs::msg::Bool;
 using std_msgs::msg::Int32;
 

common/autoware_motion_utils/include/autoware/motion_utils/factor/steering_factor_interface.hpp

@@ -0,0 +1,51 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// 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.
+
+#ifndef AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_
+#define AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_
+
+#include <autoware_adapi_v1_msgs/msg/planning_behavior.hpp>
+#include <autoware_adapi_v1_msgs/msg/steering_factor.hpp>
+#include <geometry_msgs/msg/pose.hpp>
+
+#include <string>
+
+namespace autoware::motion_utils
+{
+
+using autoware_adapi_v1_msgs::msg::PlanningBehavior;
+using autoware_adapi_v1_msgs::msg::SteeringFactor;
+using SteeringFactorBehavior = SteeringFactor::_behavior_type;
+using SteeringFactorStatus = SteeringFactor::_status_type;
+using geometry_msgs::msg::Pose;
+
+class SteeringFactorInterface
+{
+public:
+  [[nodiscard]] SteeringFactor get() const { return steering_factor_; }
+  void init(const SteeringFactorBehavior & behavior) { behavior_ = behavior; }
+  void reset() { steering_factor_.behavior = PlanningBehavior::UNKNOWN; }
+
+  void set(
+    const std::array<Pose, 2> & pose, const std::array<double, 2> distance,
+    const uint16_t direction, const uint16_t status, const std::string & detail = "");
+
+private:
+  SteeringFactorBehavior behavior_{SteeringFactor::UNKNOWN};
+  SteeringFactor steering_factor_{};
+};
+
+}  // namespace autoware::motion_utils
+
+#endif  // AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_

common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp

@@ -44,6 +44,9 @@ class VelocityFactorInterface
     const std::vector<PointType> & points, const Pose & curr_pose, const Pose & stop_pose,
     const VelocityFactorStatus status, const std::string & detail = "");
 
+  void set(
+    const double & distance, const VelocityFactorStatus & status, const std::string & detail = "");
+
 private:
   VelocityFactorBehavior behavior_{VelocityFactor::UNKNOWN};
   VelocityFactor velocity_factor_{};

common/autoware_motion_utils/src/factor/steering_factor_interface.cpp

@@ -0,0 +1,32 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// 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 <autoware/motion_utils/factor/steering_factor_interface.hpp>
+
+namespace autoware::motion_utils
+{
+void SteeringFactorInterface::set(
+  const std::array<Pose, 2> & pose, const std::array<double, 2> distance, const uint16_t direction,
+  const uint16_t status, const std::string & detail)
+{
+  steering_factor_.pose = pose;
+  std::array<float, 2> converted_distance{0.0, 0.0};
+  for (int i = 0; i < 2; ++i) converted_distance[i] = static_cast<float>(distance[i]);
+  steering_factor_.distance = converted_distance;
+  steering_factor_.behavior = behavior_;
+  steering_factor_.direction = direction;
+  steering_factor_.status = status;
+  steering_factor_.detail = detail;
+}
+}  // namespace autoware::motion_utils

common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp

@@ -36,6 +36,15 @@ void VelocityFactorInterface::set(
   velocity_factor_.detail = detail;
 }
 
+void VelocityFactorInterface::set(
+  const double & distance, const VelocityFactorStatus & status, const std::string & detail)
+{
+  velocity_factor_.behavior = behavior_;
+  velocity_factor_.distance = static_cast<float>(distance);
+  velocity_factor_.status = status;
+  velocity_factor_.detail = detail;
+}
+
 template void VelocityFactorInterface::set<tier4_planning_msgs::msg::PathPointWithLaneId>(
   const std::vector<tier4_planning_msgs::msg::PathPointWithLaneId> &, const Pose &, const Pose &,
   const VelocityFactorStatus, const std::string &);

common/autoware_osqp_interface/CMakeLists.txt

@@ -26,7 +26,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   ${OSQP_INTERFACE_LIB_SRC}
   ${OSQP_INTERFACE_LIB_HEADERS}
 )
-target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast -Wno-error=useless-cast)
+target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast)
 
 target_include_directories(${PROJECT_NAME}
   SYSTEM PUBLIC

common/autoware_osqp_interface/src/osqp_interface.cpp

@@ -430,6 +430,6 @@ void OSQPInterface::logUnsolvedStatus(const std::string & prefix_message) const
   output_message += "Optimization failed due to " + status_message;
 
   // log with warning
-  RCLCPP_WARN(rclcpp::get_logger("osqp_interface"), output_message.c_str());
+  RCLCPP_WARN(rclcpp::get_logger("osqp_interface"), "%s", output_message.c_str());
 }
 }  // namespace autoware::osqp_interface