Merge pull request autowarefoundation#146 from tier4/sync-upstream

chore: sync upstream
TomohitoAndo · Jun 2, 2022 · 48779bf · 48779bf
2 parents c445a6f + 68877b5
commit 48779bf
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Showing 13 changed files with 780 additions and 525 deletions.
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
@@ -6,7 +6,20 @@ on:
 jobs:
   build-and-test-differential:
     runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware-universe:latest
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - rosdistro: galactic
+            container: ros:galactic
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            container: ros:humble
+            build-depends-repos: build_depends.repos
     steps:
       - name: Cancel previous runs
         uses: styfle/cancel-workflow-action@0.9.1
@@ -27,18 +40,18 @@ jobs:
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Test
         id: test
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}

diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
@@ -10,7 +10,20 @@ jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
     runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware-universe:latest
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - rosdistro: galactic
+            container: ros:galactic
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            container: ros:humble
+            build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
@@ -26,18 +39,18 @@ jobs:
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         id: test
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -78,7 +78,10 @@
 
   <!-- Planning -->
   <group>
-    <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml"/>
+    <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml">
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    </include>
   </group>
 
   <!-- Control -->

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -94,7 +94,10 @@
 
   <!-- Planning -->
   <group>
-    <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml" if="$(var planning)"/>
+    <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml" if="$(var planning)">
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    </include>
   </group>
 
   <!-- Control -->