Merge pull request autowarefoundation#424 from tier4/sync-main-for-de…

…velop sync main for develop
TomohitoAndo · Sep 29, 2021 · 5853dff · 5853dff
2 parents 5e8652f + 794813b
commit 5853dff
Show file tree

Hide file tree

Showing 10 changed files with 163 additions and 133 deletions.
diff --git a/.github/workflows/spell_check_pr.yml b/.github/workflows/spell_check_pr.yml
@@ -16,6 +16,6 @@ jobs:
             --output .github/workflows/.cspell.json \
             https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/cspell/.cspell.json
 
-      - uses: streetsidesoftware/cspell-action@v1.3.1
+      - uses: streetsidesoftware/cspell-action@v1.3.2
         with:
           config: ".github/workflows/.cspell.json"
diff --git a/.github/workflows/sync-rc-develop.yml b/.github/workflows/sync-rc-develop.yml
diff --git a/.github/workflows/sync-rc.yml b/.github/workflows/sync-rc.yml
@@ -12,9 +12,6 @@ on:
         description: "Target RC branch(e.g. rc/v1.0.0)"
         required: true
 
-env:
-  BASE_BRANCH: main
-
 jobs:
   sync-rc:
     runs-on: ubuntu-20.04
@@ -23,7 +20,6 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v2
         with:
-          ref: ${{ env.BASE_BRANCH }}
           fetch-depth: 0
 
       - name: Generate token
@@ -48,6 +44,31 @@ jobs:
           echo ${SYNC_TARGET_BRANCH} | grep -e "^rc/v.*"
           echo "SYNC_BRANCH=sync-rc/${SYNC_TARGET_BRANCH#refs/heads/}" >> $GITHUB_ENV
 
+      - name: Judge BASE_BRANCH
+        run: |
+          function is_main_base() {
+            target_branch="$1"
+
+            main_base=$(git merge-base "${target_branch}" origin/main)
+            develop_base=$(git merge-base "${target_branch}" origin/develop)
+
+            return $(test "${main_base}" = "${develop_base}")
+          }
+
+          if is_main_base "origin/${{ env.SYNC_TARGET_BRANCH }}"; then
+            base_branch=main
+          else
+            base_branch=develop
+          fi
+
+          echo "BASE_BRANCH=${base_branch}" >> $GITHUB_ENV
+
+      - name: Checkout repository
+        uses: actions/checkout@v2
+        with:
+          ref: ${{ env.BASE_BRANCH }}
+          fetch-depth: 0
+
       # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH"
       - name: Reset to sync target branch
         run: |
@@ -60,8 +81,9 @@ jobs:
 
       - name: Rebase on the base branch
         run: |
-          for commit in $(git rev-list --left-only origin/${{ env.BASE_BRANCH }}...HEAD | tac); do
-            git rebase $commit || git rebase --abort
+          for commit in $(git rev-list --left-only "origin/${{ env.BASE_BRANCH }}"...HEAD | tac); do
+            merge_base=$(git merge-base HEAD "origin/${{ env.BASE_BRANCH }}")
+            git rebase --onto "$commit" "$merge_base" "${{ env.BASE_BRANCH }}" || git rebase --abort
           done
 
       - name: Create PR
@@ -76,9 +98,9 @@ jobs:
           base: ${{ env.BASE_BRANCH }}
           branch: ${{ env.SYNC_BRANCH }}
           delete-branch: true
-          title: sync rc
+          title: sync rc ${{ env.SYNC_TARGET_BRANCH }}
           body: |
-            sync rc
+            sync rc ${{ env.SYNC_TARGET_BRANCH }}
           labels: |
             sync-rc
           draft: false

diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml
@@ -0,0 +1,42 @@
+name: Update pre-commit
+
+on:
+  schedule:
+    - cron: "0 19 * * *" # run at 4 AM JST
+  workflow_dispatch:
+
+jobs:
+  update-pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Generate token
+        uses: tibdex/github-app-token@v1
+        id: generate-token
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.APP_PRIVATE_KEY }}
+
+      - name: Setup Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+
+      - name: Install pre-commit
+        run: pip install pre-commit
+
+      - name: Run pre-commit autoupdate
+        run: pre-commit autoupdate
+
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@v3
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base: main
+          branch: update/pre-commit-autoupdate
+          title: Auto-update pre-commit hooks
+          commit-message: Auto-update pre-commit hooks
+          body: |
+            Update versions of tools in pre-commit configs to latest version
+          labels: dependencies
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -34,24 +34,24 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.27.1
+    rev: v0.28.1
     hooks:
       - id: markdownlint
         args: ["-c", ".markdownlint.yaml", "--fix"]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v2.3.2
+    rev: v2.4.1
     hooks:
       - id: prettier
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.1.2
+    rev: v0.2.0
     hooks:
-      - id: prettier-xml
+      - id: prettier-package-xml
       - id: sort-package-xml
 
   - repo: https://github.com/gruntwork-io/pre-commit
-    rev: v0.1.12
+    rev: v0.1.15
     hooks:
       - id: shellcheck
 

diff --git a/localization_launch/config/crop_box_filter_measurement_range.param.yaml b/localization_launch/config/crop_box_filter_measurement_range.param.yaml
@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    input_frame: "base_link"
+    output_frame: "base_link"
+    min_x: -60.0
+    max_x: 60.0
+    min_y: -60.0
+    max_y: 60.0
+    min_z: -30.0
+    max_z: 50.0
+    negative: False
diff --git a/localization_launch/config/random_downsample_filter.param.yaml b/localization_launch/config/random_downsample_filter.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    sample_num: 1500
diff --git a/localization_launch/config/voxel_grid_filter.param.yaml b/localization_launch/config/voxel_grid_filter.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    voxel_size_x: 3.0
+    voxel_size_y: 3.0
+    voxel_size_z: 3.0
diff --git a/localization_launch/launch/util/util.launch.py b/localization_launch/launch/util/util.launch.py
@@ -38,10 +38,7 @@ def load_composable_node_param(param_path):
             ('output',
              LaunchConfiguration('output_measurement_range_sensor_points_topic')),
         ],
-        parameters=[{
-            'input_frame': LaunchConfiguration('base_frame'),
-            'output_frame': LaunchConfiguration('base_frame'),
-        },
+        parameters=[
             load_composable_node_param('crop_box_filter_measurement_range_param_path'),
         ],
         extra_arguments=[{
@@ -73,9 +70,9 @@ def load_composable_node_param(param_path):
             ('output',
              LaunchConfiguration('output_downsample_sensor_points_topic')),
         ],
-        parameters=[{
-            'sample_num': 1500,
-        }],
+        parameters=[
+            load_composable_node_param('random_downsample_filter_param_path')
+        ],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
         }],
@@ -95,23 +92,66 @@ def load_composable_node_param(param_path):
 
 
 def generate_launch_description():
-    def add_launch_arg(name: str, default_value=None):
-        return DeclareLaunchArgument(name, default_value=default_value)
+    launch_arguments = []
+
+    def add_launch_arg(name: str, default_value=None, description=None):
+        arg = DeclareLaunchArgument(name, default_value=default_value, description=description)
+        launch_arguments.append(arg)
+
+    add_launch_arg(
+        'crop_box_filter_measurement_range_param_path',
+        [
+            FindPackageShare('localization_launch'),
+            '/config/crop_box_filter_measurement_range.param.yaml'
+        ],
+        'path to the parameter file of crop_box_filter_measurement_range'
+    )
+    add_launch_arg(
+        'voxel_grid_downsample_filter_param_path',
+        [
+            FindPackageShare('localization_launch'),
+            '/config/voxel_grid_filter.param.yaml'
+        ],
+        'path to the parameter file of voxel_grid_downsample_filter'
+    )
+    add_launch_arg(
+        'random_downsample_filter_param_path',
+        [
+            FindPackageShare('localization_launch'),
+            '/config/random_downsample_filter.param.yaml'
+        ],
+        'path to the parameter file of random_downsample_filter'
+    )
+    add_launch_arg('use_intra_process', 'true', 'use ROS2 component container communication')
+    add_launch_arg(
+        'container',
+        '/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container',
+        'container name'
+    )
+    add_launch_arg(
+        'input_sensor_points_topic',
+        '/sensing/lidar/top/rectified/pointcloud',
+        'input topic name for raw pointcloud'
+    )
+    add_launch_arg(
+        'output_measurement_range_sensor_points_topic',
+        'measurement_range/pointcloud',
+        'output topic name for crop box filter'
+    )
+    add_launch_arg(
+        'output_voxel_grid_downsample_sensor_points_topic',
+        'voxel_grid_downsample/pointcloud',
+        'output topic name for voxel grid downsample filter'
+    )
+    add_launch_arg(
+        'output_downsample_sensor_points_topic',
+        'downsample/pointcloud',
+        'output topic name for downsample filter. this is final output'
+    )
 
-    return launch.LaunchDescription([
-        add_launch_arg('crop_box_filter_measurement_range_param_path',
-                       [
-                           FindPackageShare('localization_launch'),
-                           '/config/',
-                           LaunchConfiguration('environment_name'),
-                           '/crop_box_filter_measurement_range.param.yaml'
-                       ]),
-        add_launch_arg('voxel_grid_downsample_filter_param_path',
-                       [
-                           FindPackageShare('localization_launch'),
-                           '/config/',
-                           LaunchConfiguration('environment_name'),
-                           '/voxel_grid_filter.param.yaml'
-                       ]),
-        OpaqueFunction(function=launch_setup),
-    ])
+    return launch.LaunchDescription(
+        launch_arguments +
+        [
+            OpaqueFunction(function=launch_setup)
+        ]
+    )
diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml
@@ -8,9 +8,6 @@
   <arg name="output_voxel_grid_downsample_sensor_points_topic" default="voxel_grid_downsample/pointcloud" description="output topic name for voxel grid downsample filter"/>
   <arg name="output_downsample_sensor_points_topic" default="downsample/pointcloud" description="output topic name for downsample filter. this is final output"/>
 
-  <!-- frame_ids -->
-  <arg name="base_frame" default="base_link" description="Vehicle reference frame, for processing crop_box" />
-
   <!-- container -->
   <arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"  description="container name"/>