Merge branch 'main' into traffic-light-visualization-branch

.cppcheck_suppressions

@@ -1,15 +1,10 @@
 *:*/test/*
 
-arrayIndexThenCheck
 checkersReport
-constParameterPointer
 constParameterReference
-constVariable
 constVariableReference
-containerOutOfBounds
+// cspell: ignore cstyle
 cstyleCast
-duplicateBranch
-duplicateBreak
 funcArgNamesDifferent
 functionConst
 functionStatic
@@ -18,25 +13,17 @@ knownConditionTrueFalse
 missingInclude
 missingIncludeSystem
 noConstructor
-noExplicitConstructor
-noValidConfiguration
 passedByValue
-preprocessorErrorDirective
 redundantInitialization
-returnByReference
-shadowArgument
-shadowFunction
 shadowVariable
-syntaxError
+// cspell: ignore uninit
 uninitMemberVar
 unknownMacro
 unmatchedSuppression
 unreadVariable
 unusedFunction
 unusedStructMember
-unusedVariable
 useInitializationList
 useStlAlgorithm
-uselessOverride
 variableScope
 virtualCallInConstructor

.github/CODEOWNERS

@@ -81,6 +81,7 @@ launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp
 localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_landmark_based_localizer/autoware_landmark_manager/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_pose_covariance_modifier/** melike@leodrive.ai
+localization/autoware_stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp
 localization/geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/gyro_odometer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
@@ -91,7 +92,6 @@ localization/pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masah
 localization/pose_estimator_arbiter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_instability_detector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-localization/stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_common/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
@@ -119,7 +119,6 @@ perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp
 perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
 perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
 perception/lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp
-perception/lidar_centerpoint_tvm/** carl.liu@autocore.ai xinyu.wang@tier4.jp
 perception/lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@tier4.jp
 perception/multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
@@ -152,6 +151,7 @@ planning/autoware_freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp taka
 planning/autoware_mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/autoware_objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp
 planning/autoware_obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
+planning/autoware_obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_path_optimizer/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/autoware_path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp
 planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp
@@ -185,18 +185,17 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_mod
 planning/behavior_velocity_planner/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
+planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp
-planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** maxime.clement@tier4.jp
+planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** maxime.clement@tier4.jp daniel.sanchez@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp
-planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp
-planning/obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
+planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp daniel.sanchez@tier4.jp alqudah.mohammad@tier4.jp
+planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp daniel.sanchez@tier4.jp alqudah.mohammad@tier4.jp
 planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4.jp
 planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp
 planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp

.github/cppcheck-problem-matcher.json

@@ -0,0 +1,16 @@
+{
+  "problemMatcher": [
+    {
+      "owner": "cppcheck",
+      "pattern": [
+        {
+          "regexp": "^([^:]+):(\\d+):(\\d*):\\s(style|portability|performance|warning|error):\\s(.*)$",
+          "file": 1,
+          "line": 2,
+          "column": 3,
+          "message": 5
+        }
+      ]
+    }
+  ]
+}

.github/pull_request_template.md

@@ -0,0 +1,61 @@
+## Description
+
+## Related links
+
+**Parent Issue:**
+
+- Link
+
+<!-- ⬇️🟢
+**Private Links:**
+
+- [CompanyName internal link]()
+⬆️🟢 -->
+
+## How was this PR tested?
+
+## Notes for reviewers
+
+None.
+
+## Interface changes
+
+None.
+
+<!-- ⬇️🔴
+
+### Topic changes
+
+#### Additions and removals
+
+| Change type   | Topic Type      | Topic Name    | Message Type        | Description       |
+|:--------------|:----------------|:--------------|:--------------------|:------------------|
+| Added/Removed | Pub/Sub/Srv/Cli | `/topic_name` | `std_msgs/String`   | Topic description |
+
+#### Modifications
+
+| Version | Topic Type      | Topic Name        | Message Type        | Description       |
+|:--------|:----------------|:------------------|:--------------------|:------------------|
+| Old     | Pub/Sub/Srv/Cli | `/old_topic_name` | `sensor_msgs/Image` | Topic description |
+| New     | Pub/Sub/Srv/Cli | `/new_topic_name` | `sensor_msgs/Image` | Topic description |
+
+### ROS Parameter Changes
+
+#### Additions and removals
+
+| Change type   | Parameter Name | Type     | Default Value | Description       |
+|:--------------|:---------------|:---------|:--------------|:------------------|
+| Added/Removed | `param_name`   | `double` | `1.0`         | Param description |
+
+#### Modifications
+
+| Version | Parameter Name   | Type     | Default Value | Description       |
+|:--------|:-----------------|:---------|:--------------|:------------------|
+| Old     | `old_param_name` | `double` | `1.0`         | Param description |
+| New     | `new_param_name` | `double` | `1.0`         | Param description |
+
+🔴⬆️ -->
+
+## Effects on system behavior
+
+None.

.github/sync-files.yaml

@@ -7,9 +7,6 @@
     - source: .github/ISSUE_TEMPLATE/bug.yaml
     - source: .github/ISSUE_TEMPLATE/config.yml
     - source: .github/ISSUE_TEMPLATE/task.yaml
-    - source: .github/PULL_REQUEST_TEMPLATE.md
-    - source: .github/PULL_REQUEST_TEMPLATE/small-change.md
-    - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md
     - source: .github/dependabot.yaml
     - source: .github/stale.yml
     - source: .github/workflows/cancel-previous-workflows.yaml

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

@@ -37,13 +37,24 @@ jobs:
         id: get-self-packages
         uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
 
+      - name: Export CUDA state as a variable for adding to cache key
+        run: |
+          build_type_cuda_state=nocuda
+          if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
+            build_type_cuda_state=cuda
+          fi
+          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
+          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
+        shell: bash
+
       - name: Build
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
+          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
@@ -62,6 +73,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total-arm64
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

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

@@ -37,13 +37,24 @@ jobs:
         id: get-self-packages
         uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
 
+      - name: Export CUDA state as a variable for adding to cache key
+        run: |
+          build_type_cuda_state=nocuda
+          if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
+            build_type_cuda_state=cuda
+          fi
+          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
+          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
+        shell: bash
+
       - name: Build
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
+          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
@@ -62,6 +73,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h