Merge branch 'tier4/proposal' into 795-AAP

autowarefoundation · Dec 28, 2021 · 992c602 · 992c602
2 parents 2e71c8d + ed3253c
commit 992c602
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Showing 6 changed files with 88 additions and 58 deletions.
diff --git a/.github/workflows/build-and-test-arm-pr.yaml b/.github/workflows/build-and-test-arm-pr.yaml
@@ -25,6 +25,14 @@ jobs:
         with:
           fetch-depth: 0
 
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+
+      - name: Register AutonomouStuff repository
+        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
+        with:
+          rosdistro: galactic
+
       - name: Get modified packages
         id: get-modified-packages
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal

diff --git a/.github/workflows/build-and-test-pr.yaml b/.github/workflows/build-and-test-pr.yaml
@@ -16,6 +16,14 @@ jobs:
         with:
           fetch-depth: 0
 
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+
+      - name: Register AutonomouStuff repository
+        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
+        with:
+          rosdistro: galactic
+
       - name: Get modified packages
         id: get-modified-packages
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
@@ -38,6 +46,14 @@ jobs:
         with:
           fetch-depth: 0
 
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+
+      - name: Register AutonomouStuff repository
+        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
+        with:
+          rosdistro: galactic
+
       - name: Get modified packages
         id: get-modified-packages
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal

diff --git a/.github/workflows/build-and-test-scheduled.yaml b/.github/workflows/build-and-test-scheduled.yaml
@@ -17,6 +17,14 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v2
 
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+
+      - name: Register AutonomouStuff repository
+        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
+        with:
+          rosdistro: galactic
+
       - name: Get self packages
         id: get-self-packages
         uses: autowarefoundation/autoware-github-actions/get-self-packages@tier4/proposal

diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml
@@ -0,0 +1,36 @@
+name: check-build-depends
+
+on:
+  pull_request:
+    paths:
+      - build_depends.repos
+
+jobs:
+  check-build-depends:
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    steps:
+      - name: Cancel previous runs
+        uses: styfle/cancel-workflow-action@0.9.1
+
+      - name: Checkout repository
+        uses: actions/checkout@v2
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+
+      - name: Register AutonomouStuff repository
+        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
+        with:
+          rosdistro: galactic
+
+      - name: Get self packages
+        id: get-self-packages
+        uses: autowarefoundation/autoware-github-actions/get-self-packages@tier4/proposal
+
+      - name: Build and test
+        uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: build_depends.repos
diff --git a/build_depends.repos b/build_depends.repos
@@ -1,69 +1,31 @@
 repositories:
-  launch/aip_launcher:
+  # core
+  core/autoware_msgs:
     type: git
-    url: https://github.com/tier4/AutowareArchitectureProposal_aip_launcher.git
-    version: use-autoware-auto-msgs
-  common/autoware_lint_common:
+    url: https://github.com/tier4/autoware_auto_msgs.git # TODO(Tier IV): Move to autowarefoundation/autoware_msgs
+    version: tier4/main
+  core/common:
     type: git
-    url: https://github.com/tier4/tier4_ament_lint
-    version: main
-  messages/autoware_auto_msgs:
+    url: https://github.com/autowarefoundation/autoware_common.git
+    version: tier4/proposal
+  core/autoware:
     type: git
-    url: https://github.com/tier4/autoware_auto_msgs.git
-    version: tier4/main
-  messages/tier4_msgs:
+    url: https://github.com/autowarefoundation/autoware.core.git
+    version: tier4/proposal
+  # universe
+  universe/tier4_autoware_msgs:
     type: git
-    url: https://github.com/tier4/AutowareArchitectureProposal_msgs.git
+    url: https://github.com/tier4/AutowareArchitectureProposal_msgs.git # TODO(Tier IV): Rename to tier4/tier4_autoware_msgs
     version: tier4/universe
-  vendor/grid_map:
+  universe/vendor/grid_map:
     type: git
     url: https://github.com/ANYbotics/grid_map.git
     version: ba2f9cb6e62f7ee9c5bac7401391a211e442e459
-  vendor/perception_pcl:
-    type: git
-    url: https://github.com/ros-perception/perception_pcl.git
-    version: foxy-devel
-  vendor/topic_tools:
-    type: git
-    url: https://github.com/tier4/topic_tools.git
-    version: tier4/main
-  vendor/rosbridge_suite:
-    type: git
-    url: https://github.com/RobotWebTools/rosbridge_suite.git
-    version: ros2
-  vendor/rosauth:
-    type: git
-    url: https://github.com/GT-RAIL/rosauth.git
-    version: ros2
-  vendor/ndt_omp:
-    type: git
-    url: https://github.com/tier4/ndt_omp.git
-    version: tier4/main
-  vendor/mussp:
+  universe/vendor/mussp:
     type: git
     url: https://github.com/tier4/muSSP.git
     version: tier4/main
-  vendor/hash_library_vendor:
+  universe/vendor/ndt_omp:
     type: git
-    url: https://github.com/tier4/hash_library_vendor.git
-    version: main
-  vendor/pointcloud_to_laserscan:
-    type: git
-    url: https://github.com/tier4/pointcloud_to_laserscan.git
+    url: https://github.com/tier4/ndt_omp.git
     version: tier4/main
-  vendor/pacmod3_msgs:
-    type: git
-    url: https://github.com/astuff/pacmod3_msgs
-    version: main
-  vendor/tamagawa_imu_driver:
-    type: git
-    url: https://github.com/tier4/tamagawa_imu_driver.git
-    version: ros2
-  vendor/livox-driver:
-    type: git
-    url: https://github.com/tier4/livox_ros2_driver.git
-    version: tier4/master
-  vendor/velodyne_vls:
-    type: git
-    url: https://github.com/tier4/velodyne_vls.git
-    version: use-autoware-auto-msgs
diff --git a/localization/pose2twist/src/pose2twist_core.cpp b/localization/pose2twist/src/pose2twist_core.cpp
@@ -28,13 +28,13 @@ Pose2Twist::Pose2Twist() : Node("pose2twist_core")
   rclcpp::QoS durable_qos(queue_size);
   durable_qos.transient_local();
 
-  pose_sub_ = create_subscription<geometry_msgs::msg::PoseStamped>(
-    "pose", queue_size, std::bind(&Pose2Twist::callbackPose, this, _1));
-
   twist_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist", durable_qos);
   linear_x_pub_ = create_publisher<tier4_debug_msgs::msg::Float32Stamped>("linear_x", durable_qos);
   angular_z_pub_ =
     create_publisher<tier4_debug_msgs::msg::Float32Stamped>("angular_z", durable_qos);
+  // Note: this callback publishes topics above
+  pose_sub_ = create_subscription<geometry_msgs::msg::PoseStamped>(
+    "pose", queue_size, std::bind(&Pose2Twist::callbackPose, this, _1));
 }
 
 double calcDiffForRadian(const double lhs_rad, const double rhs_rad)