Merge branch 'main' into feature/pointcloud_based_occupancy_grid_map

.markdownlint.yaml

@@ -1,7 +1,9 @@
+# See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules.
 default: true
 MD013: false
 MD024:
   siblings_only: true
 MD033: false
 MD041: false
 MD046: false
+MD049: false

.pre-commit-config.yaml

@@ -19,13 +19,13 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.30.0
+    rev: v0.31.1
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v2.5.1
+    rev: v2.6.2
     hooks:
       - id: prettier
 
@@ -35,19 +35,21 @@ repos:
       - id: yamllint
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.5.1
+    rev: v0.6.0
     hooks:
+      - id: prettier-xacro
+      - id: prettier-launch-xml
       - id: prettier-package-xml
       - id: sort-package-xml
       - id: ros-include-guard
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.8.0.3
+    rev: v0.8.0.4
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.4.2-1
+    rev: v3.4.3-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
@@ -86,7 +88,7 @@ repos:
         types_or: [c++, c, cuda]
 
   - repo: https://github.com/cpplint/cpplint
-    rev: 1.5.5
+    rev: 1.6.0
     hooks:
       - id: cpplint
         args: [--quiet]

.prettierrc.yaml

@@ -1,2 +1,20 @@
 printWidth: 100
 tabWidth: 2
+overrides:
+  - files: package.xml
+    options:
+      printWidth: 1000
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
+
+  - files: "*.launch.xml"
+    options:
+      printWidth: 200
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
+
+  - files: "*.xacro"
+    options:
+      printWidth: 200
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore

CPPLINT.cfg

@@ -11,3 +11,4 @@ filter=-whitespace/parens         # we allow closing parenthesis to be on the ne
 filter=-whitespace/semicolon      # we allow the developer to decide about whitespace after a semicolon
 filter=-build/header_guard        # we automatically fix the names of header guards using pre-commit
 filter=-build/include_order       # we use the custom include order
+filter=-build/include_subdir      # we allow the style of "foo.hpp"

common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml

@@ -1,6 +1,6 @@
 <launch>
-  <arg name="oneshot" default="false" />
-  <arg name="config_file" default="$(find-pkg-share goal_distance_calculator)/config/goal_distance_calculator.param.yaml" />
+  <arg name="oneshot" default="false"/>
+  <arg name="config_file" default="$(find-pkg-share goal_distance_calculator)/config/goal_distance_calculator.param.yaml"/>
   <node pkg="goal_distance_calculator" exec="goal_distance_calculator_node" name="goal_distance_calculator" output="screen">
     <param from="$(var config_file)"/>
     <param name="oneshot" value="$(var oneshot)"/>

common/goal_distance_calculator/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>goal_distance_calculator</name>
   <version>0.0.0</version>
-  <description>The goal_distance_calculator package </description>
+  <description>The goal_distance_calculator package</description>
   <maintainer email="ttatcoder@outlook.jp">Taiki Tanaka</maintainer>
   <license>Apache License 2.0</license>
 

common/path_distance_calculator/launch/path_distance_calculator.launch.xml

@@ -1,8 +1,8 @@
 <launch>
-  <arg name="path" default="/planning/scenario_planning/lane_driving/behavior_planning/path" />
-  <arg name="distance" default="~/distance" />
+  <arg name="path" default="/planning/scenario_planning/lane_driving/behavior_planning/path"/>
+  <arg name="distance" default="~/distance"/>
   <node pkg="path_distance_calculator" exec="path_distance_calculator_node" name="path_distance_calculator">
-    <remap from="~/input/path" to="$(var path)" />
-    <remap from="~/output/distance" to="$(var distance)" />
+    <remap from="~/input/path" to="$(var path)"/>
+    <remap from="~/output/distance" to="$(var distance)"/>
   </node>
 </launch>

common/path_distance_calculator/package.xml

@@ -1,7 +1,6 @@
 <?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>path_distance_calculator</name>
   <version>0.0.0</version>
   <description>The path_distance_calculator package</description>
@@ -20,5 +19,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>

common/polar_grid/package.xml

@@ -24,5 +24,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_api_utils/package.xml

@@ -1,7 +1,6 @@
 <?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>tier4_api_utils</name>
   <version>0.0.0</version>
   <description>The tier4_api_utils package</description>
@@ -24,5 +23,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>

common/tier4_datetime_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="2">
-
   <name>tier4_datetime_rviz_plugin</name>
   <version>0.0.0</version>
   <description>The tier4_datetime_rviz_plugin package</description>
@@ -22,5 +21,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_debug_tools/launch/lateral_error_publisher.launch.xml

@@ -1,6 +1,5 @@
 <launch>
-
-   <arg name="lateral_error_publisher_param_path" default="$(find-pkg-share tier4_debug_tools)/config/lateral_error_publisher.param.yaml"/>
+  <arg name="lateral_error_publisher_param_path" default="$(find-pkg-share tier4_debug_tools)/config/lateral_error_publisher.param.yaml"/>
 
   <!-- mpc for trajectory following -->
   <node pkg="tier4_debug_tools" exec="lateral_error_publisher_node" name="lateral_error_publisher" output="screen">
@@ -9,5 +8,4 @@
     <remap from="~/input/vehicle_pose_with_covariance" to="/localization/pose_with_covariance"/>
     <remap from="~/input/ground_truth_pose_with_covariance" to="/localization/pose_with_covariance"/>
   </node>
-
 </launch>

common/tier4_localization_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="3">
-
   <name>tier4_localization_rviz_plugin</name>
   <version>0.1.0</version>
   <description>The tier4_localization_rviz_plugin package</description>
@@ -25,5 +24,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_planning_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="3">
-
   <name>tier4_planning_rviz_plugin</name>
   <version>0.1.0</version>
   <description>The tier4_planning_rviz_plugin package</description>
@@ -28,5 +27,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_simulated_clock_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="2">
-
   <name>tier4_simulated_clock_rviz_plugin</name>
   <version>0.0.1</version>
   <description>Rviz plugin to publish and control the /clock topic</description>
@@ -23,5 +22,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_state_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="2">
-
   <name>tier4_state_rviz_plugin</name>
   <version>0.0.0</version>
   <description>The autoware state rviz plugin package</description>
@@ -26,5 +25,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp

@@ -110,10 +110,10 @@ void AutowareStatePanel::onInitialize()
     "/vehicle/status/gear_status", 10, std::bind(&AutowareStatePanel::onShift, this, _1));
 
   sub_engage_ = raw_node_->create_subscription<tier4_external_api_msgs::msg::EngageStatus>(
-    "/api/external/get/engage", 10, std::bind(&AutowareStatePanel::onEngageStatus, this, _1));
+    "/api/autoware/get/engage", 10, std::bind(&AutowareStatePanel::onEngageStatus, this, _1));
 
   client_engage_ = raw_node_->create_client<tier4_external_api_msgs::srv::Engage>(
-    "/api/external/set/engage", rmw_qos_profile_services_default);
+    "/api/autoware/set/engage", rmw_qos_profile_services_default);
 }
 
 void AutowareStatePanel::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg)

control/control_performance_analysis/launch/controller_performance_analysis.launch.xml

@@ -1,23 +1,22 @@
 <launch>
-
-  <arg name="control_performance_analysis_param_path" default="$(find-pkg-share control_performance_analysis)/config/control_performance_analysis.param.yaml" />
-  <arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory" />
-  <arg name="input/control_raw" default="/control/trajectory_follower/lateral/control_cmd" />
-  <arg name="input/measured_steering" default="/vehicle/status/steering_status" />
-  <arg name="input/current_odometry" default="/localization/kinematic_state" />
-  <arg name="output/error_stamped" default="/control_performance/performance_vars" />
+  <arg name="control_performance_analysis_param_path" default="$(find-pkg-share control_performance_analysis)/config/control_performance_analysis.param.yaml"/>
+  <arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory"/>
+  <arg name="input/control_raw" default="/control/trajectory_follower/lateral/control_cmd"/>
+  <arg name="input/measured_steering" default="/vehicle/status/steering_status"/>
+  <arg name="input/current_odometry" default="/localization/kinematic_state"/>
+  <arg name="output/error_stamped" default="/control_performance/performance_vars"/>
 
   <!-- vehicle info -->
-  <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" />
+  <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
 
   <node pkg="control_performance_analysis" exec="control_performance_analysis" name="control_performance_analysis" output="screen">
-    <param from="$(var control_performance_analysis_param_path)" />
-    <param from="$(var vehicle_info_param_file)" />
+    <param from="$(var control_performance_analysis_param_path)"/>
+    <param from="$(var vehicle_info_param_file)"/>
 
-    <remap from="~/input/reference_trajectory" to="$(var input/reference_trajectory)" />
-    <remap from="~/input/control_raw" to="$(var input/control_raw)" />
-    <remap from="~/input/measured_steering" to="$(var input/measured_steering)" />
-    <remap from="~/input/current_odometry" to="$(var input/current_odometry)" />
-    <remap from="~/output/error_stamped" to="$(var output/error_stamped)" />
+    <remap from="~/input/reference_trajectory" to="$(var input/reference_trajectory)"/>
+    <remap from="~/input/control_raw" to="$(var input/control_raw)"/>
+    <remap from="~/input/measured_steering" to="$(var input/measured_steering)"/>
+    <remap from="~/input/current_odometry" to="$(var input/current_odometry)"/>
+    <remap from="~/output/error_stamped" to="$(var output/error_stamped)"/>
   </node>
 </launch>

control/external_cmd_selector/launch/external_cmd_selector.launch.xml

@@ -1,49 +1,47 @@
 <launch>
-
   <!-- settings -->
-  <arg name="initial_selector_mode" default="local" description="local, remote" />
+  <arg name="initial_selector_mode" default="local" description="local, remote"/>
 
   <!-- service -->
-  <arg name="service/select_external_command" default="~/select_external_command" />
+  <arg name="service/select_external_command" default="~/select_external_command"/>
 
   <!-- input local -->
-  <arg name="input/local/control_cmd" default="/api/external/set/command/local/control" />
-  <arg name="input/local/shift_cmd" default="/api/external/set/command/local/shift" />
-  <arg name="input/local/turn_signal_cmd" default="/api/external/set/command/local/turn_signal" />
-  <arg name="input/local/heartbeat" default="/api/external/set/command/local/heartbeat" />
+  <arg name="input/local/control_cmd" default="/api/external/set/command/local/control"/>
+  <arg name="input/local/shift_cmd" default="/api/external/set/command/local/shift"/>
+  <arg name="input/local/turn_signal_cmd" default="/api/external/set/command/local/turn_signal"/>
+  <arg name="input/local/heartbeat" default="/api/external/set/command/local/heartbeat"/>
 
   <!-- input remote -->
-  <arg name="input/remote/control_cmd" default="/api/external/set/command/remote/control" />
-  <arg name="input/remote/shift_cmd" default="/api/external/set/command/remote/shift" />
-  <arg name="input/remote/turn_signal_cmd" default="/api/external/set/command/remote/turn_signal" />
-  <arg name="input/remote/heartbeat" default="/api/external/set/command/remote/heartbeat" />
+  <arg name="input/remote/control_cmd" default="/api/external/set/command/remote/control"/>
+  <arg name="input/remote/shift_cmd" default="/api/external/set/command/remote/shift"/>
+  <arg name="input/remote/turn_signal_cmd" default="/api/external/set/command/remote/turn_signal"/>
+  <arg name="input/remote/heartbeat" default="/api/external/set/command/remote/heartbeat"/>
 
   <!-- output -->
-  <arg name="output/control_cmd" default="/external/selected/external_control_cmd" />
-  <arg name="output/gear_cmd" default="/external/selected/gear_cmd" />
-  <arg name="output/turn_indicators_cmd" default="/external/selected/turn_indicators_cmd" />
-  <arg name="output/hazard_lights_cmd" default="/external/selected/hazard_lights_cmd" />
-  <arg name="output/heartbeat" default="/external/selected/heartbeat" />
-  <arg name="output/current_selector_mode" default="~/current_selector_mode" />
+  <arg name="output/control_cmd" default="/external/selected/external_control_cmd"/>
+  <arg name="output/gear_cmd" default="/external/selected/gear_cmd"/>
+  <arg name="output/turn_indicators_cmd" default="/external/selected/turn_indicators_cmd"/>
+  <arg name="output/hazard_lights_cmd" default="/external/selected/hazard_lights_cmd"/>
+  <arg name="output/heartbeat" default="/external/selected/heartbeat"/>
+  <arg name="output/current_selector_mode" default="~/current_selector_mode"/>
 
   <!-- node -->
   <node pkg="external_cmd_selector" exec="external_cmd_selector" name="external_cmd_selector" output="screen">
-    <remap from="~/service/select_external_command" to="$(var service/select_external_command)" />
-    <remap from="~/input/local/control_cmd" to="$(var input/local/control_cmd)" />
-    <remap from="~/input/local/shift_cmd" to="$(var input/local/shift_cmd)" />
-    <remap from="~/input/local/turn_signal_cmd" to="$(var input/local/turn_signal_cmd)" />
-    <remap from="~/input/local/heartbeat" to="$(var input/local/heartbeat)" />
-    <remap from="~/input/remote/control_cmd" to="$(var input/remote/control_cmd)" />
-    <remap from="~/input/remote/shift_cmd" to="$(var input/remote/shift_cmd)" />
-    <remap from="~/input/remote/turn_signal_cmd" to="$(var input/remote/turn_signal_cmd)" />
-    <remap from="~/input/remote/heartbeat" to="$(var input/remote/heartbeat)" />
-    <remap from="~/output/control_cmd" to="$(var output/control_cmd)" />
-    <remap from="~/output/gear_cmd" to="$(var output/gear_cmd)" />
-    <remap from="~/output/turn_indicators_cmd" to="$(var output/turn_indicators_cmd)" />
-    <remap from="~/output/hazard_lights_cmd" to="$(var output/hazard_lights_cmd)" />
-    <remap from="~/output/heartbeat" to="$(var output/heartbeat)" />
-    <remap from="~/output/current_selector_mode" to="$(var output/current_selector_mode)" />
-    <param name="initial_selector_mode" value="$(var initial_selector_mode)" />
+    <remap from="~/service/select_external_command" to="$(var service/select_external_command)"/>
+    <remap from="~/input/local/control_cmd" to="$(var input/local/control_cmd)"/>
+    <remap from="~/input/local/shift_cmd" to="$(var input/local/shift_cmd)"/>
+    <remap from="~/input/local/turn_signal_cmd" to="$(var input/local/turn_signal_cmd)"/>
+    <remap from="~/input/local/heartbeat" to="$(var input/local/heartbeat)"/>
+    <remap from="~/input/remote/control_cmd" to="$(var input/remote/control_cmd)"/>
+    <remap from="~/input/remote/shift_cmd" to="$(var input/remote/shift_cmd)"/>
+    <remap from="~/input/remote/turn_signal_cmd" to="$(var input/remote/turn_signal_cmd)"/>
+    <remap from="~/input/remote/heartbeat" to="$(var input/remote/heartbeat)"/>
+    <remap from="~/output/control_cmd" to="$(var output/control_cmd)"/>
+    <remap from="~/output/gear_cmd" to="$(var output/gear_cmd)"/>
+    <remap from="~/output/turn_indicators_cmd" to="$(var output/turn_indicators_cmd)"/>
+    <remap from="~/output/hazard_lights_cmd" to="$(var output/hazard_lights_cmd)"/>
+    <remap from="~/output/heartbeat" to="$(var output/heartbeat)"/>
+    <remap from="~/output/current_selector_mode" to="$(var output/current_selector_mode)"/>
+    <param name="initial_selector_mode" value="$(var initial_selector_mode)"/>
   </node>
-
 </launch>