Merge remote-tracking branch 'upstream/main' into fix/route_loop_dete…

…cted

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

.github/CODEOWNERS

@@ -0,0 +1,159 @@
+### Copied from .github/CODEOWNERS-manual ###
+
+### Automatically generated from package.xml ###
+control/external_cmd_selector/* kenji.miyake@tier4.jp
+control/obstacle_collision_checker/* kenji.miyake@tier4.jp
+control/vehicle_cmd_gate/* takamasa.horibe@tier4.jp
+control/trajectory_follower/* takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
+control/trajectory_follower_nodes/* takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
+control/joy_controller/* kenji.miyake@tier4.jp
+control/lane_departure_checker/* kyoichi.sugahara@tier4.jp
+control/shift_decider/* takamasa.horibe@tier4.jp
+control/pure_pursuit/* takamasa.horibe@tier4.jp
+control/operation_mode_transition_manager/* takamasa.horibe@tier4.jp
+control/control_performance_analysis/* ali.boyali@tier4.jp berkay@leodrive.ai
+common/autoware_ad_api_msgs/* isamu.takagi@tier4.jp
+common/motion_common/* christopherj.ho@gmail.com
+common/component_interface_specs/* isamu.takagi@tier4.jp
+common/motion_testing/* christopherj.ho@gmail.com
+common/autoware_auto_perception_rviz_plugin/* opensource@apex.ai taichi.higashide@tier4.jp
+common/autoware_auto_tf2/* jit.ray.c@gmail.com
+common/signal_processing/* takayuki.murooka@tier4.jp
+common/tier4_perception_rviz_plugin/* yukihiro.saito@tier4.jp
+common/path_distance_calculator/* isamu.takagi@tier4.jp
+common/kalman_filter/* yukihiro.saito@tier4.jp
+common/tier4_traffic_light_rviz_plugin/* satoshi.ota@tier4.jp
+common/vehicle_constants_manager/* mfc@leodrive.ai
+common/component_interface_utils/* isamu.takagi@tier4.jp
+common/tier4_planning_rviz_plugin/* yukihiro.saito@tier4.jp
+common/perception_utils/* takayuki.murooka@tier4.jp
+common/web_controller/* yukihiro.saito@tier4.jp
+common/goal_distance_calculator/* taiki.tanaka@tier4.jp
+common/motion_utils/* yutaka.shimizu@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
+common/tier4_debug_tools/* kenji.miyake@tier4.jp
+common/tier4_localization_rviz_plugin/* isamu.takagi@tier4.jp
+common/autoware_point_types/* taichi.higashide@tier4.jp
+common/tier4_screen_capture_rviz_plugin/* taiki.tanaka@tier4.jp
+common/tier4_control_rviz_plugin/* taiki.tanaka@tier4.jp
+common/osqp_interface/* maxime.clement@tier4.jp
+common/tier4_simulated_clock_rviz_plugin/* maxime.clement@tier4.jp
+common/neural_networks_provider/* ambroise.vincent@arm.com
+common/global_parameter_loader/* kenji.miyake@tier4.jp
+common/autoware_auto_common/* opensource@apex.ai
+common/tvm_utility/* ambroise.vincent@arm.com
+common/autoware_auto_geometry/* opensource@apex.ai
+common/autoware_ad_api_specs/* isamu.takagi@tier4.jp
+common/tier4_state_rviz_plugin/* hiroki.ota@tier4.jp
+common/tier4_datetime_rviz_plugin/* isamu.takagi@tier4.jp
+common/grid_map_utils/* maxime.clement@tier4.jp
+common/tier4_autoware_utils/* takamasa.horibe@tier4.jp kenji.miyake@tier4.jp
+common/fake_test_node/* opensource@apex.ai
+common/autoware_testing/* adam.dabrowski@robotec.ai
+common/tier4_api_utils/* isamu.takagi@tier4.jp
+common/tier4_calibration_rviz_plugin/* tomoya.kimura@tier4.jp
+common/interpolation/* fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp
+common/time_utils/* christopherj.ho@gmail.com
+common/polar_grid/* yukihiro.saito@tier4.jp
+common/tier4_vehicle_rviz_plugin/* yukihiro.saito@tier4.jp
+launch/tier4_vehicle_launch/* yukihiro.saito@tier4.jp
+launch/tier4_system_launch/* kenji.miyake@tier4.jp
+launch/tier4_map_launch/* ryohsuke.mitsudome@tier4.jp
+launch/tier4_control_launch/* takamasa.horibe@tier4.jp
+launch/tier4_sensing_launch/* yukihiro.saito@tier4.jp
+launch/tier4_autoware_api_launch/* isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
+launch/tier4_perception_launch/* yukihiro.saito@tier4.jp
+launch/tier4_planning_launch/* takamasa.horibe@tier4.jp
+launch/tier4_localization_launch/* yamato.ando@tier4.jp
+launch/tier4_simulator_launch/* keisuke.shima@tier4.jp
+evaluator/localization_evaluator/* dominik.jargot@robotec.ai
+evaluator/kinematic_evaluator/* dominik.jargot@robotec.ai
+map/map_loader/* ryohsuke.mitsudome@tier4.jp kenji.miyake@tier4.jp
+map/map_tf_generator/* azumi.suzuki@tier4.jp
+map/util/lanelet2_map_preprocessor/* ryohsuke.mitsudome@tier4.jp
+simulator/simple_planning_simulator/* takamasa.horibe@tier4.jp
+simulator/dummy_perception_publisher/* yukihiro.saito@tier4.jp
+simulator/fault_injection/* keisuke.shima@tier4.jp
+tools/simulator_test/simulator_compatibility_test/* shpark@morai.ai
+sensing/livox/livox_tag_filter/* kenji.miyake@tier4.jp
+sensing/pointcloud_preprocessor/* abrahammonrroy@yahoo.com yukihiro.saito@tier4.jp
+sensing/probabilistic_occupancy_grid_map/* yukihiro.saito@tier4.jp
+sensing/imu_corrector/* yamato.ando@tier4.jp
+sensing/geo_pos_conv/* yamato.ando@tier4.jp
+sensing/image_transport_decompressor/* yukihiro.saito@tier4.jp
+sensing/vehicle_velocity_converter/* ryu.yamamoto@tier4.jp
+sensing/image_diagnostics/* dai.nguyen@tier4.jp
+sensing/tier4_pcl_extensions/* ryu.yamamoto@tier4.jp
+sensing/gnss_poser/* yamato.ando@tier4.jp
+planning/freespace_planner/* takamasa.horibe@tier4.jp
+planning/obstacle_cruise_planner/* takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp
+planning/planning_error_monitor/* yutaka.shimizu@tier4.jp
+planning/surround_obstacle_checker/* satoshi.ota@tier4.jp
+planning/costmap_generator/* kenji.miyake@tier4.jp
+planning/behavior_path_planner/* zulfaqar.azmi@tier4.jp kosuke.takeuchi@tier4.jp kosuke.takeuchi@tier4.jp fumiya.watanabe@tier4.jp takamasa.horibe@tier4.jp yutaka.shimizu@tier4.jp takayuki.murooka@tier4.jp
+planning/obstacle_stop_planner/* satoshi.ota@tier4.jp
+planning/behavior_velocity_planner/* mamoru.sobue@tier4.jp satoshi.ota@tier4.jp kyoichi.sugahara@tier4.jp taiki.tanaka@tier4.jp kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp mamoru.sobue@tier4.jp yutaka.shimizu@tier4.jp kosuke.takeuchi@tier4.jp tomohito.ando@tier4.jp
+planning/rtc_auto_approver/* fumiya.watanabe@tier4.jp
+planning/scenario_selector/* kenji.miyake@tier4.jp
+planning/planning_evaluator/* maxime.clement@tier4.jp
+planning/rtc_interface/* fumiya.watanabe@tier4.jp
+planning/planning_debug_tools/* takamasa.horibe@tier4.jp
+planning/external_velocity_limit_selector/* satoshi.ota@tier4.jp
+planning/freespace_planning_algorithms/* takamasa.horibe@tier4.jp
+planning/obstacle_avoidance_planner/* takayuki.murooka@tier4.jp
+planning/motion_velocity_smoother/* fumiya.watanabe@tier4.jp
+planning/route_handler/* fumiya.watanabe@tier4.jp
+planning/mission_planner/* ryohsuke.mitsudome@tier4.jp
+perception/shape_estimation/* yukihiro.saito@tier4.jp
+perception/front_vehicle_velocity_estimator/* satoshi.tanaka@tier4.jp
+perception/traffic_light_visualization/* yukihiro.saito@tier4.jp
+perception/detection_by_tracker/* yukihiro.saito@tier4.jp
+perception/object_range_splitter/* yukihiro.saito@tier4.jp
+perception/heatmap_visualizer/* kotaro.uetake@tier4.jp
+perception/detected_object_feature_remover/* tomoya.kimura@tier4.jp
+perception/crosswalk_traffic_light_estimator/* satoshi.ota@tier4.jp
+perception/euclidean_cluster/* yukihiro.saito@tier4.jp
+perception/image_projection_based_fusion/* yukihiro.saito@tier4.jp yusuke.muramatsu@tier4.jp
+perception/traffic_light_ssd_fine_detector/* daisuke.nishimatsu@tier4.jp
+perception/lidar_centerpoint/* yusuke.muramatsu@tier4.jp
+perception/map_based_prediction/* yutaka.shimizu@tier4.jp
+perception/multi_object_tracker/* yukihiro.saito@tier4.jp jilada.eccleston@tier4.jp
+perception/object_merger/* yukihiro.saito@tier4.jp
+perception/elevation_map_loader/* kosuke.takeuchi@tier4.jp taichi.higashide@tier4.jp
+perception/traffic_light_map_based_detector/* yukihiro.saito@tier4.jp
+perception/tensorrt_yolo/* daisuke.nishimatsu@tier4.jp
+perception/lidar_apollo_instance_segmentation/* yukihiro.saito@tier4.jp
+perception/radar_fusion_to_detected_object/* satoshi.tanaka@tier4.jp
+perception/radar_tracks_msgs_converter/* satoshi.tanaka@tier4.jp
+perception/traffic_light_classifier/* yukihiro.saito@tier4.jp
+perception/detected_object_validation/* yukihiro.saito@tier4.jp
+perception/ground_segmentation/* abrahammonrroy@yahoo.com yukihiro.saito@tier4.jp
+perception/occupancy_grid_map_outlier_filter/* abrahammonrroy@yahoo.com yukihiro.saito@tier4.jp
+perception/compare_map_segmentation/* abrahammonrroy@yahoo.com yukihiro.saito@tier4.jp
+vehicle/steer_offset_estimator/* taiki.tanaka@tier4.jp
+vehicle/raw_vehicle_cmd_converter/* takamasa.horibe@tier4.jp
+vehicle/vehicle_info_util/* yamato.ando@tier4.jp
+vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/* tomoya.kimura@tier4.jp
+vehicle/external_cmd_converter/* takamasa.horibe@tier4.jp
+localization/pose_initializer/* yamato.ando@tier4.jp
+localization/ndt_pcl_modified/* yamato.ando@tier4.jp
+localization/pose2twist/* yamato.ando@tier4.jp
+localization/ndt_scan_matcher/* yamato.ando@tier4.jp
+localization/gyro_odometer/* yamato.ando@tier4.jp
+localization/localization_error_monitor/* yamato.ando@tier4.jp
+localization/initial_pose_button_panel/* yamato.ando@tier4.jp
+localization/twist2accel/* koji.minoda@tier4.jp yamato.ando@tier4.jp
+localization/ndt/* yamato.ando@tier4.jp
+localization/ekf_localizer/* takamasa.horibe@tier4.jp koji.minoda@tier4.jp yamato.ando@tier4.jp
+localization/stop_filter/* koji.minoda@tier4.jp yamato.ando@tier4.jp
+system/default_ad_api_helpers/ad_api_adaptors/* isamu.takagi@tier4.jp
+system/default_ad_api_helpers/automatic_pose_initializer/* isamu.takagi@tier4.jp
+system/velodyne_monitor/* fumihito.ito@tier4.jp
+system/dummy_infrastructure/* kenji.miyake@tier4.jp
+system/topic_state_monitor/* kenji.miyake@tier4.jp
+system/bluetooth_monitor/* fumihito.ito@tier4.jp
+system/ad_service_state_monitor/* kenji.miyake@tier4.jp
+system/system_monitor/* fumihito.ito@tier4.jp
+system/emergency_handler/* kenji.miyake@tier4.jp
+system/dummy_diag_publisher/* kenji.miyake@tier4.jp
+system/system_error_monitor/* kenji.miyake@tier4.jp
+system/default_ad_api/* isamu.takagi@tier4.jp

.github/sync-files.yaml

@@ -12,6 +12,7 @@
     - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md
     - source: .github/dependabot.yaml
     - source: .github/stale.yml
+    - source: .github/workflows/cancel-previous-workflows.yaml
     - source: .github/workflows/github-release.yaml
     - source: .github/workflows/pre-commit.yaml
     - source: .github/workflows/pre-commit-optional.yaml
@@ -81,8 +82,8 @@
                 include:" {source}
     - source: .github/workflows/check-build-depends.yaml
       pre-commands: |
-        sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source}
         sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {source}
+    - source: .github/workflows/update-codeowners-from-packages.yaml
     - source: codecov.yaml
 
 - repository: autowarefoundation/autoware-documentation

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

@@ -23,9 +23,6 @@ jobs:
             container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
             build-depends-repos: build_depends.humble.repos
     steps:
-      - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.10.0
-
       - name: Check out repository
         uses: actions/checkout@v3
         with:
@@ -81,11 +78,20 @@ jobs:
         id: get-modified-packages
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
 
+      - name: Get modified files
+        id: get-modified-files
+        uses: tj-actions/changed-files@v28
+        with:
+          files: |
+            **/*.cpp
+            **/*.hpp
+
       - name: Run clang-tidy
-        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
         uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
         with:
           rosdistro: humble
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
           clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
           build-depends-repos: build_depends.humble.repos

.github/workflows/cancel-previous-workflows.yaml

@@ -0,0 +1,14 @@
+name: cancel-previous-workflows
+
+on:
+  pull_request_target:
+
+jobs:
+  cancel-previous-workflows:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Cancel previous runs
+        uses: styfle/cancel-workflow-action@0.10.0
+        with:
+          workflow_id: all
+          all_but_latest: true

.github/workflows/check-build-depends.yaml

@@ -3,16 +3,26 @@ name: check-build-depends
 on:
   pull_request:
     paths:
-      - build_depends.repos
+      - build_depends*.repos
 
 jobs:
   check-build-depends:
     runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware-universe:galactic-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.humble.repos
     steps:
-      - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.10.0
-
       - name: Check out repository
         uses: actions/checkout@v3
 
@@ -26,6 +36,6 @@ jobs:
       - name: Build
         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 }}

.github/workflows/update-codeowners-from-packages.yaml

@@ -0,0 +1,33 @@
+name: update-codeowners-from-packages
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  check-secret:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1
+    secrets:
+      secret: ${{ secrets.APP_ID }}
+
+  update-codeowners-from-packages:
+    needs: check-secret
+    if: ${{ needs.check-secret.outputs.set == 'true' }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run update-codeowners-from-packages
+        uses: autowarefoundation/autoware-github-actions/update-codeowners-from-packages@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          pr-labels: |
+            bot
+            update-codeowners-from-packages
+          auto-merge-method: squash

.yamllint.yaml

@@ -1,7 +1,6 @@
 extends: default
 
 ignore: |
-  .clang-tidy
   *.param.yaml
 
 rules:

NOTICE

@@ -6,3 +6,9 @@ The Autoware Foundation (https://www.autoware.org/).
 
 This product includes code developed by TIER IV.
 Copyright 2017 TIER IV, Inc.
+
+This product includes code developed by AutoCore.
+Copyright 2022 AutoCore Technology (Nanjing) Co., Ltd.
+
+This product includes code developed by Leo Drive.
+Copyright 2022 Leo Drive Teknoloji A.Ş.

common/bag_time_manager_rviz_plugin/CMakeLists.txt

@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.14)
+project(bag_time_manager_rviz_plugin)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
+set(QT_LIBRARIES Qt5::Widgets)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+add_definitions(-DQT_NO_KEYWORDS)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/bag_time_manager_panel.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${QT_LIBRARIES}
+)
+
+# Export the plugin to be imported by rviz2
+pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  icons
+  plugins
+)

common/bag_time_manager_rviz_plugin/README.md

@@ -0,0 +1,26 @@
+# bag_time_manager_rviz_plugin
+
+## Purpose
+
+This plugin allows publishing and controlling the ros bag time.
+
+## Output
+
+tbd.
+
+## HowToUse
+
+1. Start rviz and select panels/Add new panel.
+
+   ![select_panel](./images/select_panels.png)
+
+2. Select BagTimeManagerPanel and press OK.
+
+   ![select_manager_plugin](./images/add_bag_time_manager_panel.png)
+
+3. See bag_time_manager_rviz_plugin/BagTimeManagerPanel is added.
+
+   ![manager_plugin](./images/bag_time_manager_panel.png)
+
+- Pause/Resume: pause/resume the clock.
+- ApplyRate: apply rate of the clock.