sync upstream (tier4#24)

* Improve build-pr CI (tier4#405)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add sync-public.yaml (tier4#404)

* Add sync-public.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add sync-public-develop.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix pre-commit (tier4#407)

* Fix pre-commit errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix package.xml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add pre-commit (tier4#406)

* Add pre-commit

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add sort-package-xml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Update system.launch.xml (tier4#411)

* Handle empty output in get_modified_package.sh (tier4#412)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>

.github/get_modified_package.sh

@@ -0,0 +1,76 @@
+#!/bin/bash
+# Search for packages that have been modified from the main branch.
+# Usage: get_modified_package.sh <base_branch>
+
+set -e
+
+SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
+ROOT_DIR=$(readlink -f "$SCRIPT_DIR"/../)
+
+# Parse arguments
+args=()
+while [ "${1:-}" != "" ]; do
+  case "$1" in
+    *)
+      args+=("$1")
+      ;;
+  esac
+  shift
+done
+
+base_branch="${args[0]}"
+
+# Check args
+if [ "$base_branch" = "" ]; then
+  echo -e "\e[31mPlease input a valid base_branch as the 1st argument.\e[m"
+  exit 1
+fi
+
+function find_package_dir() {
+  [ "$1" == "" ] && return 1
+
+  target_dir=$(dirname "$1")
+  while true ; do
+    parent_dir=$(dirname "$target_dir")
+
+    # Exit if no parent found
+    if [ "$parent_dir" = "$target_dir" ] ; then
+      return 0
+    fi
+
+    # Output package name if package.xml found
+    if [ -f "$target_dir/package.xml" ] ; then
+      if [ ! -f "$target_dir/COLCON_IGNORE" ] ; then
+        echo "$target_dir"
+        return 0
+      fi
+    fi
+
+    # Move to parent dir
+    target_dir=$parent_dir
+  done
+
+  return 1
+}
+
+# Find modified files from base branch
+modified_files=$(git diff --name-only "$base_branch"...HEAD)
+
+# Find modified packages
+modified_package_dirs=()
+for modified_file in $modified_files; do
+  modified_package_dir=$(find_package_dir "$ROOT_DIR/$modified_file")
+
+  if [ "$modified_package_dir" != "" ] ; then
+    modified_package_dirs+=("$modified_package_dir")
+  fi
+done
+
+# Get package names from paths
+if [ "${#modified_package_dirs[@]}" != "0" ] ; then
+  modified_packages=$(colcon list --names-only --paths "${modified_package_dirs[@]}")
+fi
+
+# Output
+# shellcheck disable=SC2086
+echo ::set-output name=package_list::$modified_packages

.github/workflows/build_and_test_pr.yml

@@ -2,7 +2,6 @@ name: Build and test for PR
 
 on:
   pull_request:
-  workflow_dispatch:
 
 jobs:
   build-and-test-pr:
@@ -24,10 +23,10 @@ jobs:
           apt-get -y update
           apt-get -y install python3-pip
 
-      - name: Search modified package
+      - name: Search modified packages
         id: list_packages
         run: |
-          ${GITHUB_WORKSPACE}/.github/workflows/get_modified_package.sh
+          ${GITHUB_WORKSPACE}/.github/get_modified_package.sh origin/${{ github.base_ref }}
 
       - name: Show target packages
         run: |

.github/workflows/pre-commit.yaml

@@ -0,0 +1,21 @@
+name: pre-commit
+
+on:
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+
+      - name: Setup Python
+        uses: actions/setup-python@v2
+
+      - name: Run pre-commit
+        uses: pre-commit/action@v2.0.3

.github/workflows/sync-public-develop.yaml

@@ -0,0 +1,40 @@
+name: sync public
+
+on:
+  schedule:
+    - cron: "0 19 * * *" # run at 4 AM JST
+  workflow_dispatch:
+
+env:
+  BASE_BRANCH: develop
+  SYNC_TARGET_BRANCH: develop
+  SYNC_TARGET_REPOSITORY: https://github.com/tier4/AutowareArchitectureProposal_launcher.git
+
+jobs:
+  sync-public:
+    runs-on: ubuntu-20.04
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+        with:
+          ref: ${{ env.BASE_BRANCH }}
+          fetch-depth: 0
+
+      - name: Generate token
+        uses: tibdex/github-app-token@v1
+        id: generate-token
+        with:
+          app_id: ${{ secrets.PROPOSAL_SYNC_APP_ID }}
+          private_key: ${{ secrets.PROPOSAL_SYNC_APP_PRIVATE_KEY }}
+
+      - name: Set git config for private repositories
+        run: |
+          git config --local --unset-all http.https://github.com/.extraheader || true
+          git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com'
+
+      - name: Push to public repository
+        run: |
+          git remote add public ${{ env.SYNC_TARGET_REPOSITORY }}
+          git fetch public
+          git push public ${{ env.BASE_BRANCH }}:${{ env.SYNC_TARGET_BRANCH }}

.github/workflows/sync-public.yaml

@@ -0,0 +1,40 @@
+name: sync public
+
+on:
+  schedule:
+    - cron: "0 19 * * *" # run at 4 AM JST
+  workflow_dispatch:
+
+env:
+  BASE_BRANCH: main
+  SYNC_TARGET_BRANCH: main
+  SYNC_TARGET_REPOSITORY: https://github.com/tier4/AutowareArchitectureProposal_launcher.git
+
+jobs:
+  sync-public:
+    runs-on: ubuntu-20.04
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+        with:
+          ref: ${{ env.BASE_BRANCH }}
+          fetch-depth: 0
+
+      - name: Generate token
+        uses: tibdex/github-app-token@v1
+        id: generate-token
+        with:
+          app_id: ${{ secrets.PROPOSAL_SYNC_APP_ID }}
+          private_key: ${{ secrets.PROPOSAL_SYNC_APP_PRIVATE_KEY }}
+
+      - name: Set git config for private repositories
+        run: |
+          git config --local --unset-all http.https://github.com/.extraheader || true
+          git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com'
+
+      - name: Push to public repository
+        run: |
+          git remote add public ${{ env.SYNC_TARGET_REPOSITORY }}
+          git fetch public
+          git push public ${{ env.BASE_BRANCH }}:${{ env.SYNC_TARGET_BRANCH }}

.markdownlint.yaml

@@ -0,0 +1,6 @@
+default: true
+MD013: false
+MD024:
+  siblings_only: true
+MD033: false
+MD041: false

.pre-commit-config.yaml

@@ -0,0 +1,58 @@
+# To install:
+#
+#     pip install pre-commit
+#
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.0.1
+    hooks:
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-toml
+      - id: check-xml
+      - id: check-yaml
+      - id: detect-private-key
+      - id: double-quote-string-fixer
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        args: [--markdown-linebreak-ext=md]
+
+  - repo: https://github.com/igorshubovych/markdownlint-cli
+    rev: v0.27.1
+    hooks:
+      - id: markdownlint
+        args: ["-c", ".markdownlint.yaml", "--fix"]
+
+  - repo: https://github.com/pre-commit/mirrors-prettier
+    rev: v2.3.2
+    hooks:
+      - id: prettier
+
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.1.2
+    hooks:
+      - id: prettier-xml
+      - id: sort-package-xml
+
+  - repo: https://github.com/gruntwork-io/pre-commit
+    rev: v0.1.12
+    hooks:
+      - id: shellcheck
+
+exclude: "(.svg|.rviz|.param.yaml|traffic_light_camera.yaml)"

.prettierrc.yaml

@@ -0,0 +1,2 @@
+printWidth: 120
+tabWidth: 2

autoware_api_launch/package.xml

@@ -10,9 +10,9 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <exec_depend>awapi_awiv_adapter</exec_depend>
   <exec_depend>autoware_iv_external_api_adaptor</exec_depend>
   <exec_depend>autoware_iv_internal_api_adaptor</exec_depend>
+  <exec_depend>awapi_awiv_adapter</exec_depend>
   <exec_depend>path_distance_calculator</exec_depend>
   <exec_depend>topic_tools</exec_depend>
 

autoware_launch/package.xml

@@ -9,28 +9,21 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <!-- launch -->
   <exec_depend>autoware_api_launch</exec_depend>
+  <exec_depend>autoware_global_parameter_loader</exec_depend>
+  <exec_depend>autoware_web_controller</exec_depend>
   <exec_depend>control_launch</exec_depend>
   <exec_depend>localization_launch</exec_depend>
   <exec_depend>map_launch</exec_depend>
   <exec_depend>perception_launch</exec_depend>
   <exec_depend>planning_launch</exec_depend>
+  <exec_depend>python3-bson</exec_depend>
+  <exec_depend>python3-tornado</exec_depend>
+  <exec_depend>rviz2</exec_depend>
   <exec_depend>sensing_launch</exec_depend>
   <exec_depend>system_launch</exec_depend>
   <exec_depend>vehicle_launch</exec_depend>
 
-  <!-- visualization -->
-  <exec_depend>rviz2</exec_depend>
-
-  <!-- web controller -->
-  <exec_depend>autoware_global_parameter_loader</exec_depend>
-  <exec_depend>autoware_web_controller</exec_depend>
-  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-tornado</exec_depend>
-  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-tornado</exec_depend>
-  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-bson</exec_depend>
-  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-bson</exec_depend>
-
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

control_launch/package.xml

@@ -11,14 +11,14 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>external_cmd_converter</exec_depend>
+  <exec_depend>lane_departure_checker</exec_depend>
   <exec_depend>latlon_muxer</exec_depend>
   <exec_depend>mpc_follower</exec_depend>
   <exec_depend>pure_pursuit</exec_depend>
-  <exec_depend>external_cmd_converter</exec_depend>
   <exec_depend>shift_decider</exec_depend>
   <exec_depend>vehicle_cmd_gate</exec_depend>
   <exec_depend>velocity_controller</exec_depend>
-  <exec_depend>lane_departure_checker</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>