Merge pull request tier4#23 from tier4/sync-upstream

sync upstream

.github/workflows/sync-rc-develop.yml

@@ -0,0 +1,90 @@
+name: sync rc develop
+
+on:
+  pull_request:
+    branches:
+      - "rc/*"
+    types:
+      - closed
+  workflow_dispatch:
+    inputs:
+      rc_branch:
+        description: "Target RC branch(e.g. rc/v1.0.0)"
+        required: true
+
+env:
+  BASE_BRANCH: develop
+
+jobs:
+  sync-rc:
+    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.APP_ID }}
+          private_key: ${{ secrets.APP_PRIVATE_KEY }}
+
+      - name: Set SYNC_TARGET_BRANCH for pull_request event
+        if: github.event_name == 'pull_request'
+        run: |
+          echo "SYNC_TARGET_BRANCH=${{ github.base_ref }}" >> $GITHUB_ENV
+      - name: Set SYNC_TARGET_BRANCH for workflow_dispatch event
+        if: github.event_name == 'workflow_dispatch'
+        run: |
+          echo "SYNC_TARGET_BRANCH=${{ github.event.inputs.rc_branch }}" >> $GITHUB_ENV
+      - name: Set SYNC_BRANCH
+        run: |
+          echo ${SYNC_TARGET_BRANCH} | grep -e "^rc/v.*"
+          echo "SYNC_BRANCH=sync-rc/${SYNC_TARGET_BRANCH#refs/heads/}" >> $GITHUB_ENV
+      # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH"
+      - name: Reset to sync target branch
+        run: |
+          git reset --hard origin/${{ env.SYNC_TARGET_BRANCH }}
+      - name: Set git config
+        run: |
+          git config --local user.email "actions@example.com"
+          git config --local user.name "Github Actions"
+      - name: Rebase on the base branch
+        run: |
+          for commit in $(git rev-list --left-only origin/${{ env.BASE_BRANCH }}...HEAD | tac); do
+            git rebase $commit || git rebase --abort
+          done
+      - name: Create PR
+        id: create_pr
+        uses: peter-evans/create-pull-request@v3
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          commit-message: sync rc develop
+          committer: GitHub <noreply@github.com>
+          author: GitHub <noreply@github.com>
+          signoff: false
+          base: ${{ env.BASE_BRANCH }}
+          branch: ${{ env.SYNC_BRANCH }}
+          delete-branch: true
+          title: sync rc develop
+          body: |
+            sync rc develop
+          labels: |
+            sync-rc-develop
+          draft: false
+
+      - name: Check outputs
+        run: |
+          echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}"
+          echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}"
+      - name: Enable Auto-merge
+        if: steps.create_pr.outputs.pull-request-operation == 'created'
+        uses: peter-evans/enable-pull-request-automerge@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }}
+          merge-method: squash

.github/workflows/sync-rc.yml

@@ -7,10 +7,13 @@ on:
     types:
       - closed
   workflow_dispatch:
+    inputs:
+      rc_branch:
+        description: "Target RC branch(e.g. rc/v1.0.0)"
+        required: true
 
 env:
   BASE_BRANCH: main
-  SYNC_BRANCH: sync-rc
 
 jobs:
   sync-rc:
@@ -30,15 +33,37 @@ jobs:
           app_id: ${{ secrets.APP_ID }}
           private_key: ${{ secrets.APP_PRIVATE_KEY }}
 
-      - name: Set SYNC_TARGET_BRANCH
+      - name: Set SYNC_TARGET_BRANCH for pull_request event
+        if: github.event_name == 'pull_request'
         run: |
-          echo "SYNC_TARGET_BRANCH=${{ github.head_ref }}" >> $GITHUB_ENV
+          echo "SYNC_TARGET_BRANCH=${{ github.base_ref }}" >> $GITHUB_ENV
+
+      - name: Set SYNC_TARGET_BRANCH for workflow_dispatch event
+        if: github.event_name == 'workflow_dispatch'
+        run: |
+          echo "SYNC_TARGET_BRANCH=${{ github.event.inputs.rc_branch }}" >> $GITHUB_ENV
+
+      - name: Set SYNC_BRANCH
+        run: |
+          echo ${SYNC_TARGET_BRANCH} | grep -e "^rc/v.*"
+          echo "SYNC_BRANCH=sync-rc/${SYNC_TARGET_BRANCH#refs/heads/}" >> $GITHUB_ENV
 
       # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH"
       - name: Reset to sync target branch
         run: |
           git reset --hard origin/${{ env.SYNC_TARGET_BRANCH }}
 
+      - name: Set git config
+        run: |
+          git config --local user.email "actions@example.com"
+          git config --local user.name "Github Actions"
+
+      - name: Rebase on the base branch
+        run: |
+          for commit in $(git rev-list --left-only origin/${{ env.BASE_BRANCH }}...HEAD | tac); do
+            git rebase $commit || git rebase --abort
+          done
+
       - name: Create PR
         id: create_pr
         uses: peter-evans/create-pull-request@v3
@@ -69,4 +94,4 @@ jobs:
         with:
           token: ${{ steps.generate-token.outputs.token }}
           pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }}
-          merge-method: merge
+          merge-method: squash

autoware_api_launch/launch/include/internal_api_relay.launch.xml

@@ -17,7 +17,7 @@
       <param name="type" value="autoware_api_msgs/msg/CrosswalkStatus"/>
     </node>
     <!-- TODO(Takagi, Isamu): workaround for topic check -->
-    <node pkg="topic_tools" exec="relay" name="initialpose">
+    <node pkg="topic_tools" exec="relay" name="initial_pose_2d">
       <param name="input_topic" value="/initialpose"/>
       <param name="output_topic" value="/initialpose2d"/>
       <param name="type" value="geometry_msgs/msg/PoseWithCovarianceStamped"/>

autoware_launch/rviz/autoware.rviz

@@ -331,7 +331,7 @@ Visualization Manager:
           Channel Name: intensity
           Class: rviz_default_plugins/PointCloud2
           Color: 255; 255; 255
-          Color Transformer: Intensity
+          Color Transformer: FlatColor
           Decay Time: 0
           Enabled: true
           Invert Rainbow: false
@@ -344,7 +344,7 @@ Visualization Manager:
           Selectable: true
           Size (Pixels): 1
           Size (m): 0.02
-          Style: Squares
+          Style: Points
           Topic:
             Depth: 5
             Durability Policy: Transient Local
@@ -365,11 +365,13 @@ Visualization Manager:
             left_lane_bound: true
             parking_lots: true
             parking_space: true
+            pedestrian_marking: true
             right_lane_bound: true
             road_lanelets: false
             stop_lines: true
             traffic_light: true
             traffic_light_triangle: true
+            walkway_lanelets: true
           Topic:
             Depth: 5
             Durability Policy: Transient Local
@@ -383,7 +385,7 @@ Visualization Manager:
       Displays:
         - Class: rviz_common/Group
           Displays:
-            - Alpha: 0.999
+            - Alpha: 0.4
               Autocompute Intensity Bounds: true
               Autocompute Value Bounds:
                 Max Value: 5
@@ -404,9 +406,9 @@ Visualization Manager:
               Name: ConcatenatePointCloud
               Position Transformer: XYZ
               Selectable: true
-              Size (Pixels): 2
+              Size (Pixels): 1
               Size (m): 0.02
-              Style: Squares
+              Style: Points
               Topic:
                 Depth: 5
                 Durability Policy: Volatile
@@ -425,7 +427,7 @@ Visualization Manager:
               Axis: Z
               Channel Name: z
               Class: rviz_default_plugins/PointCloud2
-              Color: 255; 255; 255
+              Color: 200; 200; 200
               Color Transformer: FlatColor
               Decay Time: 0
               Enabled: true
@@ -437,9 +439,9 @@ Visualization Manager:
               Name: NoGroundPointCloud
               Position Transformer: XYZ
               Selectable: true
-              Size (Pixels): 5
+              Size (Pixels): 3
               Size (m): 0.02
-              Style: Squares
+              Style: Points
               Topic:
                 Depth: 5
                 Durability Policy: Volatile

control_launch/launch/control.launch.py

@@ -174,8 +174,7 @@ def launch_setup(context, *args, **kwargs):
         plugin='VehicleCmdGate',
         name='vehicle_cmd_gate',
         remappings=[
-            ('input/system_emergency', '/system/emergency/is_emergency'),
-            ('input/emergency', '/system/emergency/is_emergency'),
+            ('input/emergency_state', '/system/emergency/emergency_state'),
             ('input/steering', '/vehicle/status/steering'),
 
             ('input/auto/control_cmd', 'trajectory_follower/control_cmd'),
@@ -185,7 +184,7 @@ def launch_setup(context, *args, **kwargs):
             ('input/external/control_cmd', '/external/selected/control_cmd'),
             ('input/external/turn_signal_cmd', '/external/selected/turn_signal_cmd'),
             ('input/external/shift_cmd', '/external/selected/shift_cmd'),
-            ('input/external_emergency_stop', '/external/selected/heartbeat'),
+            ('input/external_emergency_stop_heartbeat', '/external/selected/heartbeat'),
             ('input/gate_mode', '/control/gate_mode_cmd'),
 
             ('input/emergency/control_cmd', '/system/emergency/control_cmd'),
@@ -233,33 +232,14 @@ def launch_setup(context, *args, **kwargs):
     )
 
     # external cmd converter
-    external_cmd_converter_component = ComposableNode(
-        package='external_cmd_converter',
-        plugin='external_cmd_converter::ExternalCmdConverterNode',
-        name='external_cmd_converter',
-        remappings=[
-            ('in/external_control_cmd', '/external/selected/external_control_cmd'),
-            ('in/shift_cmd', '/external/selected/shift_cmd'),
-            ('in/emergency_stop', '/remote/emergency_stop'),
-            ('in/current_gate_mode', '/control/current_gate_mode'),
-            ('in/twist', '/localization/twist'),
-            ('out/control_cmd', '/external/selected/control_cmd'),
-            ('out/latest_external_control_cmd', '/external/selected/latest_external_control_cmd'),
-        ],
-        parameters=[
-            {
-                'csv_path_accel_map': LaunchConfiguration('csv_path_accel_map'),
-                'csv_path_brake_map': LaunchConfiguration('csv_path_brake_map'),
-
-                'ref_vel_gain': LaunchConfiguration('ref_vel_gain'),
-                'wait_for_first_topic': LaunchConfiguration('wait_for_first_topic'),
-                'control_command_timeout': LaunchConfiguration('control_command_timeout'),
-                'emergency_stop_timeout': LaunchConfiguration('emergency_stop_timeout'),
-            }
+    external_cmd_converter_loader = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            FindPackageShare('external_cmd_converter'), '/launch/external_cmd_converter.launch.py'
+        ]),
+        launch_arguments=[
+            ('use_intra_process', LaunchConfiguration('use_intra_process')),
+            ('target_container', '/control/control_container'),
         ],
-        extra_arguments=[{
-            'use_intra_process_comms': LaunchConfiguration('use_intra_process')
-        }],
     )
 
     # set container to run all required components in the same process
@@ -274,7 +254,6 @@ def launch_setup(context, *args, **kwargs):
             lane_departure_component,
             shift_decider_component,
             vehicle_cmd_gate_component,
-            external_cmd_converter_component,
         ],
     )
 
@@ -298,6 +277,7 @@ def launch_setup(context, *args, **kwargs):
         PushRosNamespace('control'),
         container,
         external_cmd_selector_loader,
+        external_cmd_converter_loader,
         mpc_follower_loader,
         pure_pursuit_loader
     ])
@@ -368,29 +348,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     # external cmd selector
     add_launch_arg('initial_selector_mode', 'remote', 'local or remote')
 
-    # remote cmd converter
-    add_launch_arg(
-        'csv_path_accel_map',
-        [
-            FindPackageShare('raw_vehicle_cmd_converter'),
-            '/data/default/accel_map.csv'
-        ],
-        'csv file path for accel map'
-    )
-    add_launch_arg(
-        'csv_path_brake_map',
-        [
-            FindPackageShare('raw_vehicle_cmd_converter'),
-            '/data/default/brake_map.csv'
-        ],
-        'csv file path for brake map'
-    )
-    add_launch_arg('ref_vel_gain', '3.0', 'gain for remote command accel')
-    add_launch_arg('wait_for_first_topic', 'true',
-                   'disable topic disruption detection until subscribing first topics')
-    add_launch_arg('control_command_timeout', '1.0', 'remote control command timeout')
-    add_launch_arg('emergency_stop_timeout', '3.0', 'emergency stop timeout for remote heartbeat')
-
+    # component
     add_launch_arg('use_intra_process', 'false', 'use ROS2 component container communication')
     add_launch_arg('use_multithread', 'false', 'use multithread')
     set_container_executable = SetLaunchConfiguration(

control_launch/launch/control.launch.xml

@@ -65,9 +65,6 @@
 
     <!-- external_cmd_converter -->
     <include file="$(find-pkg-share external_cmd_converter)/launch/external_cmd_converter.launch.xml">
-      <arg name="in/external_control_cmd" value="/external/selected/external_control_cmd" />
-      <arg name="in/shift_cmd" value="/external/selected/shift_cmd" />
-      <arg name="out/control_cmd" value="/external/selected/control_cmd" />
     </include>
   </group>
 </launch>