[pull] main from autowarefoundation:main

.github/sync-files.yaml

@@ -31,11 +31,60 @@
 - repository: autowarefoundation/autoware_common
   files:
     - source: .github/workflows/build-and-test.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}
+
+        sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source}
+        sd -- \
+        "       include:" \
+        "       container-suffix:
+                  - \"\"
+                  - -cuda
+                include:" {source}
     - source: .github/workflows/build-and-test-differential.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}
+
+        sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source}
+        sd -- \
+        "       include:" \
+        "       container-suffix:
+                  - \"\"
+                  - -cuda
+                include:" {source}
+
+        sd "^    container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest" \
+            "    container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda" {source}
     - source: .github/workflows/build-and-test-differential-self-hosted.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}
+
+        sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source}
+        sd -- \
+        "       include:" \
+        "       container-suffix:
+                  - \"\"
+                  - -cuda
+                include:" {source}
     - source: .github/workflows/build-and-test-self-hosted.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}
+
+        sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source}
+        sd -- \
+        "       include:" \
+        "       container-suffix:
+                  - \"\"
+                  - -cuda
+                include:" {source}
     - source: .github/workflows/check-build-depends.yaml
-    - source: .github/workflows/clang-tidy-pr-comments.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: codecov.yaml
 
 - repository: autowarefoundation/autoware-documentation

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

@@ -18,7 +18,23 @@ jobs:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
     runs-on: [self-hosted, linux, ARM64]
-    container: ghcr.io/autowarefoundation/autoware-universe:latest
+    container: ${{ matrix.container }}${{ matrix.container-suffix }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        container-suffix:
+          - ""
+          - -cuda
+        include:
+          - rosdistro: galactic
+            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
+            build-depends-repos: build_depends.humble.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
@@ -36,14 +52,14 @@ jobs:
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Test
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}

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

@@ -6,10 +6,26 @@ on:
 jobs:
   build-and-test-differential:
     runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware-universe:latest
+    container: ${{ matrix.container }}${{ matrix.container-suffix }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        container-suffix:
+          - ""
+          - -cuda
+        include:
+          - rosdistro: galactic
+            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            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@0.9.1
+        uses: styfle/cancel-workflow-action@0.10.0
 
       - name: Check out repository
         uses: actions/checkout@v3
@@ -27,18 +43,18 @@ jobs:
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Test
         id: test
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
@@ -51,7 +67,7 @@ jobs:
 
   clang-tidy-differential:
     runs-on: ubuntu-latest
-    container: ros:galactic
+    container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
     needs: build-and-test-differential
     steps:
       - name: Check out repository

.github/workflows/build-and-test-self-hosted.yaml

@@ -8,7 +8,23 @@ on:
 jobs:
   build-and-test-self-hosted:
     runs-on: [self-hosted, linux, ARM64]
-    container: ghcr.io/autowarefoundation/autoware-universe:latest
+    container: ${{ matrix.container }}${{ matrix.container-suffix }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        container-suffix:
+          - ""
+          - -cuda
+        include:
+          - rosdistro: galactic
+            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
+            build-depends-repos: build_depends.humble.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
@@ -24,14 +40,14 @@ jobs:
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         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 }}
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-test@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/build-and-test.yaml

@@ -10,7 +10,23 @@ jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
     runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware-universe:latest
+    container: ${{ matrix.container }}${{ matrix.container-suffix }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        container-suffix:
+          - ""
+          - -cuda
+        include:
+          - rosdistro: galactic
+            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
+            build-depends-repos: build_depends.humble.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
@@ -26,18 +42,18 @@ jobs:
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         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 }}
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         id: test
         uses: autowarefoundation/autoware-github-actions/colcon-test@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 }}
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}

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

@@ -8,10 +8,10 @@ on:
 jobs:
   check-build-depends:
     runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware-universe:latest
+    container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest
     steps:
       - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.9.1
+        uses: styfle/cancel-workflow-action@0.10.0
 
       - name: Check out repository
         uses: actions/checkout@v3

.github/workflows/github-release.yaml

@@ -9,6 +9,7 @@ on:
   workflow_dispatch:
     inputs:
       beta-branch-or-tag-name:
+        description: The name of the beta branch or tag to release
         type: string
         required: true
 
@@ -51,9 +52,23 @@ jobs:
         id: generate-changelog
         uses: autowarefoundation/autoware-github-actions/generate-changelog@v1
 
+      - name: Select verb
+        id: select-verb
+        run: |
+          has_previous_draft=$(gh release view --json isDraft -q ".isDraft" "${{ steps.set-tag-name.outputs.tag-name }}") || true
+
+          verb=create
+          if [ "$has_previous_draft" = "true" ]; then
+            verb=edit
+          fi
+
+          echo ::set-output name=verb::"$verb"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
       - name: Release to GitHub
         run: |
-          gh release create "${{ steps.set-tag-name.outputs.tag-name }}" \
+          gh release ${{ steps.select-verb.outputs.verb }} "${{ steps.set-tag-name.outputs.tag-name }}" \
             --draft \
             --target "${{ steps.set-target-name.outputs.target-name }}" \
             --title "Release ${{ steps.set-tag-name.outputs.tag-name }}" \

.markdown-link-check.json

@@ -3,6 +3,9 @@
   "ignorePatterns": [
     {
       "pattern": "^http://localhost"
+    },
+    {
+      "pattern": "^https://github.com/.*/discussions/new"
     }
   ],
   "retryOn429": true,

.pre-commit-config.yaml

@@ -4,7 +4,7 @@ ci:
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.2.0
+    rev: v4.3.0
     hooks:
       - id: check-json
       - id: check-merge-conflict
@@ -25,7 +25,7 @@ repos:
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v2.6.2
+    rev: v2.7.1
     hooks:
       - id: prettier
 
@@ -35,21 +35,22 @@ repos:
       - id: yamllint
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.6.0
+    rev: v0.7.1
     hooks:
+      - id: flake8-ros
       - id: prettier-xacro
       - id: prettier-launch-xml
       - id: prettier-package-xml
-      - id: sort-package-xml
       - id: ros-include-guard
+      - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
     rev: v0.8.0.4
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.4.3-1
+    rev: v3.5.1-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
@@ -60,29 +61,13 @@ repos:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 22.3.0
+    rev: 22.6.0
     hooks:
       - id: black
         args: [--line-length=100]
 
-  - repo: https://github.com/PyCQA/flake8
-    rev: 4.0.1
-    hooks:
-      - id: flake8
-        additional_dependencies:
-          [
-            flake8-blind-except,
-            flake8-builtins,
-            flake8-class-newline,
-            flake8-comprehensions,
-            flake8-deprecated,
-            flake8-docstrings,
-            flake8-import-order,
-            flake8-quotes,
-          ]
-
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v13.0.1
+    rev: v14.0.6
     hooks:
       - id: clang-format
         types_or: [c++, c, cuda]