Merge pull request #1658 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.39 with tier4/main

.github/CODEOWNERS

@@ -1,5 +1,5 @@
 ### Automatically generated from package.xml ###
-common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
+common/autoware_adapi_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
 common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp
 common/autoware_component_interface_tools/** isamu.takagi@tier4.jp
@@ -17,17 +17,19 @@ common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp
 common/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp
 common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp
 common/autoware_polar_grid/** yukihiro.saito@tier4.jp
+common/autoware_qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
 common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp
 common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
+common/autoware_time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
+common/autoware_trajectory_container/** yukinari.hisaki.2@tier4.jp takayuki.murooka@tier4.jp mamoru.sobue@tier4.jp
 common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp
 common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp
 common/fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp
 common/glog_component/** takamasa.horibe@tier4.jp
-common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
 common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp
 common/tier4_api_utils/** isamu.takagi@tier4.jp
 common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp
@@ -38,12 +40,10 @@ common/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp khal
 common/tier4_system_rviz_plugin/** koji.minoda@tier4.jp
 common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp
 common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp
-common/time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp
 common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp
-common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
 control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
-control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp
+control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp tomohito.ando@tier4.jp
 control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
@@ -63,7 +63,7 @@ control/predicted_path_checker/** berkay@leodrive.ai
 evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp temkei.kem@tier4.jp
 evaluator/autoware_evaluator_utils/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp
 evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp
-evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp
+evaluator/scenario_simulator_v2_adapter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp
 evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 evaluator/localization_evaluator/** dominik.jargot@robotec.ai koji.minoda@tier4.jp
 evaluator/perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
@@ -105,7 +105,7 @@ map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakam
 perception/autoware_bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp
-perception/autoware_crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp
+perception/autoware_crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp
 perception/autoware_detected_object_feature_remover/** kotaro.uetake@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
@@ -135,13 +135,13 @@ perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura
 perception/autoware_tensorrt_common/** amadeusz.szymko.2@tier4.jp dan.umeda@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp
 perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp kotaro.uetake@tier4.jp manato.hirabayashi@tier4.jp
 perception/autoware_tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp
-perception/autoware_traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp
-perception/autoware_traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp
-perception/autoware_traffic_light_map_based_detector/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp
-perception/autoware_traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp
-perception/autoware_traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp
-perception/autoware_traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp
+perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp masato.saeki@tier4.jp
+perception/autoware_traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp masato.saeki@tier4.jp
+perception/autoware_traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp
+perception/autoware_traffic_light_map_based_detector/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp masato.saeki@tier4.jp
+perception/autoware_traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp
+perception/autoware_traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp
+perception/autoware_traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp masato.saeki@tier4.jp
 perception/perception_utils/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
 planning/autoware_costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/autoware_external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
@@ -199,6 +199,7 @@ planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4.
 planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp
 planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp
 planning/sampling_based_planner/autoware_sampler_common/** maxime.clement@tier4.jp
+sensing/autoware_cuda_utils/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp
 sensing/autoware_gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 sensing/autoware_image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp
 sensing/autoware_image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp
@@ -209,7 +210,6 @@ sensing/autoware_radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.m
 sensing/autoware_radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 sensing/autoware_radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 sensing/autoware_radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
-sensing/cuda_utils/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp
 sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp
 sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp
 simulator/autoware_carla_interface/** maxime.clement@tier4.jp mradityagio@gmail.com

.github/sync-files.yaml

@@ -38,7 +38,7 @@
   files:
     - source: .github/workflows/clang-tidy-differential.yaml
       pre-commands: |
-        sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda' {source}
+        sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda' {source}
     - source: .github/workflows/check-build-depends.yaml
     - source: .github/workflows/clang-tidy-pr-comments.yaml
     - source: .github/workflows/clang-tidy-pr-comments-manually.yaml

.github/workflows/build-and-test-daily-arm64.yaml

@@ -23,7 +23,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
+            container: ghcr.io/autowarefoundation/autoware:universe-devel
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository

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

@@ -19,7 +19,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
+            container: ghcr.io/autowarefoundation/autoware:universe-devel
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository

.github/workflows/build-and-test-differential-arm64.yaml

@@ -33,7 +33,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
+            container: ghcr.io/autowarefoundation/autoware:universe-devel
             build-depends-repos: build_depends.repos
     steps:
       - name: Set PR fetch depth

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

@@ -42,7 +42,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
+            container: ghcr.io/autowarefoundation/autoware:universe-devel
             build-depends-repos: build_depends.repos
           - container-suffix: -cuda
             runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
@@ -76,7 +76,7 @@ jobs:
   clang-tidy-differential:
     needs: build-and-test-differential
     runs-on: ubuntu-22.04
-    container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda
+    container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda
     steps:
       - name: Set PR fetch depth
         run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"

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

@@ -27,7 +27,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
+            container: ghcr.io/autowarefoundation/autoware:universe-devel
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository

codecov.yaml

@@ -117,6 +117,7 @@ component_management:
         # - control/control_performance_analysis/**
         - control/obstacle_collision_checker/**
         # - control/predicted_path_checker/**
+        - control/autoware_collision_detector/**
 
     - component_id: localization-tier-iv-maintained-packages
       name: Localization TIER IV Maintained Packages
@@ -215,7 +216,7 @@ component_management:
         - planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/**
         - planning/behavior_path_planner/autoware_behavior_path_planner_common/**
         - planning/behavior_path_planner/autoware_behavior_path_start_planner_module/**
-        - planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/**
+        # - planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/**
         - planning/behavior_path_planner/autoware_behavior_path_lane_change_module/**
         # - planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/**
         - planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/**
@@ -245,3 +246,5 @@ component_management:
         - planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/**
         - planning/motion_velocity_planner/autoware_motion_velocity_planner_common/**
         - planning/motion_velocity_planner/autoware_motion_velocity_planner_node/**
+        #### sampling_based_planner
+        - planning/sampling_based_planner/autoware_bezier_sampler/**

common/.pages

@@ -9,31 +9,27 @@ nav:
       - 'comparisons': common/autoware_auto_common/design/comparisons
     - 'autoware_grid_map_utils': common/autoware_grid_map_utils
     - 'autoware_point_types': common/autoware_point_types
-    - 'Geography Utils': common/geography_utils
+    - 'Geography Utils': common/autoware_geography_utils
     - 'Global Parameter Loader': common/global_parameter_loader/Readme
     - 'Glog Component': common/glog_component
-    - 'interpolation': common/interpolation
-    - 'Kalman Filter': common/kalman_filter
+    - 'interpolation': common/autoware_interpolation
+    - 'Kalman Filter': common/autoware_kalman_filter
     - 'Motion Utils': common/autoware_motion_utils
     - 'Vehicle Utils': common/autoware_motion_utils/docs/vehicle/vehicle
-    - 'Object Recognition Utils': common/object_recognition_utils
-    - 'OSQP Interface': common/osqp_interface/design/osqp_interface-design
-    - 'Perception Utils': common/perception_utils
-    - 'QP Interface': common/qp_interface/design/qp_interface-design
+    - 'Object Recognition Utils': common/autoware_object_recognition_utils
+    - 'OSQP Interface': common/autoware_osqp_interface/design/osqp_interface-design
+    - 'QP Interface': common/autoware_qp_interface/design/qp_interface-design
     - 'Signal Processing':
-      - 'Introduction': common/signal_processing
-      - 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter
+      - 'Introduction': common/autoware_signal_processing
+      - 'Butterworth Filter': common/autoware_signal_processing/documentation/ButterworthFilter
     - 'autoware_universe_utils': common/autoware_universe_utils
     - 'traffic_light_utils': common/traffic_light_utils
-    - 'TVM Utility':
-      - 'Introduction': common/tvm_utility
-      - 'YOLOv2 Tiny Example': common/tvm_utility/tvm-utility-yolo-v2-tiny-tests
   - 'RVIZ2 Plugins':
     - 'autoware_perception_rviz_plugin': common/autoware_perception_rviz_plugin
     - 'autoware_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin
     - 'autoware_mission_details_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin
     - 'bag_time_manager_rviz_plugin': common/bag_time_manager_rviz_plugin
-    - 'polar_grid': common/polar_grid/Readme
+    - 'polar_grid': common/autoware_polar_grid/Readme
     - 'tier4_adapi_rviz_plugin': common/tier4_adapi_rviz_plugin
     - 'tier4_api_utils': common/tier4_api_utils
     - 'tier4_camera_view_rviz_plugin': common/tier4_camera_view_rviz_plugin
@@ -46,10 +42,10 @@ nav:
     - 'tier4_vehicle_rviz_plugin': common/tier4_vehicle_rviz_plugin
     - 'traffic_light_recognition_marker_publisher': common/traffic_light_recognition_marker_publisher/Readme
   - 'Node':
-    - 'Goal Distance Calculator': common/goal_distance_calculator/Readme
+    - 'Goal Distance Calculator': common/autoware_goal_distance_calculator/Readme
     - 'Path Distance Calculator': common/autoware_path_distance_calculator/Readme
   - 'Others':
-    - 'autoware_ad_api_specs': common/autoware_ad_api_specs
-    - 'component_interface_specs': common/component_interface_specs
-    - 'component_interface_tools': common/component_interface_tools
-    - 'component_interface_utils': common/component_interface_utils
+    - 'autoware_adapi_specs': common/autoware_adapi_specs
+    - 'autoware_component_interface_specs': common/autoware_component_interface_specs
+    - 'autoware_component_interface_tools': common/autoware_component_interface_tools
+    - 'autoware_component_interface_utils': common/autoware_component_interface_utils