feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): revert pr7710 and Check next_lane_id in createTargetPoint on stop line

.cppcheck_suppressions

@@ -13,12 +13,8 @@ knownConditionTrueFalse
 missingInclude
 missingIncludeSystem
 noConstructor
-noExplicitConstructor
-noValidConfiguration
 passedByValue
-preprocessorErrorDirective
 redundantInitialization
-shadowFunction
 shadowVariable
 // cspell: ignore uninit
 uninitMemberVar

.github/CODEOWNERS

@@ -55,7 +55,7 @@
 control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_pure_pursuit/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_shift_decider/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_smart_mpc_trajectory_follower/** kosuke.takeuchi@tier4.jp masayuki.aino@proxima-ai-tech.com takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
@@ -192,10 +192,10 @@
 planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp
-planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** maxime.clement@tier4.jp
+planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** maxime.clement@tier4.jp daniel.sanchez@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp
-planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp
+planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp daniel.sanchez@tier4.jp alqudah.mohammad@tier4.jp
+planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp daniel.sanchez@tier4.jp alqudah.mohammad@tier4.jp
 planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4.jp
 planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp
 planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp

common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp

@@ -32,7 +32,7 @@ struct VehicleKinematics
   using Message = autoware_adapi_v1_msgs::msg::VehicleKinematics;
   static constexpr char name[] = "/api/vehicle/kinematics";
   static constexpr size_t depth = 1;
-  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 

common/autoware_universe_utils/CMakeLists.txt

@@ -1,11 +1,15 @@
 cmake_minimum_required(VERSION 3.14)
 project(autoware_universe_utils)
 
+option(BUILD_EXAMPLES "Build examples" OFF)
+
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(Boost REQUIRED)
 
+find_package(fmt REQUIRED)
+
 ament_auto_add_library(autoware_universe_utils SHARED
   src/geometry/geometry.cpp
   src/geometry/pose_deviation.cpp
@@ -16,6 +20,11 @@ ament_auto_add_library(autoware_universe_utils SHARED
   src/ros/marker_helper.cpp
   src/ros/logger_level_configure.cpp
   src/system/backtrace.cpp
+  src/system/time_keeper.cpp
+)
+
+target_link_libraries(autoware_universe_utils
+  fmt::fmt
 )
 
 if(BUILD_TESTING)
@@ -30,4 +39,20 @@ if(BUILD_TESTING)
   )
 endif()
 
+if(BUILD_EXAMPLES)
+  message(STATUS "Building examples")
+  file(GLOB_RECURSE example_files examples/*.cpp)
+
+  foreach(example_file ${example_files})
+    get_filename_component(example_name ${example_file} NAME_WE)
+    add_executable(${example_name} ${example_file})
+    target_link_libraries(${example_name}
+      autoware_universe_utils
+    )
+    install(TARGETS ${example_name}
+      DESTINATION lib/${PROJECT_NAME}
+    )
+  endforeach()
+endif()
+
 ament_auto_package()

common/autoware_universe_utils/README.md

@@ -7,3 +7,94 @@
 ## For developers
 
 `autoware_universe_utils.hpp` header file was removed because the source files that directly/indirectly include this file took a long time for preprocessing.
+
+### TimeKeeper and ScopedTimeTrack
+
+#### `autoware::universe_utils::TimeKeeper`
+
+##### Constructor
+
+```cpp
+template <typename... Reporters>
+explicit TimeKeeper(Reporters... reporters);
+```
+
+- Initializes the `TimeKeeper` with a list of reporters.
+
+##### Methods
+
+- `void add_reporter(std::ostream * os);`
+
+  - Adds a reporter to output processing times to an `ostream`.
+  - `os`: Pointer to the `ostream` object.
+
+- `void add_reporter(rclcpp::Publisher<ProcessingTimeDetail>::SharedPtr publisher);`
+
+  - Adds a reporter to publish processing times to an `rclcpp` publisher.
+  - `publisher`: Shared pointer to the `rclcpp` publisher.
+
+- `void add_reporter(rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher);`
+
+  - Adds a reporter to publish processing times to an `rclcpp` publisher with `std_msgs::msg::String`.
+  - `publisher`: Shared pointer to the `rclcpp` publisher.
+
+- `void start_track(const std::string & func_name);`
+
+  - Starts tracking the processing time of a function.
+  - `func_name`: Name of the function to be tracked.
+
+- `void end_track(const std::string & func_name);`
+  - Ends tracking the processing time of a function.
+  - `func_name`: Name of the function to end tracking.
+
+#### Example
+
+```cpp
+#include <iostream>
+#include <rclcpp/rclcpp.hpp>
+#include "autoware_universe_utils/time_keeper.hpp"
+
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  auto node = std::make_shared<rclcpp::Node>("time_keeper_example");
+
+  auto time_keeper = std::make_shared<autoware::universe_utils::TimeKeeper>();
+  time_keeper->add_reporter(&std::cout);
+
+  auto publisher = node->create_publisher<autoware::universe_utils::ProcessingTimeDetail>("time_topic", 10);
+  time_keeper->add_reporter(publisher);
+
+  time_keeper->start_track("example_function");
+  // Do some processing here
+  time_keeper->end_track("example_function");
+
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+  return 0;
+}
+```
+
+#### `autoware::universe_utils::ScopedTimeTrack`
+
+##### Description
+
+Class for automatically tracking the processing time of a function within a scope.
+
+##### Constructor
+
+```cpp
+ScopedTimeTrack(const std::string & func_name, TimeKeeper & time_keeper);
+```
+
+- `func_name`: Name of the function to be tracked.
+- `time_keeper`: Reference to the `TimeKeeper` object.
+
+##### Destructor
+
+```cpp
+~ScopedTimeTrack();
+```
+
+- Destroys the `ScopedTimeTrack` object, ending the tracking of the function.

common/autoware_universe_utils/examples/example_time_keeper.cpp

@@ -0,0 +1,55 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include "autoware/universe_utils/system/time_keeper.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <iostream>
+#include <memory>
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  auto node = std::make_shared<rclcpp::Node>("time_keeper_example");
+
+  auto time_keeper = std::make_shared<autoware::universe_utils::TimeKeeper>();
+
+  time_keeper->add_reporter(&std::cout);
+
+  auto publisher =
+    node->create_publisher<autoware::universe_utils::ProcessingTimeDetail>("processing_time", 10);
+
+  time_keeper->add_reporter(publisher);
+
+  auto publisher_str = node->create_publisher<std_msgs::msg::String>("processing_time_str", 10);
+
+  auto funcA = [&time_keeper]() {
+    time_keeper->start_track("funcA");
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+    time_keeper->end_track("funcA");
+  };
+
+  auto funcB = [&time_keeper, &funcA]() {
+    time_keeper->start_track("funcB");
+    std::this_thread::sleep_for(std::chrono::seconds(2));
+    funcA();
+    time_keeper->end_track("funcB");
+  };
+
+  funcB();
+
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+  return 0;
+}