chore: sync upstream

.github/sync-files.yaml

@@ -51,12 +51,11 @@
         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}
+        sd "^    container: ghcr.io/autowarefoundation/autoware-universe:(\w+)-latest\$" \
+            "    container: ghcr.io/autowarefoundation/autoware-universe:\$1-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}
@@ -66,7 +65,6 @@
         sd -- \
         "       include:" \
         "       container-suffix:
-                  - \"\"
                   - -cuda
                 include:" {source}
     - source: .github/workflows/build-and-test-self-hosted.yaml

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

@@ -26,7 +26,6 @@ jobs:
           - galactic
           - humble
         container-suffix:
-          - ""
           - -cuda
         include:
           - rosdistro: galactic

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

@@ -14,7 +14,6 @@ jobs:
           - galactic
           - humble
         container-suffix:
-          - ""
           - -cuda
         include:
           - rosdistro: galactic
@@ -67,7 +66,7 @@ jobs:
 
   clang-tidy-differential:
     runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+    container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
     needs: build-and-test-differential
     steps:
       - name: Check out repository
@@ -86,7 +85,7 @@ jobs:
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
         with:
-          rosdistro: galactic
+          rosdistro: humble
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
-          build-depends-repos: build_depends.repos
+          build-depends-repos: build_depends.humble.repos

.pre-commit-config.yaml

@@ -19,7 +19,7 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.31.1
+    rev: v0.32.1
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
@@ -30,7 +30,7 @@ repos:
       - id: prettier
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.26.3
+    rev: v1.27.1
     hooks:
       - id: yamllint
 

common/autoware_ad_api_msgs/CMakeLists.txt

@@ -7,6 +7,16 @@ autoware_package()
 rosidl_generate_interfaces(${PROJECT_NAME}
   common/msg/ResponseStatus.msg
   interface/srv/InterfaceVersion.srv
+  localization/msg/LocalizationInitializationState.msg
+  localization/srv/InitializeLocalization.srv
+  routing/msg/RouteState.msg
+  routing/msg/Route.msg
+  routing/msg/RouteData.msg
+  routing/msg/RoutePrimitive.msg
+  routing/msg/RouteSegment.msg
+  routing/srv/ClearRoute.srv
+  routing/srv/SetRoute.srv
+  routing/srv/SetRoutePoints.srv
   DEPENDENCIES
     builtin_interfaces
     std_msgs

common/autoware_ad_api_msgs/README.md

@@ -21,6 +21,11 @@ Considering the product life cycle, there may be multiple vehicles using differe
 In that situation, the AD API users such as developers of a web service have to switch the application behavior based on the version that each vehicle uses.
 The version of AD API follows [Semantic Versioning][semver] in order to provide an intuitive understanding of the changes between versions.
 
+## Routing
+
+The routing service support two formats. One uses pose and the other uses map dependent data directly.
+The body part of the route message is optional, since the route does not exist when it is cleared by the service.
+
 <!-- link -->
 
 [semver]: https://semver.org/

common/autoware_ad_api_msgs/localization/msg/LocalizationInitializationState.msg

@@ -0,0 +1,7 @@
+uint16 UNKNOWN = 0
+uint16 UNINITIALIZED = 1
+uint16 INITIALIZING = 2
+uint16 INITIALIZED = 3
+
+builtin_interfaces/Time stamp
+uint16 state

common/autoware_ad_api_msgs/localization/srv/InitializeLocalization.srv

@@ -0,0 +1,7 @@
+geometry_msgs/PoseWithCovarianceStamped[<=1] pose
+---
+uint16 ERROR_UNSAFE = 1
+uint16 ERROR_GNSS_SUPPORT = 2
+uint16 ERROR_GNSS = 3
+uint16 ERROR_ESTIMATION = 4
+autoware_ad_api_msgs/ResponseStatus status

common/autoware_ad_api_msgs/routing/msg/Route.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+autoware_ad_api_msgs/RouteData[<=1] data

common/autoware_ad_api_msgs/routing/msg/RouteData.msg

@@ -0,0 +1,3 @@
+geometry_msgs/Pose start
+geometry_msgs/Pose goal
+autoware_ad_api_msgs/RouteSegment[] segments

common/autoware_ad_api_msgs/routing/msg/RoutePrimitive.msg

@@ -0,0 +1,2 @@
+int64 id
+string type  # The same id may be used for each type.

common/autoware_ad_api_msgs/routing/msg/RouteSegment.msg

@@ -0,0 +1,2 @@
+autoware_ad_api_msgs/RoutePrimitive   preferred
+autoware_ad_api_msgs/RoutePrimitive[] alternatives  # Does not include the preferred primitive.

common/autoware_ad_api_msgs/routing/msg/RouteState.msg

@@ -0,0 +1,8 @@
+uint16 UNKNOWN = 0
+uint16 UNSET = 1
+uint16 SET = 2
+uint16 ARRIVED = 3
+uint16 CHANGING = 4
+
+builtin_interfaces/Time stamp
+uint16 state

common/autoware_ad_api_msgs/routing/srv/ClearRoute.srv

@@ -0,0 +1,2 @@
+---
+autoware_ad_api_msgs/ResponseStatus status

common/autoware_ad_api_msgs/routing/srv/SetRoute.srv

@@ -0,0 +1,6 @@
+std_msgs/Header header
+geometry_msgs/Pose goal
+autoware_ad_api_msgs/RouteSegment[] segments
+---
+uint16 ERROR_ROUTE_EXISTS = 1
+autoware_ad_api_msgs/ResponseStatus status

common/autoware_ad_api_msgs/routing/srv/SetRoutePoints.srv

@@ -0,0 +1,8 @@
+std_msgs/Header header
+geometry_msgs/Pose goal
+geometry_msgs/Pose[] waypoints
+---
+uint16 ERROR_ROUTE_EXISTS = 1
+uint16 ERROR_PLANNER_UNREADY = 2
+uint16 ERROR_PLANNER_FAILED = 3
+autoware_ad_api_msgs/ResponseStatus status

launch/tier4_integration_launch/CMakeLists.txt → common/autoware_ad_api_specs/CMakeLists.txt

@@ -1,11 +1,7 @@
-
 cmake_minimum_required(VERSION 3.14)
-project(tier4_integration_launch)
+project(autoware_ad_api_specs)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_package(
-  INSTALL_TO_SHARE
-  launch
-)
+ament_auto_package()

system/default_ad_api/include/default_ad_api/specs/interface/version.hpp → common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp

@@ -12,20 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DEFAULT_AD_API__SPECS__INTERFACE__VERSION_HPP_
-#define DEFAULT_AD_API__SPECS__INTERFACE__VERSION_HPP_
+#ifndef AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
+#define AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
 
-#include "autoware_ad_api_msgs/srv/interface_version.hpp"
+#include <autoware_ad_api_msgs/srv/interface_version.hpp>
 
-namespace ad_api::interface::version
+namespace autoware_ad_api::interface
 {
 
-struct T
+struct Version
 {
   using Service = autoware_ad_api_msgs::srv::InterfaceVersion;
   static constexpr char name[] = "/api/interface/version";
 };
 
-}  // namespace ad_api::interface::version
+}  // namespace autoware_ad_api::interface
 
-#endif  // DEFAULT_AD_API__SPECS__INTERFACE__VERSION_HPP_
+#endif  // AUTOWARE_AD_API_SPECS__INTERFACE_HPP_

common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp

@@ -0,0 +1,43 @@
+// Copyright 2022 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.
+
+#ifndef AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_
+#define AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_ad_api_msgs/msg/localization_initialization_state.hpp>
+#include <autoware_ad_api_msgs/srv/initialize_localization.hpp>
+
+namespace autoware_ad_api::localization
+{
+
+struct Initialize
+{
+  using Service = autoware_ad_api_msgs::srv::InitializeLocalization;
+  static constexpr char name[] = "/api/localization/initialize";
+};
+
+struct InitializationState
+{
+  using Message = autoware_ad_api_msgs::msg::LocalizationInitializationState;
+  static constexpr char name[] = "/api/localization/initialization_state";
+  static constexpr size_t depth = 3;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware_ad_api::localization
+
+#endif  // AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_

common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp

@@ -0,0 +1,67 @@
+// Copyright 2022 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.
+
+#ifndef AUTOWARE_AD_API_SPECS__ROUTING_HPP_
+#define AUTOWARE_AD_API_SPECS__ROUTING_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_ad_api_msgs/msg/route.hpp>
+#include <autoware_ad_api_msgs/msg/route_state.hpp>
+#include <autoware_ad_api_msgs/srv/clear_route.hpp>
+#include <autoware_ad_api_msgs/srv/set_route.hpp>
+#include <autoware_ad_api_msgs/srv/set_route_points.hpp>
+
+namespace autoware_ad_api::routing
+{
+
+struct SetRoutePoints
+{
+  using Service = autoware_ad_api_msgs::srv::SetRoutePoints;
+  static constexpr char name[] = "/api/routing/set_route_points";
+};
+
+struct SetRoute
+{
+  using Service = autoware_ad_api_msgs::srv::SetRoute;
+  static constexpr char name[] = "/api/routing/set_route";
+};
+
+struct ClearRoute
+{
+  using Service = autoware_ad_api_msgs::srv::ClearRoute;
+  static constexpr char name[] = "/api/routing/clear_route";
+};
+
+struct RouteState
+{
+  using Message = autoware_ad_api_msgs::msg::RouteState;
+  static constexpr char name[] = "/api/routing/state";
+  static constexpr size_t depth = 3;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+struct Route
+{
+  using Message = autoware_ad_api_msgs::msg::Route;
+  static constexpr char name[] = "/api/routing/route";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware_ad_api::routing
+
+#endif  // AUTOWARE_AD_API_SPECS__ROUTING_HPP_

common/autoware_ad_api_specs/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_ad_api_specs</name>
+  <version>0.0.0</version>
+  <description>The autoware_ad_api_specs package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>autoware_cmake</build_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

common/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp

@@ -31,6 +31,7 @@ void DetectedObjectsDisplay::processMessage(DetectedObjects::ConstSharedPtr msg)
   clear_markers();
   int id = 0;
   for (const auto & object : msg->objects) {
+    // TODO(Satoshi Tanaka): fixing from string label to one string
     // Get marker for shape
     auto shape_marker = get_shape_marker_ptr(
       object.shape, object.kinematics.pose_with_covariance.pose.position,
@@ -53,6 +54,28 @@ void DetectedObjectsDisplay::processMessage(DetectedObjects::ConstSharedPtr msg)
       label_marker_ptr->id = id++;
       add_marker(label_marker_ptr);
     }
+
+    // Get marker for velocity text
+    geometry_msgs::msg::Point vel_vis_position;
+    vel_vis_position.x = object.kinematics.pose_with_covariance.pose.position.x - 0.5;
+    vel_vis_position.y = object.kinematics.pose_with_covariance.pose.position.y;
+    vel_vis_position.z = object.kinematics.pose_with_covariance.pose.position.z - 0.5;
+    auto velocity_text_marker = get_velocity_text_marker_ptr(
+      object.kinematics.twist_with_covariance.twist, vel_vis_position, object.classification);
+    if (velocity_text_marker) {
+      auto velocity_text_marker_ptr = velocity_text_marker.value();
+      velocity_text_marker_ptr->header = msg->header;
+      add_marker(velocity_text_marker_ptr);
+    }
+
+    // Get marker for twist
+    auto twist_marker = get_twist_marker_ptr(
+      object.kinematics.pose_with_covariance, object.kinematics.twist_with_covariance);
+    if (twist_marker) {
+      auto twist_marker_ptr = twist_marker.value();
+      twist_marker_ptr->header = msg->header;
+      add_marker(twist_marker_ptr);
+    }
   }
 }
 

common/component_interface_specs/CMakeLists.txt

@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.14)
+project(component_interface_specs)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_package()