Merge branch 'main' into mau/refactor/localization/localization_error…

…_monitor

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

@@ -74,40 +74,3 @@ jobs:
 
       - name: Show disk space after the tasks
         run: df -h
-
-  clang-tidy-differential:
-    runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Show disk space before the tasks
-        run: df -h
-
-      - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
-
-      - name: Get modified packages
-        id: get-modified-packages
-        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
-
-      - name: Get modified files
-        id: get-modified-files
-        uses: tj-actions/changed-files@v35
-        with:
-          files: |
-            **/*.cpp
-            **/*.hpp
-
-      - name: Run clang-tidy
-        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
-        with:
-          rosdistro: humble
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
-          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
-          build-depends-repos: build_depends.repos

.github/workflows/clang-tidy-differential.yaml

@@ -0,0 +1,53 @@
+name: clang-tidy-differential
+
+on:
+  pull_request:
+    types:
+      - opened
+      - synchronize
+      - labeled
+
+jobs:
+  prevent-no-label-execution:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+    with:
+      label: tag:run-clang-tidy-differential
+
+  clang-tidy-differential:
+    needs: prevent-no-label-execution
+    if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
+    runs-on: ubuntu-latest
+    container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Show disk space before the tasks
+        run: df -h
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Get modified files
+        id: get-modified-files
+        uses: tj-actions/changed-files@v35
+        with:
+          files: |
+            **/*.cpp
+            **/*.hpp
+
+      - name: Run clang-tidy
+        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
+        with:
+          rosdistro: humble
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
+          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
+          build-depends-repos: build_depends.repos

common/global_parameter_loader/launch/global_params.launch.py

@@ -33,7 +33,7 @@ def launch_setup(context, *args, **kwargs):
 
     load_vehicle_info = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            [FindPackageShare("vehicle_info_util"), "/launch/vehicle_info.launch.py"]
+            [FindPackageShare("autoware_vehicle_info_utils"), "/launch/vehicle_info.launch.py"]
         ),
         launch_arguments={
             "vehicle_info_param_file": [vehicle_description_pkg, "/config/vehicle_info.param.yaml"]

common/global_parameter_loader/package.xml

@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <exec_depend>vehicle_info_util</exec_depend>
+  <exec_depend>autoware_vehicle_info_utils</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp

@@ -27,6 +27,14 @@ namespace tier4_autoware_utils
 template <typename T>
 class InterProcessPollingSubscriber
 {
+public:
+  using SharedPtr = std::shared_ptr<InterProcessPollingSubscriber<T>>;
+  static SharedPtr create_subscription(
+    rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1})
+  {
+    return std::make_shared<InterProcessPollingSubscriber<T>>(node, topic_name, qos);
+  }
+
 private:
   typename rclcpp::Subscription<T>::SharedPtr subscriber_;
   typename T::SharedPtr data_;

common/tier4_autoware_utils/include/tier4_autoware_utils/ros/transform_listener.hpp

@@ -48,8 +48,9 @@ class TransformListener
     try {
       tf = tf_buffer_->lookupTransform(from, to, tf2::TimePointZero);
     } catch (tf2::TransformException & ex) {
-      RCLCPP_WARN(
-        logger_, "failed to get transform from %s to %s: %s", from.c_str(), to.c_str(), ex.what());
+      RCLCPP_WARN_THROTTLE(
+        logger_, *clock_, 5000, "failed to get transform from %s to %s: %s", from.c_str(),
+        to.c_str(), ex.what());
       return {};
     }
 
@@ -64,8 +65,9 @@ class TransformListener
     try {
       tf = tf_buffer_->lookupTransform(from, to, time, duration);
     } catch (tf2::TransformException & ex) {
-      RCLCPP_WARN(
-        logger_, "failed to get transform from %s to %s: %s", from.c_str(), to.c_str(), ex.what());
+      RCLCPP_WARN_THROTTLE(
+        logger_, *clock_, 5000, "failed to get transform from %s to %s: %s", from.c_str(),
+        to.c_str(), ex.what());
       return {};
     }
 

common/tier4_localization_rviz_plugin/package.xml

@@ -11,6 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
@@ -20,7 +21,6 @@
   <depend>rviz_common</depend>
   <depend>rviz_default_plugins</depend>
   <depend>tf2_ros</depend>
-  <depend>vehicle_info_util</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp

@@ -172,7 +172,7 @@ void PoseHistoryFootprint::updateFootprint()
   if (!vehicle_info_) {
     try {
       vehicle_info_ = std::make_shared<VehicleInfo>(
-        VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
+        VehicleInfoUtils(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
       updateVehicleInfo();
     } catch (const std::exception & e) {
       RCLCPP_WARN_THROTTLE(

common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp

@@ -15,8 +15,8 @@
 #ifndef POSE_HISTORY_FOOTPRINT__DISPLAY_HPP_
 #define POSE_HISTORY_FOOTPRINT__DISPLAY_HPP_
 
+#include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <rviz_common/message_filter_display.hpp>
-#include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 
@@ -39,8 +39,8 @@ class BoolProperty;
 namespace rviz_plugins
 {
 
-using vehicle_info_util::VehicleInfo;
-using vehicle_info_util::VehicleInfoUtil;
+using autoware::vehicle_info_utils::VehicleInfo;
+using autoware::vehicle_info_utils::VehicleInfoUtils;
 
 class PoseHistoryFootprint
 : public rviz_common::MessageFilterDisplay<geometry_msgs::msg::PoseStamped>

common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp

@@ -15,6 +15,7 @@
 #ifndef TIER4_PLANNING_RVIZ_PLUGIN__PATH__DISPLAY_BASE_HPP_
 #define TIER4_PLANNING_RVIZ_PLUGIN__PATH__DISPLAY_BASE_HPP_
 
+#include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rviz_common/display_context.hpp>
 #include <rviz_common/frame_manager_iface.hpp>
@@ -25,7 +26,6 @@
 #include <rviz_common/properties/parse_color.hpp>
 #include <rviz_common/validate_floats.hpp>
 #include <rviz_rendering/objects/movable_text.hpp>
-#include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_planning_msgs/msg/path.hpp>
 
@@ -97,8 +97,8 @@ bool validateFloats(const typename T::ConstSharedPtr & msg_ptr)
 
 namespace rviz_plugins
 {
-using vehicle_info_util::VehicleInfo;
-using vehicle_info_util::VehicleInfoUtil;
+using autoware::vehicle_info_utils::VehicleInfo;
+using autoware::vehicle_info_utils::VehicleInfoUtils;
 template <typename T>
 class AutowarePathBaseDisplay : public rviz_common::MessageFilterDisplay<T>
 {

common/tier4_planning_rviz_plugin/package.xml

@@ -12,6 +12,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_vehicle_info_utils</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
   <depend>libqt5-widgets</depend>
@@ -25,7 +26,6 @@
   <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>vehicle_info_util</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

common/tier4_planning_rviz_plugin/src/path/display.cpp

@@ -31,7 +31,7 @@ void AutowarePathWithLaneIdDisplay::preProcessMessageDetail()
   if (!vehicle_info_) {
     try {
       vehicle_info_ = std::make_shared<VehicleInfo>(
-        VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
+        VehicleInfoUtils(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
       updateVehicleInfo();
     } catch (const std::exception & e) {
       RCLCPP_WARN_ONCE(
@@ -107,7 +107,7 @@ void AutowarePathDisplay::preProcessMessageDetail()
   if (!vehicle_info_) {
     try {
       vehicle_info_ = std::make_shared<VehicleInfo>(
-        VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
+        VehicleInfoUtils(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
       updateVehicleInfo();
     } catch (const std::exception & e) {
       RCLCPP_WARN_ONCE(
@@ -124,7 +124,7 @@ void AutowareTrajectoryDisplay::preProcessMessageDetail()
   if (!vehicle_info_) {
     try {
       vehicle_info_ = std::make_shared<VehicleInfo>(
-        VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
+        VehicleInfoUtils(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
       updateVehicleInfo();
     } catch (const std::exception & e) {
       RCLCPP_WARN_ONCE(

control/autonomous_emergency_braking/CMakeLists.txt → control/autoware_autonomous_emergency_braking/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(autonomous_emergency_braking)
+project(autoware_autonomous_emergency_braking)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp → control/autoware_autonomous_emergency_braking/include/autoware_autonomous_emergency_braking/node.hpp

@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
-#define AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
+#ifndef AUTOWARE_AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
+#define AUTOWARE_AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
 
+#include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/ros/polling_subscriber.hpp>
-#include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <autoware_system_msgs/msg/autoware_state.hpp>
@@ -59,11 +59,11 @@ using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::Imu;
 using sensor_msgs::msg::PointCloud2;
 using PointCloud = pcl::PointCloud<pcl::PointXYZ>;
+using autoware::vehicle_info_utils::VehicleInfo;
 using diagnostic_updater::DiagnosticStatusWrapper;
 using diagnostic_updater::Updater;
 using tier4_autoware_utils::Point2d;
 using tier4_autoware_utils::Polygon2d;
-using vehicle_info_util::VehicleInfo;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 using Path = std::vector<geometry_msgs::msg::Pose>;
@@ -340,4 +340,4 @@ class AEB : public rclcpp::Node
 };
 }  // namespace autoware::motion::control::autonomous_emergency_braking
 
-#endif  // AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
+#endif  // AUTOWARE_AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_

control/autonomous_emergency_braking/launch/autonomous_emergency_braking.launch.xml → control/autoware_autonomous_emergency_braking/launch/autoware_autonomous_emergency_braking.launch.xml

@@ -1,12 +1,12 @@
 <launch>
-  <arg name="param_path" default="$(find-pkg-share autonomous_emergency_braking)/config/autonomous_emergency_braking.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_autonomous_emergency_braking)/config/autonomous_emergency_braking.param.yaml"/>
   <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="input_velocity" default="/vehicle/status/velocity_status"/>
   <arg name="input_imu" default="/sensing/imu/imu_data"/>
   <arg name="input_odometry" default="/localization/kinematic_state"/>
   <arg name="input_predicted_trajectory" default="/control/trajectory_follower/lateral/predicted_trajectory"/>
 
-  <node pkg="autonomous_emergency_braking" exec="autonomous_emergency_braking" name="autonomous_emergency_braking" output="screen">
+  <node pkg="autoware_autonomous_emergency_braking" exec="autoware_autonomous_emergency_braking" name="autonomous_emergency_braking" output="screen">
     <!-- load config files -->
     <param from="$(var param_path)"/>
     <!-- remap topic name -->

control/autonomous_emergency_braking/package.xml → control/autoware_autonomous_emergency_braking/package.xml

@@ -1,7 +1,7 @@
 <?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>autonomous_emergency_braking</name>
+  <name>autoware_autonomous_emergency_braking</name>
   <version>0.1.0</version>
   <description>Autonomous Emergency Braking package as a ROS 2 node</description>
   <maintainer email="[email protected]">Takamasa Horibe</maintainer>
@@ -17,6 +17,7 @@
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_system_msgs</depend>
+  <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
@@ -34,7 +35,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>
-  <depend>vehicle_info_util</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>

control/autonomous_emergency_braking/src/node.cpp → control/autoware_autonomous_emergency_braking/src/node.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autonomous_emergency_braking/node.hpp"
+#include "autoware_autonomous_emergency_braking/node.hpp"
 
 #include <pcl_ros/transforms.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
@@ -60,7 +60,7 @@ void appendPointToPolygon(Polygon2d & polygon, const geometry_msgs::msg::Point &
 
 Polygon2d createPolygon(
   const geometry_msgs::msg::Pose & base_pose, const geometry_msgs::msg::Pose & next_pose,
-  const vehicle_info_util::VehicleInfo & vehicle_info, const double expand_width)
+  const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double expand_width)
 {
   Polygon2d polygon;
 
@@ -102,7 +102,7 @@ Polygon2d createPolygon(
 
 AEB::AEB(const rclcpp::NodeOptions & node_options)
 : Node("AEB", node_options),
-  vehicle_info_(vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo()),
+  vehicle_info_(autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo()),
   collision_data_keeper_(this->get_clock())
 {
   // Publisher