Merge branch 'main' into feat/autoware_test_utils/add_jump_clock

.cppcheck_suppressions

@@ -6,6 +6,7 @@ constParameterReference
 constVariable
 constVariableReference
 containerOutOfBounds
+// cspell: ignore cstyle
 cstyleCast
 duplicateBranch
 duplicateBreak
@@ -27,6 +28,7 @@ shadowArgument
 shadowFunction
 shadowVariable
 syntaxError
+// cspell: ignore uninit
 uninitMemberVar
 unknownMacro
 unmatchedSuppression

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

@@ -20,14 +20,10 @@ jobs:
     runs-on: ubuntu-latest
     container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
     steps:
-      - name: Set PR fetch depth
-        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
-
       - name: Checkout PR branch and all PR commits
         uses: actions/checkout@v4
         with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+          fetch-depth: 0
 
       - name: Show disk space before the tasks
         run: df -h
@@ -41,19 +37,17 @@ jobs:
 
       - name: Get modified files
         id: get-modified-files
-        uses: tj-actions/changed-files@v42
-        with:
-          files: |
-            **/*.cpp
-            **/*.hpp
+        run: |
+          echo "changed_files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' || true)" >> $GITHUB_OUTPUT
+        shell: bash
 
       - name: Run clang-tidy
-        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
+        if: ${{ steps.get-modified-files.outputs.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 }}
+          target-files: ${{ steps.get-modified-files.outputs.changed_files }}
           clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
           build-depends-repos: build_depends.repos
 

.github/workflows/cppcheck-daily.yaml

@@ -22,7 +22,7 @@ jobs:
         continue-on-error: true
         id: cppcheck
         run: |
-          cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --xml . 2> cppcheck-report.xml
+          cppcheck --enable=all --inconclusive --check-level=exhaustive --suppress=*:*/test/* --error-exitcode=1 --xml . 2> cppcheck-report.xml
         shell: bash
 
       - name: Count errors by error ID and severity

common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp

@@ -53,7 +53,7 @@
 #include <OgreQuaternion.h>
 #include <OgreSceneManager.h>
 #include <OgreSceneNode.h>
-#include <OgreVector3.h>
+#include <OgreVector.h>
 #include <OgreViewport.h>
 
 namespace tier4_camera_view_rviz_plugin

common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp

@@ -46,7 +46,7 @@
 #include "rviz_common/frame_position_tracking_view_controller.hpp"
 
 #include <OgreQuaternion.h>
-#include <OgreVector3.h>
+#include <OgreVector.h>
 
 namespace rviz_common
 {

common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp

@@ -56,7 +56,7 @@
 #include <OgreQuaternion.h>
 #include <OgreRay.h>
 #include <OgreSceneNode.h>
-#include <OgreVector3.h>
+#include <OgreVector.h>
 #include <OgreViewport.h>
 #include <stdint.h>
 

common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp

@@ -45,7 +45,7 @@
 
 #include "rviz_default_plugins/view_controllers/orbit/orbit_view_controller.hpp"
 
-#include <OgreVector3.h>
+#include <OgreVector.h>
 
 #include <utility>
 

common/tier4_perception_rviz_plugin/src/tools/util.hpp

@@ -17,7 +17,7 @@
 
 #include <rviz_common/viewport_mouse_event.hpp>
 
-#include <OgreVector3.h>
+#include <OgreVector.h>
 
 #include <optional>
 

common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp

@@ -26,7 +26,7 @@
 
 #include <OgreColourValue.h>
 #include <OgreManualObject.h>
-#include <OgreVector3.h>
+#include <OgreVector.h>
 
 #include <deque>
 #include <memory>

localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp

@@ -51,7 +51,11 @@
 #include <opencv4/opencv2/calib3d.hpp>
 #include <opencv4/opencv2/core/quaternion.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 #include <tf2/LinearMath/Transform.h>
 
 #include <algorithm>

localization/yabloc/yabloc_common/src/cv_decompress.cpp

@@ -17,7 +17,11 @@
 #include <opencv4/opencv2/imgcodecs.hpp>
 #include <opencv4/opencv2/imgproc.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 
 #include <iostream>
 

localization/yabloc/yabloc_common/src/pub_sub.cpp

@@ -14,7 +14,11 @@
 
 #include "yabloc_common/pub_sub.hpp"
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 #include <pcl_conversions/pcl_conversions.h>
 
 namespace yabloc::common

localization/yabloc/yabloc_image_processing/src/line_segments_overlay/line_segments_overlay_core.cpp

@@ -18,7 +18,11 @@
 #include <yabloc_common/cv_decompress.hpp>
 #include <yabloc_common/pub_sub.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 #include <pcl_conversions/pcl_conversions.h>
 
 namespace yabloc::line_segments_overlay

localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp

@@ -24,7 +24,11 @@
 #include <sensor_msgs/msg/compressed_image.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 
 #include <optional>
 

localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp

@@ -20,7 +20,11 @@
 #include <opencv2/highgui.hpp>
 #include <opencv2/imgproc.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 
 #include <filesystem>
 

perception/bytetrack/lib/src/lapjv.cpp

@@ -181,7 +181,8 @@ int_t _carr_dense(
 
 /** Find columns with minimum d[j] and put them on the SCAN list.
  */
-uint_t _find_dense(const uint_t n, uint_t lo, cost_t * d, int_t * cols, [[maybe_unused]] int_t * y)
+uint_t _find_dense(
+  const uint_t n, uint_t lo, const cost_t * d, int_t * cols, [[maybe_unused]] int_t * y)
 {
   uint_t hi = lo + 1;
   cost_t mind = d[cols[lo]];
@@ -203,7 +204,7 @@ uint_t _find_dense(const uint_t n, uint_t lo, cost_t * d, int_t * cols, [[maybe_
 // and try to decrease d of the TODO columns using the SCAN column.
 int_t _scan_dense(
   const uint_t n, cost_t * cost[], uint_t * plo, uint_t * phi, cost_t * d, int_t * cols,
-  int_t * pred, int_t * y, cost_t * v)
+  int_t * pred, const int_t * y, const cost_t * v)
 {
   uint_t lo = *plo;
   uint_t hi = *phi;

perception/bytetrack/lib/src/strack.cpp

@@ -112,12 +112,6 @@ void STrack::activate(int frame_id)
   this->track_id = this->next_id();
   this->unique_id = boost::uuids::random_generator()();
 
-  std::vector<float> _tlwh_tmp(4);
-  _tlwh_tmp[0] = this->original_tlwh[0];
-  _tlwh_tmp[1] = this->original_tlwh[1];
-  _tlwh_tmp[2] = this->original_tlwh[2];
-  _tlwh_tmp[3] = this->original_tlwh[3];
-  std::vector<float> xyah = tlwh_to_xyah(_tlwh_tmp);
   // init kf
   init_kalman_filter();
   // reflect state
@@ -132,7 +126,6 @@ void STrack::activate(int frame_id)
 
 void STrack::re_activate(STrack & new_track, int frame_id, bool new_id)
 {
-  std::vector<float> xyah = tlwh_to_xyah(new_track.tlwh);
   // TODO(me): write kf update
   Eigen::MatrixXd measurement = Eigen::MatrixXd::Zero(_kf_parameters.dim_z, 1);
   measurement << new_track.tlwh[0], new_track.tlwh[1], new_track.tlwh[2], new_track.tlwh[3];
@@ -156,8 +149,6 @@ void STrack::update(STrack & new_track, int frame_id)
   this->frame_id = frame_id;
   this->tracklet_len++;
 
-  std::vector<float> xyah = tlwh_to_xyah(new_track.tlwh);
-
   // update
   // TODO(me): write update
   Eigen::MatrixXd measurement = Eigen::MatrixXd::Zero(_kf_parameters.dim_z, 1);

perception/bytetrack/lib/src/utils.cpp

@@ -190,7 +190,6 @@ std::vector<std::vector<float>> ByteTracker::ious(
 
   // bbox_ious
   for (size_t k = 0; k < btlbrs.size(); k++) {
-    std::vector<float> ious_tmp;
     float box_area = (btlbrs[k][2] - btlbrs[k][0] + 1) * (btlbrs[k][3] - btlbrs[k][1] + 1);
     for (size_t n = 0; n < atlbrs.size(); n++) {
       float iw = std::min(atlbrs[n][2], btlbrs[k][2]) - std::max(atlbrs[n][0], btlbrs[k][0]) + 1;
@@ -277,8 +276,6 @@ double ByteTracker::lapjv(
   std::vector<std::vector<float>> cost_c;
   cost_c.assign(cost.begin(), cost.end());
 
-  std::vector<std::vector<float>> cost_c_extended;
-
   int n_rows = cost.size();
   int n_cols = cost[0].size();
   rowsol.resize(n_rows);
@@ -296,6 +293,8 @@ double ByteTracker::lapjv(
   }
 
   if (extend_cost || cost_limit < LONG_MAX) {
+    std::vector<std::vector<float>> cost_c_extended;
+
     n = n_rows + n_cols;
     cost_c_extended.resize(n);
     for (size_t i = 0; i < cost_c_extended.size(); i++) cost_c_extended[i].resize(n);

perception/bytetrack/src/bytetrack_visualizer_node.cpp

@@ -128,14 +128,14 @@ void ByteTrackVisualizerNode::callback(
   }
 
   std::vector<cv::Rect> bboxes;
-  for (auto & feat_obj : rect_msg->feature_objects) {
+  for (const auto & feat_obj : rect_msg->feature_objects) {
     auto roi_msg = feat_obj.feature.roi;
     cv::Rect rect(roi_msg.x_offset, roi_msg.y_offset, roi_msg.width, roi_msg.height);
     bboxes.push_back(rect);
   }
 
   std::vector<boost::uuids::uuid> uuids;
-  for (auto & dynamic_obj : uuid_msg->objects) {
+  for (const auto & dynamic_obj : uuid_msg->objects) {
     auto uuid_msg = dynamic_obj.id.uuid;
     boost::uuids::uuid uuid_raw;
     std::copy(uuid_msg.begin(), uuid_msg.end(), uuid_raw.begin());

perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp

@@ -25,7 +25,12 @@
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
-#include <image_geometry/pinhole_camera_model.h>
+#if __has_include(<image_geometry/pinhole_camera_model.hpp>)
+#include <image_geometry/pinhole_camera_model.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <image_geometry/pinhole_camera_model.h>  // for ROS 2 Humble or older
+#endif
+
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_routing/RoutingGraph.h>
 #include <lanelet2_traffic_rules/TrafficRulesFactory.h>

perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp

@@ -27,7 +27,12 @@
 #include <tier4_perception_msgs/msg/traffic_light_array.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
 
-#include <image_geometry/pinhole_camera_model.h>
+#if __has_include(<image_geometry/pinhole_camera_model.hpp>)
+#include <image_geometry/pinhole_camera_model.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <image_geometry/pinhole_camera_model.h>  // for ROS 2 Humble or older
+#endif
+
 #include <message_filters/subscriber.h>
 #include <message_filters/synchronizer.h>
 #include <message_filters/time_synchronizer.h>

perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp

@@ -24,7 +24,12 @@
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
 
-#include <image_geometry/pinhole_camera_model.h>
+#if __has_include(<image_geometry/pinhole_camera_model.hpp>)
+#include <image_geometry/pinhole_camera_model.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <image_geometry/pinhole_camera_model.h>  // for ROS 2 Humble or older
+#endif
+
 #include <lanelet2_core/Forward.h>
 #include <pcl/common/transforms.h>
 #include <pcl/point_cloud.h>

perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp

@@ -23,7 +23,11 @@
 #include <tier4_perception_msgs/msg/traffic_light_array.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 #include <message_filters/subscriber.h>
 #include <message_filters/sync_policies/approximate_time.h>
 #include <message_filters/synchronizer.h>

planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp

@@ -339,16 +339,21 @@ std::tuple<double, double> OptimizationBasedPlanner::calcInitialMotion(
       const auto stop_dist = autoware::motion_utils::calcDistanceToForwardStopPoint(
         input_traj_points, ego_pose, ego_nearest_param_.dist_threshold,
         ego_nearest_param_.yaw_threshold);
-      if ((stop_dist && *stop_dist > stop_dist_to_prohibit_engage_) || !stop_dist) {
-        initial_vel = engage_velocity_;
-        initial_acc = engage_acceleration_;
+      if (!stop_dist.has_value()) {
+        RCLCPP_DEBUG(
+          rclcpp::get_logger("ObstacleCruisePlanner::OptimizationBasedPlanner"),
+          "calcInitialMotion : vehicle speed is low (%.3f), and desired speed is high (%.3f). Use "
+          "engage speed (%.3f) until vehicle speed reaches engage_vel_thr (%.3f)",
+          vehicle_speed, target_vel, engage_velocity_, engage_vel_thr);
+        return std::make_tuple(engage_velocity_, engage_acceleration_);
+      } else if (stop_dist.value() > stop_dist_to_prohibit_engage_) {
         RCLCPP_DEBUG(
           rclcpp::get_logger("ObstacleCruisePlanner::OptimizationBasedPlanner"),
           "calcInitialMotion : vehicle speed is low (%.3f), and desired speed is high (%.3f). Use "
           "engage speed (%.3f) until vehicle speed reaches engage_vel_thr (%.3f). stop_dist = %.3f",
           vehicle_speed, target_vel, engage_velocity_, engage_vel_thr, stop_dist.value());
-        return std::make_tuple(initial_vel, initial_acc);
-      } else if (stop_dist) {
+        return std::make_tuple(engage_velocity_, engage_acceleration_);
+      } else {
         RCLCPP_DEBUG(
           rclcpp::get_logger("ObstacleCruisePlanner::OptimizationBasedPlanner"),
           "calcInitialMotion : stop point is close (%.3f[m]). no engage.", stop_dist.value());

planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp

@@ -509,7 +509,6 @@ std::vector<TrajectoryPoint> PIDBasedPlanner::getAccelerationLimitedTrajectory(
   const double v0, const double a0, const double target_acc, const double target_jerk_ratio) const
 {
   // calculate vt function
-  const auto & i = longitudinal_info_;
   const auto vt = [&](
                     const double v0, const double a0, const double jerk, const double t,
                     const double target_acc) {
@@ -541,8 +540,8 @@ std::vector<TrajectoryPoint> PIDBasedPlanner::getAccelerationLimitedTrajectory(
   //       Therefore, we calculate v1 (velocity at next step) and use it for initial velocity.
   const double v1 = v0;  // + 0.1;  // a0 * 0.1;  //  + jerk * 0.1 * 0.1 / 2.0;
   const double a1 = a0;  //  + jerk * 0.1;
-  const double jerk =
-    target_acc > a1 ? i.max_jerk * target_jerk_ratio : i.min_jerk * target_jerk_ratio;
+  const double jerk = target_acc > a1 ? longitudinal_info_.max_jerk * target_jerk_ratio
+                                      : longitudinal_info_.min_jerk * target_jerk_ratio;
 
   double t_current = 0.0;
   std::vector<double> s_vec{0.0};