Merge branch 'autowarefoundation:main' into pointcloud_preprocessor

.github/pull_request_template.md

@@ -0,0 +1,61 @@
+## Description
+
+## Related links
+
+**Parent Issue:**
+
+- Link
+
+<!-- ⬇️🟢
+**Private Links:**
+
+- [CompanyName internal link]()
+⬆️🟢 -->
+
+## How was this PR tested?
+
+## Notes for reviewers
+
+None.
+
+## Interface changes
+
+None.
+
+<!-- ⬇️🔴
+
+### Topic changes
+
+#### Additions and removals
+
+| Change type   | Topic Type      | Topic Name    | Message Type        | Description       |
+|:--------------|:----------------|:--------------|:--------------------|:------------------|
+| Added/Removed | Pub/Sub/Srv/Cli | `/topic_name` | `std_msgs/String`   | Topic description |
+
+#### Modifications
+
+| Version | Topic Type      | Topic Name        | Message Type        | Description       |
+|:--------|:----------------|:------------------|:--------------------|:------------------|
+| Old     | Pub/Sub/Srv/Cli | `/old_topic_name` | `sensor_msgs/Image` | Topic description |
+| New     | Pub/Sub/Srv/Cli | `/new_topic_name` | `sensor_msgs/Image` | Topic description |
+
+### ROS Parameter Changes
+
+#### Additions and removals
+
+| Change type   | Parameter Name | Type     | Default Value | Description       |
+|:--------------|:---------------|:---------|:--------------|:------------------|
+| Added/Removed | `param_name`   | `double` | `1.0`         | Param description |
+
+#### Modifications
+
+| Version | Parameter Name   | Type     | Default Value | Description       |
+|:--------|:-----------------|:---------|:--------------|:------------------|
+| Old     | `old_param_name` | `double` | `1.0`         | Param description |
+| New     | `new_param_name` | `double` | `1.0`         | Param description |
+
+🔴⬆️ -->
+
+## Effects on system behavior
+
+None.

.github/sync-files.yaml

@@ -7,9 +7,6 @@
     - source: .github/ISSUE_TEMPLATE/bug.yaml
     - source: .github/ISSUE_TEMPLATE/config.yml
     - source: .github/ISSUE_TEMPLATE/task.yaml
-    - source: .github/PULL_REQUEST_TEMPLATE.md
-    - source: .github/PULL_REQUEST_TEMPLATE/small-change.md
-    - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md
     - source: .github/dependabot.yaml
     - source: .github/stale.yml
     - source: .github/workflows/cancel-previous-workflows.yaml

.github/workflows/comment_on_pr.yaml

@@ -0,0 +1,25 @@
+name: Comment on PR
+on:
+  pull_request:
+
+jobs:
+  comment-on-pr:
+    runs-on: ubuntu-latest
+    permissions:
+      pull-requests: write
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Initial PR comment
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          message: |
+            Thank you for contributing to the Autoware project!
+
+            🚧 If your pull request is in progress, [switch it to draft mode](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#converting-a-pull-request-to-a-draft).
+
+            Please ensure:
+            - You've checked our [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/).
+            - Your PR follows our [pull request guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/).
+            - All required CI checks pass before [marking the PR ready for review](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#marking-a-pull-request-as-ready-for-review).

common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp

@@ -31,6 +31,7 @@
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
+#include <rosgraph_msgs/msg/clock.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/bool.hpp>
 #include <tf2_msgs/msg/tf_message.hpp>
@@ -527,6 +528,7 @@ class AutowareTestManager
   AutowareTestManager()
   {
     test_node_ = std::make_shared<rclcpp::Node>("autoware_test_manager_node");
+    pub_clock_ = test_node_->create_publisher<rosgraph_msgs::msg::Clock>("/clock", 1);
   }
 
   template <typename MessageType>
@@ -560,10 +562,28 @@ class AutowareTestManager
     }
   }
 
+  /**
+   * @brief Publishes a ROS Clock message with the specified time.
+   *
+   * This function publishes a ROS Clock message with the specified time.
+   * Be careful when using this function, as it can affect the behavior of
+   * the system under test. Consider using ament_add_ros_isolated_gtest to
+   * isolate the system under test from the ROS clock.
+   *
+   * @param time The time to publish.
+   */
+  void jump_clock(const rclcpp::Time & time)
+  {
+    rosgraph_msgs::msg::Clock clock;
+    clock.clock = time;
+    pub_clock_->publish(clock);
+  }
+
 protected:
   // Publisher
   std::unordered_map<std::string, std::shared_ptr<rclcpp::PublisherBase>> publishers_;
   std::unordered_map<std::string, std::shared_ptr<rclcpp::SubscriptionBase>> subscribers_;
+  rclcpp::Publisher<rosgraph_msgs::msg::Clock>::SharedPtr pub_clock_;
 
   // Node
   rclcpp::Node::SharedPtr test_node_;