From dcb88035d4fca674e66f761cf34a34970e67756e Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Mon, 24 Jun 2024 22:39:19 +0900
Subject: [PATCH 1/2] feat(auoware_test_utils): add jump_clock interface
 (#7638)

* feat(auoware_test_utils): add jump_clock interface

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* add comment

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../autoware_test_utils.hpp                   | 20 +++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
index d7de1397bfaac..254a2d03f71d1 100644
--- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
+++ b/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_;

From ef3cef1f253b693e38be468998788868cfb69c90 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?=
 <xmfcx@users.noreply.github.com>
Date: Mon, 24 Jun 2024 18:03:01 +0300
Subject: [PATCH 2/2] chore: update the PR template (#7667)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
---
 .github/PULL_REQUEST_TEMPLATE.md              |  8 ---
 .github/PULL_REQUEST_TEMPLATE/small-change.md | 44 -------------
 .../PULL_REQUEST_TEMPLATE/standard-change.md  | 63 -------------------
 .github/pull_request_template.md              | 61 ++++++++++++++++++
 .github/sync-files.yaml                       |  3 -
 .github/workflows/comment_on_pr.yaml          | 25 ++++++++
 6 files changed, 86 insertions(+), 118 deletions(-)
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE.md
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE/small-change.md
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE/standard-change.md
 create mode 100644 .github/pull_request_template.md
 create mode 100644 .github/workflows/comment_on_pr.yaml

diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
deleted file mode 100644
index 97b0e95452426..0000000000000
--- a/.github/PULL_REQUEST_TEMPLATE.md
+++ /dev/null
@@ -1,8 +0,0 @@
-**Note**: Confirm the [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/) before submitting a pull request.
-
-Click the `Preview` tab and select a PR template:
-
-- [Standard change](?expand=1&template=standard-change.md)
-- [Small change](?expand=1&template=small-change.md)
-
-**Do NOT send a PR with this description.**
diff --git a/.github/PULL_REQUEST_TEMPLATE/small-change.md b/.github/PULL_REQUEST_TEMPLATE/small-change.md
deleted file mode 100644
index e15fdd992d114..0000000000000
--- a/.github/PULL_REQUEST_TEMPLATE/small-change.md
+++ /dev/null
@@ -1,44 +0,0 @@
-## Description
-
-<!-- Write a brief description of this PR. -->
-
-## Tests performed
-
-<!-- Describe how you have tested this PR. -->
-<!-- Although the default value is set to "Not Applicable.", please update this section if the type is either [feat, fix, perf], or if requested by the reviewers. -->
-
-Not applicable.
-
-## Effects on system behavior
-
-<!-- Describe how this PR affects the system behavior. -->
-
-Not applicable.
-
-## Interface changes
-
-<!-- Describe any changed interfaces, such as topics, services, or parameters, including debugging interfaces -->
-
-## Pre-review checklist for the PR author
-
-The PR author **must** check the checkboxes below when creating the PR.
-
-- [ ] I've confirmed the [contribution guidelines].
-- [ ] The PR follows the [pull request guidelines].
-
-## In-review checklist for the PR reviewers
-
-The PR reviewers **must** check the checkboxes below before approval.
-
-- [ ] The PR follows the [pull request guidelines].
-
-## Post-review checklist for the PR author
-
-The PR author **must** check the checkboxes below before merging.
-
-- [ ] There are no open discussions or they are tracked via tickets.
-
-After all checkboxes are checked, anyone who has write access can merge the PR.
-
-[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/
-[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/
diff --git a/.github/PULL_REQUEST_TEMPLATE/standard-change.md b/.github/PULL_REQUEST_TEMPLATE/standard-change.md
deleted file mode 100644
index 391af629751e0..0000000000000
--- a/.github/PULL_REQUEST_TEMPLATE/standard-change.md
+++ /dev/null
@@ -1,63 +0,0 @@
-## Description
-
-<!-- Write a brief description of this PR. -->
-
-## Related links
-
-<!-- Write the links related to this PR. Private links should be clearly marked as private, for example, '[FOO COMPANY INTERNAL LINK](https://example.com)'. -->
-
-## Tests performed
-
-<!-- Describe how you have tested this PR. -->
-
-## Notes for reviewers
-
-<!-- Write additional information if necessary. It should be written if there are related PRs that should be merged at the same time. -->
-
-## Interface changes
-
-<!-- Describe any changed interfaces, such as topics, services, or parameters. -->
-
-### ROS Topic Changes
-
-<!-- | Topic Name       | Type                | Direction | Update Description                                            | -->
-<!-- | ---------------- | ------------------- | --------- | ------------------------------------------------------------- | -->
-<!-- | `/example_topic` | `std_msgs/String`   | Subscribe | Description of what the topic is used for in the system       | -->
-<!-- | `/another_topic` | `sensor_msgs/Image` | Publish   | Also explain if it is added / modified / deleted with the PR | -->
-
-### ROS Parameter Changes
-
-<!-- | Parameter Name       | Default Value | Update Description                                  | -->
-<!-- | -------------------- | ------------- | --------------------------------------------------- | -->
-<!-- | `example_parameters` | `1.0`         | Describe the parameter and also explain the updates | -->
-
-## Effects on system behavior
-
-<!-- Describe how this PR affects the system behavior. -->
-
-## Pre-review checklist for the PR author
-
-The PR author **must** check the checkboxes below when creating the PR.
-
-- [ ] I've confirmed the [contribution guidelines].
-- [ ] The PR follows the [pull request guidelines].
-
-## In-review checklist for the PR reviewers
-
-The PR reviewers **must** check the checkboxes below before approval.
-
-- [ ] The PR follows the [pull request guidelines].
-- [ ] The PR has been properly tested.
-- [ ] The PR has been reviewed by the code owners.
-
-## Post-review checklist for the PR author
-
-The PR author **must** check the checkboxes below before merging.
-
-- [ ] There are no open discussions or they are tracked via tickets.
-- [ ] The PR is ready for merge.
-
-After all checkboxes are checked, anyone who has write access can merge the PR.
-
-[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/
-[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
new file mode 100644
index 0000000000000..fcaf3601fef92
--- /dev/null
+++ b/.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.
diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
index 263df86438787..151890e2783d9 100644
--- a/.github/sync-files.yaml
+++ b/.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
diff --git a/.github/workflows/comment_on_pr.yaml b/.github/workflows/comment_on_pr.yaml
new file mode 100644
index 0000000000000..d9b13e78ac29d
--- /dev/null
+++ b/.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).