Merge branch 'main' into chore/prefix-add-vehicle_cmd_gate

autowarefoundation · Jun 7, 2024 · 8aac305 · 8aac305
2 parents bffc7c2 + f03323f
commit 8aac305
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
diff --git a/.github/workflows/build-and-test-differential.yaml b/.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
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
@@ -9,7 +9,7 @@ on:
 jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
-    runs-on: ubuntu-latest
+    runs-on: [self-hosted, linux, X64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false

diff --git a/.github/workflows/clang-tidy-differential.yaml b/.github/workflows/clang-tidy-differential.yaml
@@ -0,0 +1,51 @@
+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:
+    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
diff --git a/.github/workflows/cppcheck-all.yaml → .github/workflows/cppcheck-daily.yaml b/.github/workflows/cppcheck-all.yaml → .github/workflows/cppcheck-daily.yaml
@@ -1,13 +1,12 @@
-name: cppcheck-all
+name: cppcheck-daily
 
 on:
-  pull_request:
   schedule:
     - cron: 0 0 * * *
   workflow_dispatch:
 
 jobs:
-  cppcheck-all:
+  cppcheck-daily:
     runs-on: ubuntu-latest
 
     steps:

diff --git a/.github/workflows/openai-pr-reviewer.yaml b/.github/workflows/openai-pr-reviewer.yaml
diff --git a/.github/workflows/pr-agent.yaml b/.github/workflows/pr-agent.yaml
@@ -26,6 +26,13 @@ jobs:
         env:
           OPENAI_KEY: ${{ secrets.OPENAI_KEY_PR_AGENT }}
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          github_action_config.auto_review: "false"
-          github_action_config.auto_describe: "false"
-          github_action_config.auto_improve: "false"
+          github_action_config.auto_review: false
+          github_action_config.auto_describe: false
+          github_action_config.auto_improve: false
+          # https://github.com/Codium-ai/pr-agent/blob/main/pr_agent/settings/configuration.toml
+          pr_description.publish_labels: false
+          config.model: gpt-4o
+          config.model_turbo: gpt-4o
+          config.max_model_tokens: 64000
+          pr_code_suggestions.max_context_tokens: 12000
+          pr_code_suggestions.commitable_code_suggestions: true
diff --git a/build_depends.repos b/build_depends.repos
@@ -41,3 +41,7 @@ repositories:
     type: git
     url: https://github.com/tier4/glog.git
     version: v0.6.0_t4-ros
+  universe/external/ament_cmake: # TODO(mitsudome-r): remove when https://github.com/ament/ament_cmake/pull/448 is merged
+    type: git
+    url: https://github.com/autowarefoundation/ament_cmake.git
+    version: feat/faster_ament_libraries_deduplicate
diff --git a/...rol/mpc_lateral_controller/CMakeLists.txt → ...are_mpc_lateral_controller/CMakeLists.txt b/...rol/mpc_lateral_controller/CMakeLists.txt → ...are_mpc_lateral_controller/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(mpc_lateral_controller)
+project(autoware_mpc_lateral_controller)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

diff --git a/control/mpc_lateral_controller/README.md → ...autoware_mpc_lateral_controller/README.md b/control/mpc_lateral_controller/README.md → ...autoware_mpc_lateral_controller/README.md
diff --git a/...roller/image/vehicle_error_kinematics.png → ...roller/image/vehicle_error_kinematics.png b/...roller/image/vehicle_error_kinematics.png → ...roller/image/vehicle_error_kinematics.png
diff --git a/...l_controller/image/vehicle_kinematics.png → ...l_controller/image/vehicle_kinematics.png b/...l_controller/image/vehicle_kinematics.png → ...l_controller/image/vehicle_kinematics.png
diff --git a/...mpc_lateral_controller/lowpass_filter.hpp → ...mpc_lateral_controller/lowpass_filter.hpp b/...mpc_lateral_controller/lowpass_filter.hpp → ...mpc_lateral_controller/lowpass_filter.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
-#define MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
 
 #include <algorithm>
 #include <cmath>
@@ -102,4 +102,4 @@ namespace MoveAverageFilter
 bool filt_vector(const int num, std::vector<double> & u);
 }  // namespace MoveAverageFilter
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
diff --git a/...er/include/mpc_lateral_controller/mpc.hpp → ...e/autoware_mpc_lateral_controller/mpc.hpp b/...er/include/mpc_lateral_controller/mpc.hpp → ...e/autoware_mpc_lateral_controller/mpc.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__MPC_HPP_
-#define MPC_LATERAL_CONTROLLER__MPC_HPP_
-
-#include "mpc_lateral_controller/lowpass_filter.hpp"
-#include "mpc_lateral_controller/mpc_trajectory.hpp"
-#include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
-#include "mpc_lateral_controller/steering_predictor.hpp"
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_HPP_
+
+#include "autoware_mpc_lateral_controller/lowpass_filter.hpp"
+#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
+#include "autoware_mpc_lateral_controller/steering_predictor.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 #include "autoware_control_msgs/msg/lateral.hpp"
@@ -525,4 +525,4 @@ class MPC
 };  // class MPC
 }  // namespace autoware::motion::control::mpc_lateral_controller
 
-#endif  // MPC_LATERAL_CONTROLLER__MPC_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_HPP_
diff --git a/...ral_controller/mpc_lateral_controller.hpp → ...ral_controller/mpc_lateral_controller.hpp b/...ral_controller/mpc_lateral_controller.hpp → ...ral_controller/mpc_lateral_controller.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
-#define MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
 
-#include "mpc_lateral_controller/mpc.hpp"
-#include "mpc_lateral_controller/mpc_trajectory.hpp"
-#include "mpc_lateral_controller/mpc_utils.hpp"
-#include "mpc_lateral_controller/steering_offset/steering_offset.hpp"
+#include "autoware_mpc_lateral_controller/mpc.hpp"
+#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
+#include "autoware_mpc_lateral_controller/mpc_utils.hpp"
+#include "autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "trajectory_follower_base/lateral_controller_base.hpp"
 
@@ -281,4 +281,4 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
 
-#endif  // MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
diff --git a/...mpc_lateral_controller/mpc_trajectory.hpp → ...mpc_lateral_controller/mpc_trajectory.hpp b/...mpc_lateral_controller/mpc_trajectory.hpp → ...mpc_lateral_controller/mpc_trajectory.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
-#define MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
 
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 
@@ -125,4 +125,4 @@ class MPCTrajectory
   }
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
diff --git a/...lude/mpc_lateral_controller/mpc_utils.hpp → ...ware_mpc_lateral_controller/mpc_utils.hpp b/...lude/mpc_lateral_controller/mpc_utils.hpp → ...ware_mpc_lateral_controller/mpc_utils.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
-#define MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
 
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
@@ -26,7 +26,7 @@
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #endif
 
-#include "mpc_lateral_controller/mpc_trajectory.hpp"
+#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
 
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
@@ -230,4 +230,4 @@ void update_param(
 
 }  // namespace MPCUtils
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
diff --git a/...troller/qp_solver/qp_solver_interface.hpp → ...troller/qp_solver/qp_solver_interface.hpp b/...troller/qp_solver/qp_solver_interface.hpp → ...troller/qp_solver/qp_solver_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
-#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
 
 #include <Eigen/Core>
 
@@ -51,4 +51,4 @@ class QPSolverInterface
   virtual double getObjVal() const { return 0.0; }
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
diff --git a/...l_controller/qp_solver/qp_solver_osqp.hpp → ...l_controller/qp_solver/qp_solver_osqp.hpp b/...l_controller/qp_solver/qp_solver_osqp.hpp → ...l_controller/qp_solver/qp_solver_osqp.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
-#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
 
-#include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
 #include "osqp_interface/osqp_interface.hpp"
 #include "rclcpp/rclcpp.hpp"
 
@@ -62,4 +62,4 @@ class QPSolverOSQP : public QPSolverInterface
   rclcpp::Logger logger_;
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
diff --git a/...qp_solver/qp_solver_unconstraint_fast.hpp → ...qp_solver/qp_solver_unconstraint_fast.hpp b/...qp_solver/qp_solver_unconstraint_fast.hpp → ...qp_solver/qp_solver_unconstraint_fast.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
-#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
 
-#include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
 
 namespace autoware::motion::control::mpc_lateral_controller
 {
@@ -62,4 +62,4 @@ class QPSolverEigenLeastSquareLLT : public QPSolverInterface
 private:
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
diff --git a/...oller/steering_offset/steering_offset.hpp → ...oller/steering_offset/steering_offset.hpp b/...oller/steering_offset/steering_offset.hpp → ...oller/steering_offset/steering_offset.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
-#define MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
 
 #include <geometry_msgs/msg/twist.hpp>
 
@@ -45,4 +45,4 @@ class SteeringOffsetEstimator
   double steering_offset_ = 0.0;
 };
 
-#endif  // MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
diff --git a/...lateral_controller/steering_predictor.hpp → ...lateral_controller/steering_predictor.hpp b/...lateral_controller/steering_predictor.hpp → ...lateral_controller/steering_predictor.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
-#define MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -81,4 +81,4 @@ class SteeringPredictor
 
 }  // namespace autoware::motion::control::mpc_lateral_controller
 
-#endif  // MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_