Merge branch 'main' into feat/lidar_transfusion

autowarefoundation · Jun 7, 2024 · f1d57e2 · f1d57e2
2 parents 4ab9207 + 565589c
commit f1d57e2
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Showing 325 changed files with 2,213 additions and 1,385 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -153,6 +153,7 @@ planning/autoware_behavior_velocity_run_out_module/** [email protected] m
 planning/autoware_behavior_velocity_template_module/** [email protected]
 planning/autoware_behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
 planning/autoware_behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]
+planning/autoware_costmap_generator/** [email protected] [email protected] [email protected]
 planning/autoware_external_velocity_limit_selector/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_path_optimizer/** [email protected] [email protected] [email protected]
 planning/autoware_planning_test_manager/** [email protected] [email protected]
@@ -178,11 +179,11 @@ planning/behavior_velocity_no_drivable_lane_module/** [email protected]
 planning/behavior_velocity_no_stopping_area_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_occlusion_spot_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_out_of_lane_module/** [email protected] [email protected] [email protected] [email protected]
-planning/behavior_velocity_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_behavior_velocity_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_behavior_velocity_run_out_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_speed_bump_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_stop_line_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_traffic_light_module/** [email protected] [email protected] [email protected] [email protected]
-planning/costmap_generator/** [email protected] [email protected] [email protected]
 planning/freespace_planner/** [email protected] [email protected] [email protected]
 planning/freespace_planning_algorithms/** [email protected] [email protected] [email protected]
 planning/mission_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]

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/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/launch/tier4_planning_launch/launch/planning.launch.xml b/launch/tier4_planning_launch/launch/planning.launch.xml
@@ -32,7 +32,7 @@
 
     <!-- planning validator -->
     <group>
-      <include file="$(find-pkg-share planning_validator)/launch/planning_validator.launch.xml">
+      <include file="$(find-pkg-share autoware_planning_validator)/launch/planning_validator.launch.xml">
         <arg name="input_trajectory" value="/planning/scenario_planning/velocity_smoother/trajectory"/>
         <arg name="output_trajectory" value="/planning/scenario_planning/trajectory"/>
         <arg name="planning_validator_param_path" value="$(var planning_validator_param_path)"/>

diff --git a/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -101,7 +101,7 @@
   <arg name="behavior_velocity_planner_launch_modules" default="["/>
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::CrosswalkModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::CrosswalkModulePlugin, '&quot;)"
     if="$(var launch_crosswalk_module)"
   />
   <let
@@ -111,27 +111,27 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::TrafficLightModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::TrafficLightModulePlugin, '&quot;)"
     if="$(var launch_traffic_light_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::IntersectionModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::IntersectionModulePlugin, '&quot;)"
     if="$(var launch_intersection_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::MergeFromPrivateModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::MergeFromPrivateModulePlugin, '&quot;)"
     if="$(var launch_merge_from_private_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::BlindSpotModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::BlindSpotModulePlugin, '&quot;)"
     if="$(var launch_blind_spot_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::DetectionAreaModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::DetectionAreaModulePlugin, '&quot;)"
     if="$(var launch_detection_area_module)"
   />
   <let
@@ -141,17 +141,17 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::NoStoppingAreaModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::NoStoppingAreaModulePlugin, '&quot;)"
     if="$(var launch_no_stopping_area_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::StopLineModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::StopLineModulePlugin, '&quot;)"
     if="$(var launch_stop_line_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::OcclusionSpotModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::OcclusionSpotModulePlugin, '&quot;)"
     if="$(var launch_occlusion_spot_module)"
   />
   <let
@@ -161,22 +161,22 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::SpeedBumpModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::SpeedBumpModulePlugin, '&quot;)"
     if="$(var launch_speed_bump_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::OutOfLaneModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::OutOfLaneModulePlugin, '&quot;)"
     if="$(var launch_out_of_lane_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::NoDrivableLaneModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::NoDrivableLaneModulePlugin, '&quot;)"
     if="$(var launch_no_drivable_lane_module)"
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::DynamicObstacleStopModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::DynamicObstacleStopModulePlugin, '&quot;)"
     if="$(var launch_dynamic_obstacle_stop_module)"
   />
   <let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>

diff --git a/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -62,7 +62,7 @@
   <group>
     <group if="$(eval &quot;'$(var motion_path_planner_type)' == 'path_optimizer'&quot;)">
       <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
-        <composable_node pkg="autoware_path_optimizer" plugin="autoware_path_optimizer::PathOptimizer" name="path_optimizer" namespace="">
+        <composable_node pkg="autoware_path_optimizer" plugin="autoware::path_optimizer::PathOptimizer" name="path_optimizer" namespace="">
           <!-- topic remap -->
           <remap from="~/input/path" to="path_smoother/path"/>
           <remap from="~/input/odometry" to="/localization/kinematic_state"/>

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml
@@ -4,7 +4,7 @@
     <push-ros-namespace namespace="parking"/>
 
     <node_container pkg="rclcpp_components" exec="$(var container_type)" name="parking_container" namespace="" output="screen">
-      <composable_node pkg="costmap_generator" plugin="CostmapGenerator" name="costmap_generator" namespace="">
+      <composable_node pkg="autoware_costmap_generator" plugin="autoware::costmap_generator::CostmapGenerator" name="costmap_generator" namespace="">
         <!-- topic remap -->
         <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
         <remap from="~/input/points_no_ground" to="/perception/obstacle_segmentation/pointcloud"/>

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -27,7 +27,7 @@
     <!-- motion velocity smoother -->
     <group>
       <node_container pkg="rclcpp_components" exec="component_container" name="velocity_smoother_container" namespace="">
-        <composable_node pkg="autoware_velocity_smoother" plugin="autoware_velocity_smoother::VelocitySmootherNode" name="velocity_smoother" namespace="">
+        <composable_node pkg="autoware_velocity_smoother" plugin="autoware::velocity_smoother::VelocitySmootherNode" name="velocity_smoother" namespace="">
           <param name="algorithm_type" value="$(var velocity_smoother_type)"/>
           <param from="$(var common_param_path)"/>
           <param from="$(var nearest_search_param_path)"/>

diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml
@@ -58,22 +58,22 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <exec_depend>autoware_behavior_velocity_planner</exec_depend>
+  <exec_depend>autoware_costmap_generator</exec_depend>
   <exec_depend>autoware_external_velocity_limit_selector</exec_depend>
   <exec_depend>autoware_path_optimizer</exec_depend>
   <exec_depend>autoware_planning_topic_converter</exec_depend>
+  <exec_depend>autoware_planning_validator</exec_depend>
   <exec_depend>autoware_remaining_distance_time_calculator</exec_depend>
   <exec_depend>autoware_surround_obstacle_checker</exec_depend>
   <exec_depend>autoware_velocity_smoother</exec_depend>
   <exec_depend>behavior_path_planner</exec_depend>
-  <exec_depend>costmap_generator</exec_depend>
   <exec_depend>external_cmd_selector</exec_depend>
   <exec_depend>freespace_planner</exec_depend>
   <exec_depend>glog_component</exec_depend>
   <exec_depend>mission_planner</exec_depend>
   <exec_depend>obstacle_cruise_planner</exec_depend>
   <exec_depend>obstacle_stop_planner</exec_depend>
   <exec_depend>planning_evaluator</exec_depend>
-  <exec_depend>planning_validator</exec_depend>
   <exec_depend>scenario_selector</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/localization/gyro_odometer/include/gyro_odometer/diagnostics_module.hpp b/localization/gyro_odometer/include/gyro_odometer/diagnostics_module.hpp
@@ -30,14 +30,14 @@ class DiagnosticsModule
 public:
   DiagnosticsModule(rclcpp::Node * node, const std::string & diagnostic_name);
   void clear();
-  void addKeyValue(const diagnostic_msgs::msg::KeyValue & key_value_msg);
+  void add_key_value(const diagnostic_msgs::msg::KeyValue & key_value_msg);
   template <typename T>
-  void addKeyValue(const std::string & key, const T & value);
-  void updateLevelAndMessage(const int8_t level, const std::string & message);
+  void add_key_value(const std::string & key, const T & value);
+  void update_level_and_message(const int8_t level, const std::string & message);
   void publish(const rclcpp::Time & publish_time_stamp);
 
 private:
-  diagnostic_msgs::msg::DiagnosticArray createDiagnosticsArray(
+  [[nodiscard]] diagnostic_msgs::msg::DiagnosticArray create_diagnostics_array(
     const rclcpp::Time & publish_time_stamp) const;
 
   rclcpp::Clock::SharedPtr clock_;
@@ -47,18 +47,18 @@ class DiagnosticsModule
 };
 
 template <typename T>
-void DiagnosticsModule::addKeyValue(const std::string & key, const T & value)
+void DiagnosticsModule::add_key_value(const std::string & key, const T & value)
 {
   diagnostic_msgs::msg::KeyValue key_value;
   key_value.key = key;
   key_value.value = std::to_string(value);
-  addKeyValue(key_value);
+  add_key_value(key_value);
 }
 
 template <>
-void DiagnosticsModule::addKeyValue(const std::string & key, const std::string & value);
+void DiagnosticsModule::add_key_value(const std::string & key, const std::string & value);
 template <>
-void DiagnosticsModule::addKeyValue(const std::string & key, const bool & value);
+void DiagnosticsModule::add_key_value(const std::string & key, const bool & value);
 
 }  // namespace autoware::gyro_odometer
 

diff --git a/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp b/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp
@@ -47,14 +47,13 @@ class GyroOdometerNode : public rclcpp::Node
 
 public:
   explicit GyroOdometerNode(const rclcpp::NodeOptions & node_options);
-  ~GyroOdometerNode();
 
 private:
-  void callbackVehicleTwist(
+  void callback_vehicle_twist(
     const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr vehicle_twist_msg_ptr);
-  void callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr);
-  void concatGyroAndOdometer();
-  void publishData(const geometry_msgs::msg::TwistWithCovarianceStamped & twist_with_cov_raw);
+  void callback_imu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr);
+  void concat_gyro_and_odometer();
+  void publish_data(const geometry_msgs::msg::TwistWithCovarianceStamped & twist_with_cov_raw);
 
   rclcpp::Subscription<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr
     vehicle_twist_sub_;

diff --git a/localization/gyro_odometer/src/diagnostics_module.cpp b/localization/gyro_odometer/src/diagnostics_module.cpp
@@ -44,7 +44,7 @@ void DiagnosticsModule::clear()
   diagnostics_status_msg_.message = "";
 }
 
-void DiagnosticsModule::addKeyValue(const diagnostic_msgs::msg::KeyValue & key_value_msg)
+void DiagnosticsModule::add_key_value(const diagnostic_msgs::msg::KeyValue & key_value_msg)
 {
   auto it = std::find_if(
     std::begin(diagnostics_status_msg_.values), std::end(diagnostics_status_msg_.values),
@@ -58,24 +58,24 @@ void DiagnosticsModule::addKeyValue(const diagnostic_msgs::msg::KeyValue & key_v
 }
 
 template <>
-void DiagnosticsModule::addKeyValue(const std::string & key, const std::string & value)
+void DiagnosticsModule::add_key_value(const std::string & key, const std::string & value)
 {
   diagnostic_msgs::msg::KeyValue key_value;
   key_value.key = key;
   key_value.value = value;
-  addKeyValue(key_value);
+  add_key_value(key_value);
 }
 
 template <>
-void DiagnosticsModule::addKeyValue(const std::string & key, const bool & value)
+void DiagnosticsModule::add_key_value(const std::string & key, const bool & value)
 {
   diagnostic_msgs::msg::KeyValue key_value;
   key_value.key = key;
   key_value.value = value ? "True" : "False";
-  addKeyValue(key_value);
+  add_key_value(key_value);
 }
 
-void DiagnosticsModule::updateLevelAndMessage(const int8_t level, const std::string & message)
+void DiagnosticsModule::update_level_and_message(const int8_t level, const std::string & message)
 {
   if ((level > diagnostic_msgs::msg::DiagnosticStatus::OK)) {
     if (!diagnostics_status_msg_.message.empty()) {
@@ -90,10 +90,10 @@ void DiagnosticsModule::updateLevelAndMessage(const int8_t level, const std::str
 
 void DiagnosticsModule::publish(const rclcpp::Time & publish_time_stamp)
 {
-  diagnostics_pub_->publish(createDiagnosticsArray(publish_time_stamp));
+  diagnostics_pub_->publish(create_diagnostics_array(publish_time_stamp));
 }
 
-diagnostic_msgs::msg::DiagnosticArray DiagnosticsModule::createDiagnosticsArray(
+diagnostic_msgs::msg::DiagnosticArray DiagnosticsModule::create_diagnostics_array(
   const rclcpp::Time & publish_time_stamp) const
 {
   diagnostic_msgs::msg::DiagnosticArray diagnostics_msg;