Merge branch 'main' into feat/smart_mpc_trajectory_follower

.github/PULL_REQUEST_TEMPLATE/small-change.md

@@ -15,6 +15,10 @@ Not applicable.
 
 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.

.github/PULL_REQUEST_TEMPLATE/standard-change.md

@@ -18,6 +18,19 @@
 
 <!-- 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. -->

build_depends.repos

@@ -41,3 +41,7 @@ repositories:
     type: git
     url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
     version: main
+  universe/external/glog:  # TODO: to use isGoogleInitialized() API in v0.6.0. Remove when the rosdep glog version is updated to v0.6.0 (already updated in Ubuntu 24.04)
+    type: git
+    url: https://github.com/tier4/glog.git
+    version: v0.6.0_t4-ros

common/autoware_auto_common/include/autoware_auto_common/common/types.hpp

@@ -37,7 +37,9 @@ namespace types
 // We don't currently require code to comply to MISRA, but we should try to where it is
 // easily possible.
 using bool8_t = bool;
+#if __cplusplus < 201811L || !__cpp_char8_t
 using char8_t = char;
+#endif
 using uchar8_t = unsigned char;
 // If we ever compile on a platform where this is not true, float32_t and float64_t definitions
 // need to be adjusted.

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CMakeLists.txt

@@ -0,0 +1,108 @@
+cmake_minimum_required(VERSION 3.8)
+project(autoware_mission_details_overlay_rviz_plugin)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+set(
+  headers_to_moc
+  include/mission_details_display.hpp
+)
+
+set(
+  headers_to_not_moc
+  include/remaining_distance_time_display.hpp
+)
+
+foreach(header "${headers_to_moc}")
+  qt5_wrap_cpp(display_moc_files "${header}")
+endforeach()
+
+set(
+  display_source_files
+  src/overlay_utils.cpp
+  src/mission_details_display.cpp
+  src/remaining_distance_time_display.cpp
+)
+
+add_library(
+  ${PROJECT_NAME} SHARED
+  ${display_moc_files}
+  ${headers_to_not_moc}
+  ${display_source_files}
+)
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 17)
+target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic)
+
+target_include_directories(
+  ${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  ${Qt5Widgets_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+)
+
+target_link_libraries(
+  ${PROJECT_NAME} PUBLIC
+  rviz_ogre_vendor::OgreMain
+  rviz_ogre_vendor::OgreOverlay
+)
+
+target_compile_definitions(${PROJECT_NAME} PRIVATE "${PROJECT_NAME}_BUILDING_LIBRARY")
+
+# prevent pluginlib from using boost
+target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
+pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
+
+ament_target_dependencies(
+  ${PROJECT_NAME}
+  PUBLIC
+  rviz_common
+  rviz_rendering
+  autoware_internal_msgs
+)
+
+ament_export_include_directories(include)
+ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(
+  rviz_common
+  rviz_ogre_vendor
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  TARGETS
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Copy the assets directory to the installation directory
+install(
+  DIRECTORY assets/
+  DESTINATION share/${PROJECT_NAME}/assets
+)
+
+add_definitions(-DQT_NO_KEYWORDS)
+
+ament_package(
+  CONFIG_EXTRAS "autoware_mission_details_overlay_rviz_plugin-extras.cmake"
+)

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE

@@ -0,0 +1,12 @@
+Copyright (c) 2022, Team Spatzenhirn
+Copyright (c) 2014, JSK Lab
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/README.md

@@ -0,0 +1,35 @@
+# autoware_mission_details_overlay_rviz_plugin
+
+This RViz plugin displays the remaining distance and time for the current mission.
+
+## Inputs / Outputs
+
+### Input
+
+| Name                                        | Type                                                        | Description                                          |
+| ------------------------------------------- | ----------------------------------------------------------- | ---------------------------------------------------- |
+| `/planning/mission_remaining_distance_time` | `autoware_planning_msgs::msg::MissionRemainingDistanceTime` | The topic is for mission remaining distance and time |
+
+## Overlay Parameters
+
+| Name     | Type | Default Value | Description                       |
+| -------- | ---- | ------------- | --------------------------------- |
+| `Width`  | int  | 170           | Width of the overlay [px]         |
+| `Height` | int  | 100           | Height of the overlay [px]        |
+| `Right`  | int  | 10            | Margin from the right border [px] |
+| `Top`    | int  | 10            | Margin from the top border [px]   |
+
+The mission details display is aligned with top right corner of the screen.
+
+## Usage
+
+Similar to [autoware_overlay_rviz_plugin](../autoware_overlay_rviz_plugin/README.md)
+
+## Credits
+
+Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization) package.
+
+### Icons
+
+- <https://fonts.google.com/icons?selected=Material+Symbols+Outlined:conversion_path:FILL@1;wght@400;GRAD@200;opsz@20&icon.size=20&icon.color=%23e8eaed&icon.query=path>
+- <https://fonts.google.com/icons?selected=Material+Symbols+Outlined:av_timer:FILL@1;wght@400;GRAD@200;opsz@20&icon.size=20&icon.color=%23e8eaed&icon.query=av+timer>

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/LICENSE

@@ -0,0 +1,93 @@
+Copyright 2011 The Quicksand Project Authors (https://github.com/andrew-paglinawan/QuicksandFamily), with Reserved Font Name “Quicksand”.
+
+This Font Software is licensed under the SIL Open Font License, Version 1.1.
+This license is copied below, and is also available with a FAQ at:
+http://scripts.sil.org/OFL
+
+
+-----------------------------------------------------------
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+-----------------------------------------------------------
+
+PREAMBLE
+The goals of the Open Font License (OFL) are to stimulate worldwide
+development of collaborative font projects, to support the font creation
+efforts of academic and linguistic communities, and to provide a free and
+open framework in which fonts may be shared and improved in partnership
+with others.
+
+The OFL allows the licensed fonts to be used, studied, modified and
+redistributed freely as long as they are not sold by themselves. The
+fonts, including any derivative works, can be bundled, embedded,
+redistributed and/or sold with any software provided that any reserved
+names are not used by derivative works. The fonts and derivatives,
+however, cannot be released under any other type of license. The
+requirement for fonts to remain under this license does not apply
+to any document created using the fonts or their derivatives.
+
+DEFINITIONS
+"Font Software" refers to the set of files released by the Copyright
+Holder(s) under this license and clearly marked as such. This may
+include source files, build scripts and documentation.
+
+"Reserved Font Name" refers to any names specified as such after the
+copyright statement(s).
+
+"Original Version" refers to the collection of Font Software components as
+distributed by the Copyright Holder(s).
+
+"Modified Version" refers to any derivative made by adding to, deleting,
+or substituting -- in part or in whole -- any of the components of the
+Original Version, by changing formats or by porting the Font Software to a
+new environment.
+
+"Author" refers to any designer, engineer, programmer, technical
+writer or other person who contributed to the Font Software.
+
+PERMISSION & CONDITIONS
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of the Font Software, to use, study, copy, merge, embed, modify,
+redistribute, and sell modified and unmodified copies of the Font
+Software, subject to the following conditions:
+
+1) Neither the Font Software nor any of its individual components,
+in Original or Modified Versions, may be sold by itself.
+
+2) Original or Modified Versions of the Font Software may be bundled,
+redistributed and/or sold with any software, provided that each copy
+contains the above copyright notice and this license. These can be
+included either as stand-alone text files, human-readable headers or
+in the appropriate machine-readable metadata fields within text or
+binary files as long as those fields can be easily viewed by the user.
+
+3) No Modified Version of the Font Software may use the Reserved Font
+Name(s) unless explicit written permission is granted by the corresponding
+Copyright Holder. This restriction only applies to the primary font name as
+presented to the users.
+
+4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
+Software shall not be used to promote, endorse or advertise any
+Modified Version, except to acknowledge the contribution(s) of the
+Copyright Holder(s) and the Author(s) or with their explicit written
+permission.
+
+5) The Font Software, modified or unmodified, in part or in whole,
+must be distributed entirely under this license, and must not be
+distributed under any other license. The requirement for fonts to
+remain under this license does not apply to any document created
+using the Font Software.
+
+TERMINATION
+This license becomes null and void if any of the above conditions are
+not met.
+
+DISCLAIMER
+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin-extras.cmake

@@ -0,0 +1,31 @@
+# Copyright (c) 2021, Open Source Robotics Foundation, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the copyright holder nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# find package Qt5 because otherwise using the rviz_default_plugins::rviz_default_plugins
+# exported target will complain that the Qt5::Widgets target does not exist
+find_package(Qt5 REQUIRED QUIET COMPONENTS Widgets)