Merge remote-tracking branch 'origin/awf-latest' into refactor/contro…

…l_launch_xml

.cppcheck_suppressions

@@ -1,18 +1,15 @@
 *:*/test/*
 
-arrayIndexThenCheck
 checkersReport
 constParameterPointer
 constParameterReference
-constStatement
 constVariable
 constVariableReference
 containerOutOfBounds
+// cspell: ignore cstyle
 cstyleCast
-duplicateAssignExpression
 duplicateBranch
 duplicateBreak
-duplicateExpression
 funcArgNamesDifferent
 functionConst
 functionStatic
@@ -25,18 +22,18 @@ noExplicitConstructor
 noValidConfiguration
 passedByValue
 preprocessorErrorDirective
-redundantContinue
 redundantInitialization
 returnByReference
 shadowArgument
 shadowFunction
 shadowVariable
 syntaxError
+// cspell: ignore uninit
 uninitMemberVar
 unknownMacro
+unmatchedSuppression
 unreadVariable
 unusedFunction
-unusedScopedObject
 unusedStructMember
 unusedVariable
 useInitializationList

.github/workflows/clang-tidy-differential.yaml

@@ -20,14 +20,10 @@ jobs:
     runs-on: ubuntu-latest
     container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
     steps:
-      - name: Set PR fetch depth
-        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
-
       - name: Checkout PR branch and all PR commits
         uses: actions/checkout@v4
         with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+          fetch-depth: 0
 
       - name: Show disk space before the tasks
         run: df -h
@@ -41,19 +37,17 @@ jobs:
 
       - name: Get modified files
         id: get-modified-files
-        uses: tj-actions/changed-files@v42
-        with:
-          files: |
-            **/*.cpp
-            **/*.hpp
+        run: |
+          echo "changed_files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' || true)" >> $GITHUB_OUTPUT
+        shell: bash
 
       - name: Run clang-tidy
-        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
+        if: ${{ steps.get-modified-files.outputs.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 }}
+          target-files: ${{ steps.get-modified-files.outputs.changed_files }}
           clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
           build-depends-repos: build_depends.repos
 

.github/workflows/cppcheck-daily.yaml

@@ -13,29 +13,16 @@ jobs:
       - name: Checkout code
         uses: actions/checkout@v2
 
-      - name: Install dependencies
+      # cppcheck from apt does not yet support --check-level args, and thus install from snap
+      - name: Install Cppcheck from snap
         run: |
-          sudo apt-get update
-          sudo apt-get install -y build-essential cmake git libpcre3-dev
-
-      # cppcheck from apt does not yet support --check-level args, and thus install from source
-      - name: Install Cppcheck from source
-        run: |
-          mkdir /tmp/cppcheck
-          git clone https://github.com/danmar/cppcheck.git /tmp/cppcheck
-          cd /tmp/cppcheck
-          git checkout 2.14.1
-          mkdir build
-          cd build
-          cmake ..
-          make -j $(nproc)
-          sudo make install
+          sudo snap install cppcheck
 
       - name: Run Cppcheck on all files
         continue-on-error: true
         id: cppcheck
         run: |
-          cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --xml . 2> cppcheck-report.xml
+          cppcheck --enable=all --inconclusive --check-level=exhaustive --suppress=*:*/test/* --error-exitcode=1 --xml . 2> cppcheck-report.xml
         shell: bash
 
       - name: Count errors by error ID and severity

.github/workflows/cppcheck-differential.yaml

@@ -8,33 +8,35 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v2
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+
+      - name: Checkout PR branch and all PR commits
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
 
       - name: Install dependencies
         run: |
           sudo apt-get update
-          sudo apt-get install -y build-essential cmake git libpcre3-dev
+          sudo apt-get install -y git
 
-      # cppcheck from apt does not yet support --check-level args, and thus install from source
-      - name: Install Cppcheck from source
+      # cppcheck from apt does not yet support --check-level args, and thus install from snap
+      - name: Install Cppcheck from snap
         run: |
-          mkdir /tmp/cppcheck
-          git clone https://github.com/danmar/cppcheck.git /tmp/cppcheck
-          cd /tmp/cppcheck
-          git checkout 2.14.1
-          mkdir build
-          cd build
-          cmake ..
-          make -j $(nproc)
-          sudo make install
+          sudo snap install cppcheck
+
+      - name: Fetch the base branch with enough history for a common merge-base commit
+        run: git fetch origin ${{ github.base_ref }}
+        shell: bash
 
       - name: Get changed files
         id: changed-files
         run: |
-          git fetch origin ${{ github.base_ref }} --depth=1
-          git diff --name-only FETCH_HEAD ${{ github.sha }} > changed_files.txt
+          git diff --name-only "origin/${{ github.base_ref }}"...HEAD > changed_files.txt
           cat changed_files.txt
+        shell: bash
 
       - name: Run Cppcheck on changed files
         continue-on-error: true

common/autoware_test_utils/CMakeLists.txt

@@ -15,11 +15,10 @@ target_link_libraries(mock_data_parser
 )
 
 if(BUILD_TESTING)
-  ament_add_ros_isolated_gtest(test_mock_data_parser
-    test/test_mock_data_parser.cpp)
-
-  target_link_libraries(test_mock_data_parser
-    mock_data_parser)
+  ament_auto_add_gtest(test_autoware_test_utils
+    test/test_mock_data_parser.cpp
+    test/test_autoware_test_manager.cpp
+  )
 endif()
 
 ament_auto_package(INSTALL_TO_SHARE

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>
@@ -48,6 +49,7 @@
 #include <limits>
 #include <memory>
 #include <string>
+#include <unordered_map>
 #include <vector>
 
 namespace autoware::test_utils
@@ -512,6 +514,81 @@ void publishToTargetNode(
   autoware::test_utils::spinSomeNodes(test_node, target_node, repeat_count);
 }
 
+/**
+ * @brief Manages publishing and subscribing to ROS topics for testing Autoware.
+ *
+ * The AutowareTestManager class provides utility functions to facilitate
+ * the publishing of messages to specified topics and the setting up of
+ * subscribers to listen for messages on specified topics. This class
+ * simplifies the setup of test environments in Autoware.
+ */
+class AutowareTestManager
+{
+public:
+  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>
+  void test_pub_msg(
+    rclcpp::Node::SharedPtr target_node, const std::string & topic_name, MessageType & msg)
+  {
+    if (publishers_.find(topic_name) == publishers_.end()) {
+      auto publisher = test_node_->create_publisher<MessageType>(topic_name, 10);
+      publishers_[topic_name] = std::static_pointer_cast<rclcpp::PublisherBase>(publisher);
+    }
+
+    auto publisher =
+      std::dynamic_pointer_cast<rclcpp::Publisher<MessageType>>(publishers_[topic_name]);
+
+    autoware::test_utils::publishToTargetNode(test_node_, target_node, topic_name, publisher, msg);
+    RCLCPP_INFO(test_node_->get_logger(), "Published message on topic '%s'", topic_name.c_str());
+  }
+
+  template <typename MessageType>
+  void set_subscriber(
+    const std::string & topic_name,
+    std::function<void(const typename MessageType::ConstSharedPtr)> callback)
+  {
+    if (subscribers_.find(topic_name) == subscribers_.end()) {
+      std::shared_ptr<rclcpp::Subscription<MessageType>> subscriber;
+      autoware::test_utils::createSubscription<MessageType>(
+        test_node_, topic_name, callback, subscriber);
+      subscribers_[topic_name] = std::static_pointer_cast<rclcpp::SubscriptionBase>(subscriber);
+    } else {
+      RCLCPP_WARN(test_node_->get_logger(), "Subscriber %s already set.", topic_name.c_str());
+    }
+  }
+
+  /**
+   * @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_;
+};  // class AutowareTestManager
+
 }  // namespace autoware::test_utils
 
 #endif  // AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_

common/autoware_test_utils/src/autoware_test_utils.cpp

@@ -19,6 +19,8 @@
 #include <rclcpp/logging.hpp>
 #include <rclcpp/node.hpp>
 
+#include <lanelet2_core/geometry/LineString.h>
+
 #include <utility>
 
 namespace autoware::test_utils
@@ -54,14 +56,32 @@ lanelet::LaneletMapPtr loadMap(const std::string & lanelet2_filename)
   lanelet::ErrorMessages errors{};
   lanelet::projection::MGRSProjector projector{};
   lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, projector, &errors);
-  if (errors.empty()) {
-    return map;
+  if (!errors.empty()) {
+    for (const auto & error : errors) {
+      RCLCPP_ERROR_STREAM(rclcpp::get_logger("map_loader"), error);
+    }
+    return nullptr;
   }
 
-  for (const auto & error : errors) {
-    RCLCPP_ERROR_STREAM(rclcpp::get_logger("map_loader"), error);
+  for (lanelet::Point3d point : map->pointLayer) {
+    if (point.hasAttribute("local_x")) {
+      point.x() = point.attribute("local_x").asDouble().value();
+    }
+    if (point.hasAttribute("local_y")) {
+      point.y() = point.attribute("local_y").asDouble().value();
+    }
   }
-  return nullptr;
+
+  // realign lanelet borders using updated points
+  for (lanelet::Lanelet lanelet : map->laneletLayer) {
+    auto left = lanelet.leftBound();
+    auto right = lanelet.rightBound();
+    std::tie(left, right) = lanelet::geometry::align(left, right);
+    lanelet.setLeftBound(left);
+    lanelet.setRightBound(right);
+  }
+
+  return map;
 }
 
 LaneletMapBin convertToMapBinMsg(