Merge branch 'lidar_centerpoint_branch' of https://github.com/tby-ude…

…l/autoware.universe into lidar_centerpoint_branch

update the branch first, then renamed one .schema.json file.

.cppcheck_suppressions

@@ -0,0 +1,59 @@
+arrayIndexThenCheck
+assignBoolToFloat
+checkersReport
+constParameterPointer
+constParameterReference
+constStatement
+constVariable
+constVariablePointer
+constVariableReference
+containerOutOfBounds
+cstyleCast
+ctuOneDefinitionRuleViolation
+current_deleted_index
+duplicateAssignExpression
+duplicateBranch
+duplicateBreak
+duplicateCondition
+duplicateExpression
+funcArgNamesDifferent
+functionConst
+functionStatic
+invalidPointerCast
+knownConditionTrueFalse
+missingInclude
+missingIncludeSystem
+multiCondition
+noConstructor
+noExplicitConstructor
+noValidConfiguration
+obstacle_cruise_planner
+passedByValue
+preprocessorErrorDirective
+redundantAssignment
+redundantContinue
+redundantIfRemove
+redundantInitialization
+returnByReference
+selfAssignment
+shadowArgument
+shadowFunction
+shadowVariable
+stlFindInsert
+syntaxError
+uninitMemberVar
+unknownMacro
+unmatchedSuppression
+unpreciseMathCall
+unreadVariable
+unsignedLessThanZero
+unusedFunction
+unusedScopedObject
+unusedStructMember
+unusedVariable
+useInitializationList
+useStlAlgorithm
+uselessCallsSubstr
+uselessOverride
+variableScope
+virtualCallInConstructor

.github/CODEOWNERS

@@ -1,9 +1,7 @@
 ### Automatically generated from package.xml ###
 common/autoware_ad_api_specs/** [email protected] [email protected]
 common/autoware_auto_common/** [email protected] [email protected] [email protected] [email protected]
-common/autoware_auto_geometry/** [email protected]
-common/autoware_auto_perception_rviz_plugin/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-common/autoware_auto_tf2/** [email protected] [email protected] [email protected] [email protected]
+common/autoware_perception_rviz_plugin/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** [email protected]
 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** [email protected]
 common/autoware_point_types/** [email protected]
@@ -148,6 +146,8 @@ perception/traffic_light_occlusion_predictor/** [email protected] tao.zhon
 perception/traffic_light_visualization/** [email protected] [email protected]
 planning/autoware_behavior_path_external_request_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_velocity_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_behavior_velocity_template_module/** [email protected]
+planning/autoware_behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
 planning/autoware_planning_test_manager/** [email protected] [email protected]
 planning/autoware_remaining_distance_time_calculator/** [email protected]
 planning/autoware_static_centerline_generator/** [email protected] [email protected]
@@ -174,9 +174,7 @@ planning/behavior_velocity_planner_common/** [email protected] isamu.taka
 planning/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_template_module/** [email protected]
 planning/behavior_velocity_traffic_light_module/** [email protected] [email protected] [email protected] [email protected]
-planning/behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]
 planning/costmap_generator/** [email protected] [email protected] [email protected]
 planning/external_velocity_limit_selector/** [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -219,7 +217,6 @@ simulator/fault_injection/** [email protected]
 simulator/learning_based_vehicle_model/** [email protected] [email protected]
 simulator/simple_planning_simulator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 simulator/vehicle_door_simulator/** [email protected]
-system/autoware_auto_msgs_adapter/** [email protected] [email protected]
 system/bluetooth_monitor/** [email protected]
 system/component_state_monitor/** [email protected]
 system/default_ad_api/** [email protected] [email protected] [email protected]

.github/workflows/cppcheck-all.yaml

@@ -0,0 +1,60 @@
+name: cppcheck-all
+
+on:
+  pull_request:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  cppcheck-all:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Install dependencies
+        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 $(nproc)
+          sudo make install
+
+      - name: Run Cppcheck on all files
+        continue-on-error: true
+        id: cppcheck
+        run: |
+          cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --xml . 2> cppcheck-report.xml
+        shell: bash
+
+      - name: Count errors by error ID and severity
+        run: |
+          #!/bin/bash
+          temp_file=$(mktemp)
+          grep -oP '(?<=id=")[^"]+" severity="[^"]+' cppcheck-report.xml | sed 's/" severity="/,/g' > "$temp_file"
+          echo "Error counts by error ID and severity:"
+          sort "$temp_file" | uniq -c
+          rm "$temp_file"
+        shell: bash
+
+      - name: Upload Cppcheck report
+        uses: actions/upload-artifact@v2
+        with:
+          name: cppcheck-report
+          path: cppcheck-report.xml
+
+      - name: Fail the job if Cppcheck failed
+        if: steps.cppcheck.outcome == 'failure'
+        run: exit 1

.github/workflows/cppcheck-differential.yaml

@@ -0,0 +1,65 @@
+name: cppcheck-differential
+
+on:
+  pull_request:
+
+jobs:
+  cppcheck-differential:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Install dependencies
+        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
+
+      - name: Get changed files
+        id: changed-files
+        run: |
+          git fetch origin ${{ github.base_ref }} --depth=1
+          git diff --name-only FETCH_HEAD ${{ github.sha }} > changed_files.txt
+          cat changed_files.txt
+
+      - name: Run Cppcheck on changed files
+        continue-on-error: true
+        id: cppcheck
+        run: |
+          files=$(cat changed_files.txt | grep -E '\.(cpp|hpp)$' || true)
+          if [ -n "$files" ]; then
+            echo "Running Cppcheck on changed files: $files"
+            cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions $files 2> cppcheck-report.txt
+          else
+            echo "No C++ files changed."
+            touch cppcheck-report.txt
+          fi
+        shell: bash
+
+      - name: Show cppcheck-report result
+        run: |
+          cat cppcheck-report.txt
+
+      - name: Upload Cppcheck report
+        uses: actions/upload-artifact@v2
+        with:
+          name: cppcheck-report
+          path: cppcheck-report.txt
+
+      - name: Fail the job if Cppcheck failed
+        if: steps.cppcheck.outcome == 'failure'
+        run: exit 1

.github/workflows/dco.yaml

@@ -0,0 +1,21 @@
+name: DCO
+# ref: https://github.com/anchore/syft/pull/2926/files
+on:
+  pull_request:
+jobs:
+  dco:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Setup Python 3.x
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.x
+
+      - name: Check DCO
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          pip3 install -U dco-check
+          dco-check --verbose --exclude-pattern 'pre-commit-ci\[bot\]@users\.noreply\.github\.com'

build_depends.repos

@@ -20,10 +20,6 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git
     version: main
-  core/external/autoware_auto_msgs:
-    type: git
-    url: https://github.com/tier4/autoware_auto_msgs.git
-    version: tier4/main
   # universe
   universe/external/tier4_autoware_msgs:
     type: git

common/.pages

@@ -6,11 +6,6 @@ nav:
   - 'Common Libraries':
     - 'autoware_auto_common':
       - 'comparisons': common/autoware_auto_common/design/comparisons
-    - 'autoware_auto_geometry':
-      - 'interval': common/autoware_auto_geometry/design/interval
-      - 'polygon intersection 2d': common/autoware_auto_geometry/design/polygon_intersection_2d-design
-      - 'spatial hash': common/autoware_auto_geometry/design/spatial-hash-design
-    - 'autoware_auto_tf2': common/autoware_auto_tf2/design/autoware-auto-tf2-design
     - 'autoware_point_types': common/autoware_point_types
     - 'Cuda Utils': common/cuda_utils
     - 'Geography Utils': common/geography_utils
@@ -35,7 +30,7 @@ nav:
       - 'Introduction': common/tvm_utility
       - 'YOLOv2 Tiny Example': common/tvm_utility/tvm-utility-yolo-v2-tiny-tests
   - 'RVIZ2 Plugins':
-    - 'autoware_auto_perception_rviz_plugin': common/autoware_auto_perception_rviz_plugin
+    - 'autoware_perception_rviz_plugin': common/autoware_perception_rviz_plugin
     - 'autoware_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin
     - 'autoware_mission_details_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin
     - 'bag_time_manager_rviz_plugin': common/bag_time_manager_rviz_plugin

common/autoware_auto_common/include/autoware_auto_common/helper_functions/message_adapters.hpp

@@ -36,7 +36,7 @@ using TimeStamp = builtin_interfaces::msg::Time;
 
 /// \brief Helper class to check existence of header file in compile time:
 /// https://stackoverflow.com/a/16000226/2325407
-template <typename T, typename = nullptr_t>
+template <typename T, typename = std::nullptr_t>
 struct HasHeader : std::false_type
 {
 };
@@ -48,60 +48,60 @@ struct HasHeader<T, decltype((void)T::header, nullptr)> : std::true_type
 
 /////////// Template declarations
 
-/// Get frame id from message. nullptr_t is used to prevent template ambiguity on
+/// Get frame id from message. std::nullptr_t is used to prevent template ambiguity on
 /// SFINAE specializations. Provide a default value on specializations for a friendly API.
 /// \tparam T Message type.
 /// \param msg Message.
 /// \return Frame id of the message.
-template <typename T, nullptr_t>
+template <typename T, std::nullptr_t>
 const std::string & get_frame_id(const T & msg) noexcept;
 
-/// Get a reference to the frame id from message. nullptr_t is used to prevent
+/// Get a reference to the frame id from message. std::nullptr_t is used to prevent
 /// template ambiguity on SFINAE specializations. Provide a default value on
 /// specializations for a friendly API.
 /// \tparam T Message type.
 /// \param msg Message.
 /// \return Frame id of the message.
-template <typename T, nullptr_t>
+template <typename T, std::nullptr_t>
 std::string & get_frame_id(T & msg) noexcept;
 
-/// Get stamp from message. nullptr_t is used to prevent template ambiguity on
+/// Get stamp from message. std::nullptr_t is used to prevent template ambiguity on
 /// SFINAE specializations. Provide a default value on specializations for a friendly API.
 /// \tparam T Message type.
 /// \param msg Message.
 /// \return Frame id of the message.
-template <typename T, nullptr_t>
+template <typename T, std::nullptr_t>
 const TimeStamp & get_stamp(const T & msg) noexcept;
 
-/// Get a reference to the stamp from message. nullptr_t is used to prevent
+/// Get a reference to the stamp from message. std::nullptr_t is used to prevent
 /// template ambiguity on SFINAE specializations. Provide a default value on
 /// specializations for a friendly API.
 /// \tparam T Message type.
 /// \param msg Message.
 /// \return Frame id of the message.
-template <typename T, nullptr_t>
+template <typename T, std::nullptr_t>
 TimeStamp & get_stamp(T & msg) noexcept;
 
 /////////////// Default specializations for message types that contain a header.
-template <class T, typename std::enable_if<HasHeader<T>::value, nullptr_t>::type = nullptr>
+template <class T, typename std::enable_if<HasHeader<T>::value, std::nullptr_t>::type = nullptr>
 const std::string & get_frame_id(const T & msg) noexcept
 {
   return msg.header.frame_id;
 }
 
-template <class T, typename std::enable_if<HasHeader<T>::value, nullptr_t>::type = nullptr>
+template <class T, typename std::enable_if<HasHeader<T>::value, std::nullptr_t>::type = nullptr>
 std::string & get_frame_id(T & msg) noexcept
 {
   return msg.header.frame_id;
 }
 
-template <class T, typename std::enable_if<HasHeader<T>::value, nullptr_t>::type = nullptr>
+template <class T, typename std::enable_if<HasHeader<T>::value, std::nullptr_t>::type = nullptr>
 TimeStamp & get_stamp(T & msg) noexcept
 {
   return msg.header.stamp;
 }
 
-template <class T, typename std::enable_if<HasHeader<T>::value, nullptr_t>::type = nullptr>
+template <class T, typename std::enable_if<HasHeader<T>::value, std::nullptr_t>::type = nullptr>
 TimeStamp get_stamp(const T & msg) noexcept
 {
   return msg.header.stamp;