chore: sync upstream

.cspell-partial.json

@@ -5,5 +5,5 @@
     "perception/bytetrack/lib/**"
   ],
   "ignoreRegExpList": [],
-  "words": []
+  "words": ["dltype", "tvmgen", "quantizer", "imageio", "mimsave"]
 }

.github/CODEOWNERS

@@ -88,13 +88,15 @@ launch/tier4_system_launch/** [email protected] [email protected]
 launch/tier4_vehicle_launch/** [email protected]
 localization/ekf_localizer/** [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/gyro_odometer/** [email protected] [email protected]
-localization/landmark_based_localizer/ar_tag_based_localizer/** [email protected] [email protected]
-localization/landmark_based_localizer/landmark_tf_caster/** [email protected] [email protected]
+localization/landmark_based_localizer/ar_tag_based_localizer/** [email protected] [email protected] shintaro.sakoda@tier4.jp yamato.ando@tier4.jp
+localization/landmark_based_localizer/landmark_parser/** [email protected] [email protected] shintaro.sakoda@tier4.jp yamato.ando@tier4.jp
 localization/localization_error_monitor/** [email protected] [email protected] [email protected]
+localization/localization_util/** [email protected] [email protected] [email protected] [email protected]
 localization/ndt_scan_matcher/** [email protected] [email protected] [email protected] [email protected]
 localization/pose2twist/** [email protected] [email protected]
 localization/pose_initializer/** [email protected] [email protected] [email protected]
 localization/stop_filter/** [email protected] [email protected] [email protected]
+localization/tree_structured_parzen_estimator/** [email protected] [email protected] [email protected] [email protected]
 localization/twist2accel/** [email protected] [email protected] [email protected]
 localization/yabloc/yabloc_common/** [email protected] [email protected]
 localization/yabloc/yabloc_image_processing/** [email protected] [email protected]
@@ -152,7 +154,7 @@ perception/traffic_light_ssd_fine_detector/** [email protected]
 perception/traffic_light_visualization/** [email protected]
 planning/behavior_path_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_blind_spot_module/** [email protected] [email protected] [email protected]
-planning/behavior_velocity_crosswalk_module/** [email protected] [email protected] [email protected] [email protected]
+planning/behavior_velocity_crosswalk_module/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_detection_area_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_intersection_module/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_no_drivable_lane_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -179,7 +181,7 @@ planning/obstacle_cruise_planner/** [email protected] [email protected]
 planning/obstacle_stop_planner/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/obstacle_velocity_limiter/** [email protected]
 planning/path_smoother/** [email protected] [email protected]
-planning/planning_debug_tools/** [email protected] [email protected]
+planning/planning_debug_tools/** [email protected] [email protected] [email protected]
 planning/planning_test_utils/** [email protected] [email protected]
 planning/planning_validator/** [email protected] [email protected]
 planning/route_handler/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -221,7 +223,6 @@ system/emergency_handler/** [email protected]
 system/mrm_comfortable_stop_operator/** [email protected]
 system/mrm_emergency_stop_operator/** [email protected]
 system/system_diagnostic_graph/** [email protected]
-system/system_diagnostic_monitor/** [email protected]
 system/system_error_monitor/** [email protected]
 system/system_monitor/** [email protected] [email protected]
 system/topic_state_monitor/** [email protected]

.github/dependabot.yaml

@@ -6,5 +6,5 @@ updates:
       interval: daily
     open-pull-requests-limit: 1
     labels:
-      - bot
-      - github-actions
+      - tag:bot
+      - type:github-actions

.github/labeler.yaml

@@ -1,41 +1,41 @@
-ci:
+"type:ci":
   - .github/**/*
   - "*.json"
   - "*.yaml"
   - "*.cfg"
   - .clang-format
   - .gitignore
   - .prettierignore
-documentation:
+"type:documentation":
   - docs/**/*
   - "**/*.md"
   - "**/*.rst"
   - "**/*.jpg"
   - "**/*.png"
   - "**/*.svg"
-common:
+"component:common":
   - common/**/*
-control:
+"component:control":
   - control/**/*
-evaluator:
+"component:evaluator":
   - evaluator/**/*
-launch:
+"component:launch":
   - launch/**/*
-localization:
+"component:localization":
   - localization/**/*
-map:
+"component:map":
   - map/**/*
-perception:
+"component:perception":
   - perception/**/*
-planning:
+"component:planning":
   - planning/**/*
-sensing:
+"component:sensing":
   - sensing/**/*
-simulator:
+"component:simulator":
   - simulator/**/*
-system:
+"component:system":
   - system/**/*
-tools:
+"component:tools":
   - tools/**/*
-vehicle:
+"component:vehicle":
   - vehicle/**/*

.github/stale.yml

@@ -4,7 +4,7 @@
 daysUntilClose: false
 
 # Label to use when marking as stale
-staleLabel: stale
+staleLabel: status:stale
 
 # Comment to post when marking as stale
 markComment: >

.github/sync-files.yaml

@@ -12,6 +12,8 @@
     - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md
     - source: .github/dependabot.yaml
     - source: .github/stale.yml
+      pre-commands: |
+        sd "staleLabel: stale" "staleLabel: status:stale" {source}
     - source: .github/workflows/cancel-previous-workflows.yaml
     - source: .github/workflows/github-release.yaml
     - source: .github/workflows/pre-commit.yaml
@@ -84,4 +86,8 @@
         sd "/edit/main/docs/" "/edit/main/" {source}
         sd "docs_dir: .*" "docs_dir: ." {source}
         sd "assets/(\w+)" "docs/assets/\$1" {source}
+        sd -- \
+        "  - macros" \
+        "  - macros:
+              module_name: mkdocs_macros" {source}
     - source: docs/assets/js/mathjax.js

.github/workflows/build-and-test-differential.yaml

@@ -11,7 +11,7 @@ jobs:
   prevent-no-label-execution:
     uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
     with:
-      label: run-build-and-test-differential
+      label: tag:run-build-and-test-differential
 
   build-and-test-differential:
     needs: prevent-no-label-execution

.github/workflows/deploy-docs.yaml

@@ -22,7 +22,7 @@ jobs:
   prevent-no-label-execution:
     uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
     with:
-      label: deploy-docs
+      label: tag:deploy-docs
 
   deploy-docs:
     needs: prevent-no-label-execution

.github/workflows/openai-pr-reviewer.yaml

@@ -21,7 +21,7 @@ jobs:
   prevent-no-label-execution:
     uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
     with:
-      label: openai-pr-reviewer
+      label: tag:openai-pr-reviewer
   review:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}

.github/workflows/sync-files.yaml

@@ -28,6 +28,6 @@ jobs:
         with:
           token: ${{ steps.generate-token.outputs.token }}
           pr-labels: |
-            bot
-            sync-files
+            tag:bot
+            tag:sync-files
           auto-merge-method: squash

.github/workflows/update-codeowners-from-packages.yaml

@@ -28,6 +28,6 @@ jobs:
         with:
           token: ${{ steps.generate-token.outputs.token }}
           pr-labels: |
-            bot
-            update-codeowners-from-packages
+            tag:bot
+            tag:update-codeowners-from-packages
           auto-merge-method: squash

common/interpolation/package.xml

@@ -6,7 +6,6 @@
   <description>The spline interpolation package</description>
   <maintainer email="[email protected]">Fumiya Watanabe</maintainer>
   <maintainer email="[email protected]">Takayuki Murooka</maintainer>
-  <maintainer email="[email protected]">Yutaka Shimizu</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

common/kalman_filter/include/kalman_filter/kalman_filter.hpp

@@ -109,20 +109,20 @@ class KalmanFilter
    * @brief get current kalman filter state
    * @param x kalman filter state
    */
-  void getX(Eigen::MatrixXd & x);
+  void getX(Eigen::MatrixXd & x) const;
 
   /**
    * @brief get current kalman filter covariance
    * @param P kalman filter covariance
    */
-  void getP(Eigen::MatrixXd & P);
+  void getP(Eigen::MatrixXd & P) const;
 
   /**
    * @brief get component of current kalman filter state
    * @param i index of kalman filter state
    * @return value of i's component of the kalman filter state x[i]
    */
-  double getXelement(unsigned int i);
+  double getXelement(unsigned int i) const;
 
   /**
    * @brief calculate kalman filter state and covariance by prediction model with A, B, Q matrix.

common/kalman_filter/src/kalman_filter.cpp

@@ -77,15 +77,15 @@ void KalmanFilter::setR(const Eigen::MatrixXd & R)
 {
   R_ = R;
 }
-void KalmanFilter::getX(Eigen::MatrixXd & x)
+void KalmanFilter::getX(Eigen::MatrixXd & x) const
 {
   x = x_;
 }
-void KalmanFilter::getP(Eigen::MatrixXd & P)
+void KalmanFilter::getP(Eigen::MatrixXd & P) const
 {
   P = P_;
 }
-double KalmanFilter::getXelement(unsigned int i)
+double KalmanFilter::getXelement(unsigned int i) const
 {
   return x_(i);
 }

common/motion_utils/include/motion_utils/vehicle/vehicle_state_checker.hpp

@@ -55,11 +55,11 @@ class VehicleStopChecker : public VehicleStopCheckerBase
 
 protected:
   rclcpp::Subscription<Odometry>::SharedPtr sub_odom_;
-  Odometry::SharedPtr odometry_ptr_;
+  Odometry::ConstSharedPtr odometry_ptr_;
 
 private:
   static constexpr double velocity_buffer_time_sec = 10.0;
-  void onOdom(const Odometry::SharedPtr msg);
+  void onOdom(const Odometry::ConstSharedPtr msg);
 };
 
 class VehicleArrivalChecker : public VehicleStopChecker
@@ -74,9 +74,9 @@ class VehicleArrivalChecker : public VehicleStopChecker
 
   rclcpp::Subscription<Trajectory>::SharedPtr sub_trajectory_;
 
-  Trajectory::SharedPtr trajectory_ptr_;
+  Trajectory::ConstSharedPtr trajectory_ptr_;
 
-  void onTrajectory(const Trajectory::SharedPtr msg);
+  void onTrajectory(const Trajectory::ConstSharedPtr msg);
 };
 }  // namespace motion_utils
 

common/motion_utils/package.xml

@@ -4,7 +4,6 @@
   <name>motion_utils</name>
   <version>0.1.0</version>
   <description>The motion_utils package</description>
-  <maintainer email="[email protected]">Yutaka Shimizu</maintainer>
   <maintainer email="[email protected]">Satoshi Ota</maintainer>
   <maintainer email="[email protected]">Takayuki Murooka</maintainer>
   <!-- reviewer-->
@@ -16,7 +15,6 @@
   <maintainer email="[email protected]">Mamoru Sobue</maintainer>
   <license>Apache License 2.0</license>
 
-  <author email="[email protected]">Yutaka Shimizu</author>
   <author email="[email protected]">Takayuki Murooka</author>
   <author email="[email protected]">Satoshi Ota</author>
 

common/motion_utils/src/vehicle/vehicle_state_checker.cpp

@@ -88,7 +88,7 @@ VehicleStopChecker::VehicleStopChecker(rclcpp::Node * node)
     std::bind(&VehicleStopChecker::onOdom, this, _1));
 }
 
-void VehicleStopChecker::onOdom(const Odometry::SharedPtr msg)
+void VehicleStopChecker::onOdom(const Odometry::ConstSharedPtr msg)
 {
   odometry_ptr_ = msg;
 
@@ -128,7 +128,7 @@ bool VehicleArrivalChecker::isVehicleStoppedAtStopPoint(const double stop_durati
          th_arrived_distance_m;
 }
 
-void VehicleArrivalChecker::onTrajectory(const Trajectory::SharedPtr msg)
+void VehicleArrivalChecker::onTrajectory(const Trajectory::ConstSharedPtr msg)
 {
   trajectory_ptr_ = msg;
 }

common/tier4_autoware_utils/package.xml

@@ -6,7 +6,6 @@
   <description>The tier4_autoware_utils package</description>
   <maintainer email="[email protected]">Takamasa Horibe</maintainer>
   <maintainer email="[email protected]">Takayuki Murooka</maintainer>
-  <maintainer email="[email protected]">Yutaka Shimizu</maintainer>
   <maintainer email="[email protected]">Mamoru Sobue</maintainer>
   <license>Apache License 2.0</license>
 

common/tier4_camera_view_rviz_plugin/CMakeLists.txt

@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 3.14)
+project(tier4_camera_view_rviz_plugin)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(Qt5 REQUIRED Core Widgets)
+set(QT_LIBRARIES Qt5::Widgets)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wno-unused-parameter)
+endif()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/third_person_view_controller.cpp
+  src/third_person_view_tool.cpp
+  src/bird_eye_view_tool.cpp
+  src/bird_eye_view_controller.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${QT_LIBRARIES}
+)
+
+pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
+
+ament_auto_package(INSTALL_TO_SHARE icons)

common/tier4_camera_view_rviz_plugin/README.md

@@ -0,0 +1,9 @@
+# tier4_camera_view_rviz_plugin
+
+## ThirdPersonView Tool
+
+Add the `tier4_camera_view_rviz_plugin/ThirdPersonViewTool` tool to the RViz. Push the button, the camera will focus on the vehicle and set the target frame to `base_link`. Short cut key 'o'.
+
+## BirdEyeView Tool
+
+Add the `tier4_camera_view_rviz_plugin/BirdEyeViewTool` tool to the RViz. Push the button, the camera will turn to the BEV view, the target frame is consistent with the latest frame. Short cut key 'r'.

common/tier4_camera_view_rviz_plugin/package.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>tier4_camera_view_rviz_plugin</name>
+  <version>0.0.0</version>
+  <description>The autoware camera view rviz plugin package</description>
+  <maintainer email="[email protected]">Yuxuan Liu</maintainer>
+  <maintainer email="[email protected]">Makoto Yabuta</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_ad_api_specs</depend>
+  <depend>component_interface_utils</depend>
+  <depend>geometry_msgs</depend>
+  <depend>libqt5-core</depend>
+  <depend>libqt5-gui</depend>
+  <depend>libqt5-widgets</depend>
+  <depend>rclcpp</depend>
+  <depend>rviz_common</depend>
+  <depend>rviz_default_plugins</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
+  </export>
+</package>