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Merge branch 'main' into fix/distortion_corrector_naming
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@vividf
vividf authored Mar 6, 2025
2 parents 86231f8 + b3caa5c commit bf101bb
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88 changes: 41 additions & 47 deletions .github/CODEOWNERS
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6 changes: 5 additions & 1 deletion .github/workflows/build-and-test-differential.yaml
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Expand Up @@ -22,6 +22,10 @@ on:
required: false
default: ""
type: string
build-pre-command:
required: false
default: ""
type: string
secrets:
codecov-token:
required: true
Expand Down Expand Up @@ -113,7 +117,7 @@ jobs:
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
build-depends-repos: build_depends.repos
cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}

build-pre-command: ${{ inputs.build-pre-command }}
- name: Show ccache stats after build
run: du -sh ${CCACHE_DIR} && ccache -s
shell: bash
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3 changes: 3 additions & 0 deletions .github/workflows/build-test-tidy-pr.yaml
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Expand Up @@ -58,6 +58,8 @@ jobs:
container: ghcr.io/autowarefoundation/autoware:universe-devel
container-suffix: -cuda
run-condition: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'true' }}
runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
build-pre-command: taskset --cpu-list 0-6
secrets:
codecov-token: ${{ secrets.CODECOV_TOKEN }}

Expand All @@ -81,3 +83,4 @@ jobs:
container: ghcr.io/autowarefoundation/autoware:universe-devel
container-suffix: -cuda
run-condition: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'true' && needs.build-and-test-differential-cuda.result == 'success' }}
runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
2 changes: 1 addition & 1 deletion build_depends_humble.repos
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Expand Up @@ -19,7 +19,7 @@ repositories:
core/autoware_msgs:
type: git
url: https://github.com/autowarefoundation/autoware_msgs.git
version: 1.3.0
version: 1.4.0
core/autoware_adapi_msgs:
type: git
url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
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11 changes: 11 additions & 0 deletions common/autoware_adapi_specs/CHANGELOG.rst
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Changelog for package autoware_adapi_specs
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.42.0 (2025-03-03)
-------------------

0.41.2 (2025-02-19)
-------------------
* chore: bump version to 0.41.1 (`#10088 <https://github.com/autowarefoundation/autoware.universe/issues/10088>`_)
* Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)
-------------------

0.41.0 (2025-01-29)
-------------------
* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
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2 changes: 1 addition & 1 deletion common/autoware_adapi_specs/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autoware_adapi_specs</name>
<version>0.41.0</version>
<version>0.42.0</version>
<description>The autoware_adapi_specs package</description>
<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
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11 changes: 11 additions & 0 deletions common/autoware_auto_common/CHANGELOG.rst
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Expand Up @@ -2,6 +2,17 @@
Changelog for package autoware_auto_common
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.42.0 (2025-03-03)
-------------------

0.41.2 (2025-02-19)
-------------------
* chore: bump version to 0.41.1 (`#10088 <https://github.com/autowarefoundation/autoware.universe/issues/10088>`_)
* Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)
-------------------

0.41.0 (2025-01-29)
-------------------

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2 changes: 1 addition & 1 deletion common/autoware_auto_common/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autoware_auto_common</name>
<version>0.41.0</version>
<version>0.42.0</version>
<description>Miscellaneous helper functions</description>
<maintainer email="opensource@apex.ai">Apex.AI, Inc.</maintainer>
<maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
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11 changes: 11 additions & 0 deletions common/autoware_component_interface_specs_universe/CHANGELOG.rst
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Changelog for package autoware_component_interface_specs_universe
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.42.0 (2025-03-03)
-------------------

0.41.2 (2025-02-19)
-------------------
* chore: bump version to 0.41.1 (`#10088 <https://github.com/autowarefoundation/autoware.universe/issues/10088>`_)
* Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)
-------------------

0.41.0 (2025-01-29)
-------------------
* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
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2 changes: 1 addition & 1 deletion common/autoware_component_interface_specs_universe/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autoware_component_interface_specs_universe</name>
<version>0.41.0</version>
<version>0.42.0</version>
<description>The autoware_component_interface_specs_universe package</description>
<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
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11 changes: 11 additions & 0 deletions common/autoware_component_interface_tools/CHANGELOG.rst
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Expand Up @@ -2,6 +2,17 @@
Changelog for package autoware_component_interface_tools
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.42.0 (2025-03-03)
-------------------

0.41.2 (2025-02-19)
-------------------
* chore: bump version to 0.41.1 (`#10088 <https://github.com/autowarefoundation/autoware.universe/issues/10088>`_)
* Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)
-------------------

0.41.0 (2025-01-29)
-------------------

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2 changes: 1 addition & 1 deletion common/autoware_component_interface_tools/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autoware_component_interface_tools</name>
<version>0.41.0</version>
<version>0.42.0</version>
<description>The autoware_component_interface_tools package</description>
<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
<license>Apache License 2.0</license>
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11 changes: 11 additions & 0 deletions common/autoware_component_interface_utils/CHANGELOG.rst
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Changelog for package autoware_component_interface_utils
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.42.0 (2025-03-03)
-------------------

0.41.2 (2025-02-19)
-------------------
* chore: bump version to 0.41.1 (`#10088 <https://github.com/autowarefoundation/autoware.universe/issues/10088>`_)
* Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)
-------------------

0.41.0 (2025-01-29)
-------------------

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2 changes: 1 addition & 1 deletion common/autoware_component_interface_utils/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autoware_component_interface_utils</name>
<version>0.41.0</version>
<version>0.42.0</version>
<description>The autoware_component_interface_utils package</description>
<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
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11 changes: 11 additions & 0 deletions common/autoware_fake_test_node/CHANGELOG.rst
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Expand Up @@ -2,6 +2,17 @@
Changelog for package autoware_fake_test_node
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.42.0 (2025-03-03)
-------------------

0.41.2 (2025-02-19)
-------------------
* chore: bump version to 0.41.1 (`#10088 <https://github.com/autowarefoundation/autoware.universe/issues/10088>`_)
* Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)
-------------------

0.41.0 (2025-01-29)
-------------------

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2 changes: 1 addition & 1 deletion common/autoware_fake_test_node/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autoware_fake_test_node</name>
<version>0.41.0</version>
<version>0.42.0</version>
<description>A fake node that we can use in the integration-like cpp tests.</description>
<maintainer email="opensource@apex.ai">Apex.AI, Inc.</maintainer>
<maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
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11 changes: 11 additions & 0 deletions common/autoware_global_parameter_loader/CHANGELOG.rst
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Expand Up @@ -2,6 +2,17 @@
Changelog for package autoware_global_parameter_loader
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.42.0 (2025-03-03)
-------------------

0.41.2 (2025-02-19)
-------------------
* chore: bump version to 0.41.1 (`#10088 <https://github.com/autowarefoundation/autoware.universe/issues/10088>`_)
* Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)
-------------------

0.41.0 (2025-01-29)
-------------------

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2 changes: 1 addition & 1 deletion common/autoware_global_parameter_loader/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autoware_global_parameter_loader</name>
<version>0.41.0</version>
<version>0.42.0</version>
<description>The autoware_global_parameter_loader package</description>
<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
<license>Apache License 2.0</license>
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11 changes: 11 additions & 0 deletions common/autoware_glog_component/CHANGELOG.rst
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Expand Up @@ -2,6 +2,17 @@
Changelog for package autoware_glog_component
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.42.0 (2025-03-03)
-------------------

0.41.2 (2025-02-19)
-------------------
* chore: bump version to 0.41.1 (`#10088 <https://github.com/autowarefoundation/autoware.universe/issues/10088>`_)
* Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)
-------------------

0.41.0 (2025-01-29)
-------------------

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2 changes: 1 addition & 1 deletion common/autoware_glog_component/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autoware_glog_component</name>
<version>0.41.0</version>
<version>0.42.0</version>
<description>The autoware_glog_component package</description>
<maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
<license>Apache License 2.0</license>
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14 changes: 14 additions & 0 deletions common/autoware_goal_distance_calculator/CHANGELOG.rst
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Expand Up @@ -2,6 +2,20 @@
Changelog for package autoware_goal_distance_calculator
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.42.0 (2025-03-03)
-------------------
* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 <https://github.com/autowarefoundation/autoware.universe/issues/10191>`_)
* Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)
-------------------
* chore: bump version to 0.41.1 (`#10088 <https://github.com/autowarefoundation/autoware.universe/issues/10088>`_)
* Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)
-------------------

0.41.0 (2025-01-29)
-------------------
* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
Expand Down
4 changes: 2 additions & 2 deletions ...istance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp
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Expand Up @@ -15,7 +15,7 @@
#ifndef AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
#define AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_

#include <autoware/universe_utils/geometry/pose_deviation.hpp>
#include <autoware_utils/geometry/pose_deviation.hpp>
#include <rclcpp/rclcpp.hpp>

#include <autoware_planning_msgs/msg/lanelet_route.hpp>
Expand All @@ -25,7 +25,7 @@

namespace autoware::goal_distance_calculator
{
using autoware::universe_utils::PoseDeviation;
using autoware_utils::PoseDeviation;

struct Param
{
Expand Down
12 changes: 6 additions & 6 deletions ...ce_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp
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Expand Up @@ -17,9 +17,9 @@

#include "autoware/goal_distance_calculator/goal_distance_calculator.hpp"

#include <autoware/universe_utils/ros/debug_publisher.hpp>
#include <autoware/universe_utils/ros/polling_subscriber.hpp>
#include <autoware/universe_utils/ros/self_pose_listener.hpp>
#include <autoware_utils/ros/debug_publisher.hpp>
#include <autoware_utils/ros/polling_subscriber.hpp>
#include <autoware_utils/ros/self_pose_listener.hpp>
#include <rclcpp/rclcpp.hpp>

#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
Expand All @@ -45,12 +45,12 @@ class GoalDistanceCalculatorNode : public rclcpp::Node

private:
// Subscriber
autoware::universe_utils::SelfPoseListener self_pose_listener_;
autoware::universe_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::LaneletRoute>
autoware_utils::SelfPoseListener self_pose_listener_;
autoware_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::LaneletRoute>
sub_route_{this, "/planning/mission_planning/route"};

// Publisher
autoware::universe_utils::DebugPublisher debug_publisher_;
autoware_utils::DebugPublisher debug_publisher_;

// Timer
rclcpp::TimerBase::SharedPtr timer_;
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4 changes: 2 additions & 2 deletions common/autoware_goal_distance_calculator/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autoware_goal_distance_calculator</name>
<version>0.41.0</version>
<version>0.42.0</version>
<description>The autoware_goal_distance_calculator package</description>
<maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
<license>Apache License 2.0</license>
Expand All @@ -12,7 +12,7 @@

<depend>autoware_internal_debug_msgs</depend>
<depend>autoware_planning_msgs</depend>
<depend>autoware_universe_utils</depend>
<depend>autoware_utils</depend>
<depend>geometry_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
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2 changes: 1 addition & 1 deletion common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp
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Expand Up @@ -21,7 +21,7 @@ Output GoalDistanceCalculator::update(const Input & input)
Output output{};

output.goal_deviation =
autoware::universe_utils::calcPoseDeviation(input.route->goal_pose, input.current_pose->pose);
autoware_utils::calc_pose_deviation(input.route->goal_pose, input.current_pose->pose);

return output;
}
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10 changes: 5 additions & 5 deletions common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp
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Expand Up @@ -14,7 +14,7 @@

#include "autoware/goal_distance_calculator/goal_distance_calculator_node.hpp"

#include <autoware/universe_utils/math/unit_conversion.hpp>
#include <autoware_utils/math/unit_conversion.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/timer.hpp>

Expand Down Expand Up @@ -42,7 +42,7 @@ GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions
goal_distance_calculator_->setParam(param_);

// Wait for first self pose
self_pose_listener_.waitForFirstPose();
self_pose_listener_.wait_for_first_pose();

// Timer
const auto period_ns = rclcpp::Rate(node_param_.update_rate).period();
Expand All @@ -54,7 +54,7 @@ GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions
bool GoalDistanceCalculatorNode::tryGetCurrentPose(
geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose)
{
auto current_pose_tmp = self_pose_listener_.getCurrentPose();
auto current_pose_tmp = self_pose_listener_.get_current_pose();
if (!current_pose_tmp) return false;
current_pose = current_pose_tmp;
return true;
Expand All @@ -63,7 +63,7 @@ bool GoalDistanceCalculatorNode::tryGetCurrentPose(
bool GoalDistanceCalculatorNode::tryGetRoute(
autoware_planning_msgs::msg::LaneletRoute::ConstSharedPtr route)
{
auto route_tmp = sub_route_.takeData();
auto route_tmp = sub_route_.take_data();
if (!route_tmp) return false;
route = route_tmp;
return true;
Expand Down Expand Up @@ -97,7 +97,7 @@ void GoalDistanceCalculatorNode::onTimer()
Output output = goal_distance_calculator_->update(input);

{
using autoware::universe_utils::rad2deg;
using autoware_utils::rad2deg;
const auto & deviation = output.goal_deviation;

debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
Expand Down
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