ci(pre-commit): autoupdate

.pre-commit-config.yaml

@@ -26,7 +26,7 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.43.0
+    rev: v0.44.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
@@ -37,7 +37,7 @@ repos:
       - id: prettier
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.35.1
+    rev: v1.37.0
     hooks:
       - id: yamllint
 
@@ -57,24 +57,24 @@ repos:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.10.0-2
+    rev: v3.11.0-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
 
   - repo: https://github.com/pycqa/isort
-    rev: 5.13.2
+    rev: 6.0.1
     hooks:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 24.10.0
+    rev: 25.1.0
     hooks:
       - id: black
         args: [--line-length=100]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.6
+    rev: v20.1.0
     hooks:
       - id: clang-format
         types_or: [c++, c, cuda]
@@ -87,7 +87,7 @@ repos:
         exclude: .cu
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.30.0
+    rev: 0.32.1
     hooks:
       - id: check-metaschema
         files: ^.+/schema/.*schema\.json$

common/autoware_motion_utils/src/vehicle/vehicle_state_checker.cpp

@@ -124,8 +124,9 @@ bool VehicleArrivalChecker::isVehicleStoppedAtStopPoint(const double stop_durati
     return false;
   }
 
-  return std::abs(autoware::motion_utils::calcSignedArcLength(
-           trajectory_ptr_->points, p, idx.value())) < th_arrived_distance_m;
+  return std::abs(
+           autoware::motion_utils::calcSignedArcLength(trajectory_ptr_->points, p, idx.value())) <
+         th_arrived_distance_m;
 }
 
 void VehicleArrivalChecker::onTrajectory(const Trajectory::ConstSharedPtr msg)

common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp

@@ -146,14 +146,16 @@ class InterpolatorCommonInterface
     InterpolationResult>
   {
     if (bases.size() != values.size()) {
-      return tl::unexpected(InterpolationFailure{
-        "base size " + std::to_string(bases.size()) + " and value size " +
-        std::to_string(values.size()) + " are different"});
+      return tl::unexpected(
+        InterpolationFailure{
+          "base size " + std::to_string(bases.size()) + " and value size " +
+          std::to_string(values.size()) + " are different"});
     }
     if (const auto minimum_required = minimum_required_points(); bases.size() < minimum_required) {
-      return tl::unexpected(InterpolationFailure{
-        "base size " + std::to_string(bases.size()) + " is less than minimum required " +
-        std::to_string(minimum_required)});
+      return tl::unexpected(
+        InterpolationFailure{
+          "base size " + std::to_string(bases.size()) + " is less than minimum required " +
+          std::to_string(minimum_required)});
     }
     if (!build_impl(std::forward<BaseVectorT>(bases), std::forward<ValueVectorT>(values))) {
       return tl::unexpected(

common/autoware_trajectory/src/path_point.cpp

@@ -77,8 +77,9 @@ interpolator::InterpolationResult Trajectory<PointType>::build(
   if (const auto result = this->longitudinal_velocity_mps().build(
         bases_, std::move(longitudinal_velocity_mps_values));
       !result) {
-    return tl::unexpected(interpolator::InterpolationFailure{
-      "failed to interpolate PathPoint::longitudinal_velocity_mps"});
+    return tl::unexpected(
+      interpolator::InterpolationFailure{
+        "failed to interpolate PathPoint::longitudinal_velocity_mps"});
   }
   if (const auto result =
         this->lateral_velocity_mps().build(bases_, std::move(lateral_velocity_mps_values));

common/autoware_trajectory/src/trajectory_point.cpp

@@ -71,9 +71,11 @@ interpolator::InterpolationResult Trajectory<PointType>::build(
   if (
     !longitudinal_velocity_mps_ || !lateral_velocity_mps_ || !heading_rate_rps_ ||
     !acceleration_mps2_ || !front_wheel_angle_rad_ || !rear_wheel_angle_rad_) {
-    return tl::unexpected(interpolator::InterpolationFailure{
-      "longitudinal_velocity_mps/lateral_velocity_mps/heading_rate_rps/acceleration_mps2/"
-      "front_wheel_angle_rad/rear_wheel_angle_rad interpolator are nullptr! check Builder usage"});
+    return tl::unexpected(
+      interpolator::InterpolationFailure{
+        "longitudinal_velocity_mps/lateral_velocity_mps/heading_rate_rps/acceleration_mps2/"
+        "front_wheel_angle_rad/rear_wheel_angle_rad interpolator are nullptr! check Builder "
+        "usage"});
   }
 
   std::vector<geometry_msgs::msg::Pose> poses;
@@ -102,38 +104,44 @@ interpolator::InterpolationResult Trajectory<PointType>::build(
   if (const auto result = this->longitudinal_velocity_mps().build(
         bases_, std::move(longitudinal_velocity_mps_values));
       !result) {
-    return tl::unexpected(interpolator::InterpolationFailure{
-      "failed to interpolate TrajectoryPoint::longitudinal_velocity_mps"});
+    return tl::unexpected(
+      interpolator::InterpolationFailure{
+        "failed to interpolate TrajectoryPoint::longitudinal_velocity_mps"});
   }
   if (const auto result =
         this->lateral_velocity_mps().build(bases_, std::move(lateral_velocity_mps_values));
       !result) {
-    return tl::unexpected(interpolator::InterpolationFailure{
-      "failed to interpolate TrajectoryPoint::lateral_velocity_mps"});
+    return tl::unexpected(
+      interpolator::InterpolationFailure{
+        "failed to interpolate TrajectoryPoint::lateral_velocity_mps"});
   }
   if (const auto result =
         this->heading_rate_rps().build(bases_, std::move(heading_rate_rps_values));
       !result) {
-    return tl::unexpected(interpolator::InterpolationFailure{
-      "failed to interpolate TrajectoryPoint::heading_rate_rps"});
+    return tl::unexpected(
+      interpolator::InterpolationFailure{
+        "failed to interpolate TrajectoryPoint::heading_rate_rps"});
   }
   if (const auto result =
         this->acceleration_mps2().build(bases_, std::move(acceleration_mps2_values));
       !result) {
-    return tl::unexpected(interpolator::InterpolationFailure{
-      "failed to interpolate TrajectoryPoint::acceleration_mps2"});
+    return tl::unexpected(
+      interpolator::InterpolationFailure{
+        "failed to interpolate TrajectoryPoint::acceleration_mps2"});
   }
   if (const auto result =
         this->front_wheel_angle_rad().build(bases_, std::move(front_wheel_angle_rad_values));
       !result) {
-    return tl::unexpected(interpolator::InterpolationFailure{
-      "failed to interpolate TrajectoryPoint::front_wheel_angle_rad"});
+    return tl::unexpected(
+      interpolator::InterpolationFailure{
+        "failed to interpolate TrajectoryPoint::front_wheel_angle_rad"});
   }
   if (const auto result =
         this->rear_wheel_angle_rad().build(bases_, std::move(rear_wheel_angle_rad_values));
       !result) {
-    return tl::unexpected(interpolator::InterpolationFailure{
-      "failed to interpolate TrajectoryPoint::rear_wheel_angle_rad"});
+    return tl::unexpected(
+      interpolator::InterpolationFailure{
+        "failed to interpolate TrajectoryPoint::rear_wheel_angle_rad"});
   }
 
   return interpolator::InterpolationSuccess{};

control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.cpp

@@ -27,8 +27,9 @@ using autoware::motion_utils::findNearestIndex;
 
 SimplePurePursuitNode::SimplePurePursuitNode(const rclcpp::NodeOptions & node_options)
 : Node("simple_pure_pursuit", node_options),
-  pub_control_command_(create_publisher<autoware_control_msgs::msg::Control>(
-    "~/output/control_command", rclcpp::QoS(1).transient_local())),
+  pub_control_command_(
+    create_publisher<autoware_control_msgs::msg::Control>(
+      "~/output/control_command", rclcpp::QoS(1).transient_local())),
   vehicle_info_(autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo()),
   lookahead_gain_(declare_parameter<float>("lookahead_gain")),
   lookahead_min_distance_(declare_parameter<float>("lookahead_min_distance")),

perception/autoware_ground_filter/src/node.cpp

@@ -220,17 +220,19 @@ void GroundFilterComponent::subscribe()
         message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<
           sensor_msgs::msg::PointCloud2, pcl_msgs::msg::PointIndices>>>(max_queue_size_);
       sync_input_indices_a_->connectInput(sub_input_filter_, sub_indices_filter_);
-      sync_input_indices_a_->registerCallback(std::bind(
-        &GroundFilterComponent::faster_input_indices_callback, this, std::placeholders::_1,
-        std::placeholders::_2));
+      sync_input_indices_a_->registerCallback(
+        std::bind(
+          &GroundFilterComponent::faster_input_indices_callback, this, std::placeholders::_1,
+          std::placeholders::_2));
     } else {
       sync_input_indices_e_ =
         std::make_shared<message_filters::Synchronizer<message_filters::sync_policies::ExactTime<
           sensor_msgs::msg::PointCloud2, pcl_msgs::msg::PointIndices>>>(max_queue_size_);
       sync_input_indices_e_->connectInput(sub_input_filter_, sub_indices_filter_);
-      sync_input_indices_e_->registerCallback(std::bind(
-        &GroundFilterComponent::faster_input_indices_callback, this, std::placeholders::_1,
-        std::placeholders::_2));
+      sync_input_indices_e_->registerCallback(
+        std::bind(
+          &GroundFilterComponent::faster_input_indices_callback, this, std::placeholders::_1,
+          std::placeholders::_2));
     }
   } else {
     std::function<void(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg)> cb = std::bind(

planning/autoware_path_generator/src/utils.cpp

@@ -460,13 +460,15 @@ std::vector<geometry_msgs::msg::Point> crop_line_string(
         s += segment_length;
         continue;
       }
-      cropped_line_string.push_back(lanelet::utils::conversion::toGeomMsgPt(
-        lanelet::geometry::interpolatedPointAtDistance(segment, s_start - s)));
+      cropped_line_string.push_back(
+        lanelet::utils::conversion::toGeomMsgPt(
+          lanelet::geometry::interpolatedPointAtDistance(segment, s_start - s)));
     }
     s += segment_length;
     if (s >= s_end) {
-      cropped_line_string.push_back(lanelet::utils::conversion::toGeomMsgPt(
-        lanelet::geometry::interpolatedPointAtDistance(segment, s_end - s)));
+      cropped_line_string.push_back(
+        lanelet::utils::conversion::toGeomMsgPt(
+          lanelet::geometry::interpolatedPointAtDistance(segment, s_end - s)));
       break;
     }
     cropped_line_string.push_back(lanelet::utils::conversion::toGeomMsgPt(*it));

planning/autoware_route_handler/src/route_handler.cpp

@@ -1702,8 +1702,9 @@ void RouteHandler::removeOverlappedCenterlineWithWaypoints(
   int target_lanelet_sequence_index = static_cast<int>(piecewise_waypoints_lanelet_sequence_index);
   while (isIndexWithinVector(lanelet_sequence, target_lanelet_sequence_index)) {
     auto & target_piecewise_ref_points = piecewise_ref_points_vec.at(target_lanelet_sequence_index);
-    const double target_lanelet_arc_length = boost::geometry::length(lanelet::utils::to2D(
-      lanelet_sequence.at(target_lanelet_sequence_index).centerline().basicLineString()));
+    const double target_lanelet_arc_length = boost::geometry::length(
+      lanelet::utils::to2D(
+        lanelet_sequence.at(target_lanelet_sequence_index).centerline().basicLineString()));
 
     // search overlapped ref points in the target lanelet
     std::vector<size_t> overlapped_ref_points_indices{};

planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp

@@ -82,9 +82,10 @@ void StopLineModuleManager::launchNewModules(
        getStopLinesWithLaneIdOnPath(path, planner_data_->route_handler_->getLaneletMapPtr())) {
     const auto module_id = stop_line_with_lane_id.first.id();
     if (!isModuleRegistered(module_id)) {
-      registerModule(std::make_shared<StopLineModule>(
-        module_id, stop_line_with_lane_id.first, planner_param_,
-        logger_.get_child("stop_line_module"), clock_, time_keeper_, planning_factor_interface_));
+      registerModule(
+        std::make_shared<StopLineModule>(
+          module_id, stop_line_with_lane_id.first, planner_param_,
+          logger_.get_child("stop_line_module"), clock_, time_keeper_, planning_factor_interface_));
     }
   }
 }

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp

@@ -126,8 +126,9 @@ double calc_time_to_reach_collision_point(
   const double min_velocity_to_reach_collision_point)
 {
   const double dist_from_ego_to_obstacle =
-    std::abs(autoware::motion_utils::calcSignedArcLength(
-      traj_points, odometry.pose.pose.position, collision_point)) -
+    std::abs(
+      autoware::motion_utils::calcSignedArcLength(
+        traj_points, odometry.pose.pose.position, collision_point)) -
     dist_to_bumper;
   return dist_from_ego_to_obstacle /
          std::max(min_velocity_to_reach_collision_point, std::abs(odometry.twist.twist.linear.x));

planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/polygon_utils.cpp

@@ -244,17 +244,17 @@ std::vector<Polygon2d> create_one_step_polygons(
           idx_poly,
           autoware_utils::to_footprint(pose, front_length, rear_length, vehicle_width).outer());
         boost::geometry::append(
-          idx_poly,
-          autoware_utils::from_msg(autoware_utils::calc_offset_pose(
-                                     pose, front_length, vehicle_width * 0.5 + lat_margin, 0.0)
-                                     .position)
-            .to_2d());
+          idx_poly, autoware_utils::from_msg(
+                      autoware_utils::calc_offset_pose(
+                        pose, front_length, vehicle_width * 0.5 + lat_margin, 0.0)
+                        .position)
+                      .to_2d());
         boost::geometry::append(
-          idx_poly,
-          autoware_utils::from_msg(autoware_utils::calc_offset_pose(
-                                     pose, front_length, -vehicle_width * 0.5 - lat_margin, 0.0)
-                                     .position)
-            .to_2d());
+          idx_poly, autoware_utils::from_msg(
+                      autoware_utils::calc_offset_pose(
+                        pose, front_length, -vehicle_width * 0.5 - lat_margin, 0.0)
+                        .position)
+                      .to_2d());
       } else {
         boost::geometry::append(
           idx_poly, autoware_utils::to_footprint(