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Merge branch 'main' into feat-configurable-qos
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Diff for: ‎.cppcheck_suppressions

-4
Original file line numberDiff line numberDiff line change
@@ -2,13 +2,10 @@
22

33
checkersReport
44
constParameterReference
5-
constVariable
65
constVariableReference
7-
containerOutOfBounds
86
// cspell: ignore cstyle
97
cstyleCast
108
duplicateBranch
11-
duplicateBreak
129
funcArgNamesDifferent
1310
functionConst
1411
functionStatic
@@ -32,7 +29,6 @@ unmatchedSuppression
3229
unreadVariable
3330
unusedFunction
3431
unusedStructMember
35-
unusedVariable
3632
useInitializationList
3733
useStlAlgorithm
3834
uselessOverride

Diff for: ‎.github/CODEOWNERS

-1
Original file line numberDiff line numberDiff line change
@@ -119,7 +119,6 @@ perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp
119119
perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
120120
perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
121121
perception/lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp
122-
perception/lidar_centerpoint_tvm/** carl.liu@autocore.ai xinyu.wang@tier4.jp
123122
perception/lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@tier4.jp
124123
perception/multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
125124
perception/object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp

Diff for: ‎.github/workflows/build-and-test-daily-arm64.yaml

+11
Original file line numberDiff line numberDiff line change
@@ -37,13 +37,24 @@ jobs:
3737
id: get-self-packages
3838
uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
3939

40+
- name: Export CUDA state as a variable for adding to cache key
41+
run: |
42+
build_type_cuda_state=nocuda
43+
if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
44+
build_type_cuda_state=cuda
45+
fi
46+
echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
47+
echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
48+
shell: bash
49+
4050
- name: Build
4151
if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
4252
uses: autowarefoundation/autoware-github-actions/colcon-build@v1
4353
with:
4454
rosdistro: ${{ matrix.rosdistro }}
4555
target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
4656
build-depends-repos: ${{ matrix.build-depends-repos }}
57+
cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
4758

4859
- name: Test
4960
if: ${{ steps.get-self-packages.outputs.self-packages != '' }}

Diff for: ‎.github/workflows/build-and-test-daily.yaml

+11
Original file line numberDiff line numberDiff line change
@@ -37,13 +37,24 @@ jobs:
3737
id: get-self-packages
3838
uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
3939

40+
- name: Export CUDA state as a variable for adding to cache key
41+
run: |
42+
build_type_cuda_state=nocuda
43+
if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
44+
build_type_cuda_state=cuda
45+
fi
46+
echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
47+
echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
48+
shell: bash
49+
4050
- name: Build
4151
if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
4252
uses: autowarefoundation/autoware-github-actions/colcon-build@v1
4353
with:
4454
rosdistro: ${{ matrix.rosdistro }}
4555
target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
4656
build-depends-repos: ${{ matrix.build-depends-repos }}
57+
cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
4758

4859
- name: Test
4960
if: ${{ steps.get-self-packages.outputs.self-packages != '' }}

Diff for: ‎.github/workflows/build-and-test-differential-arm64.yaml

+11
Original file line numberDiff line numberDiff line change
@@ -51,13 +51,24 @@ jobs:
5151
id: get-modified-packages
5252
uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
5353

54+
- name: Export CUDA state as a variable for adding to cache key
55+
run: |
56+
build_type_cuda_state=nocuda
57+
if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
58+
build_type_cuda_state=cuda
59+
fi
60+
echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
61+
echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
62+
shell: bash
63+
5464
- name: Build
5565
if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
5666
uses: autowarefoundation/autoware-github-actions/colcon-build@v1
5767
with:
5868
rosdistro: ${{ matrix.rosdistro }}
5969
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
6070
build-depends-repos: ${{ matrix.build-depends-repos }}
71+
cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
6172

6273
- name: Test
6374
id: test

Diff for: ‎.github/workflows/build-and-test-differential.yaml

+55
Original file line numberDiff line numberDiff line change
@@ -74,13 +74,24 @@ jobs:
7474
run: du -sh ${CCACHE_DIR} && ccache -s
7575
shell: bash
7676

77+
- name: Export CUDA state as a variable for adding to cache key
78+
run: |
79+
build_type_cuda_state=nocuda
80+
if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
81+
build_type_cuda_state=cuda
82+
fi
83+
echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
84+
echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
85+
shell: bash
86+
7787
- name: Build
7888
if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
7989
uses: autowarefoundation/autoware-github-actions/colcon-build@v1
8090
with:
8191
rosdistro: ${{ matrix.rosdistro }}
8292
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
8393
build-depends-repos: ${{ matrix.build-depends-repos }}
94+
cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
8495

8596
- name: Show ccache stats after build
8697
run: du -sh ${CCACHE_DIR} && ccache -s
@@ -106,3 +117,47 @@ jobs:
106117

107118
- name: Show disk space after the tasks
108119
run: df -h
120+
121+
clang-tidy-differential:
122+
needs: build-and-test-differential
123+
runs-on: ubuntu-latest
124+
container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
125+
steps:
126+
- name: Set PR fetch depth
127+
run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
128+
129+
- name: Checkout PR branch and all PR commits
130+
uses: actions/checkout@v4
131+
with:
132+
ref: ${{ github.event.pull_request.head.sha }}
133+
fetch-depth: ${{ env.PR_FETCH_DEPTH }}
134+
135+
- name: Show disk space before the tasks
136+
run: df -h
137+
138+
- name: Remove exec_depend
139+
uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
140+
141+
- name: Get modified packages
142+
id: get-modified-packages
143+
uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
144+
145+
- name: Get changed files (existing files only)
146+
id: get-changed-files
147+
run: |
148+
echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
149+
shell: bash
150+
151+
- name: Run clang-tidy
152+
if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
153+
uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
154+
with:
155+
rosdistro: humble
156+
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
157+
target-files: ${{ steps.get-changed-files.outputs.changed-files }}
158+
clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
159+
build-depends-repos: build_depends.repos
160+
cache-key-element: cuda
161+
162+
- name: Show disk space after the tasks
163+
run: df -h

Diff for: ‎.github/workflows/build-and-test.yaml

+11
Original file line numberDiff line numberDiff line change
@@ -66,13 +66,24 @@ jobs:
6666
run: du -sh ${CCACHE_DIR} && ccache -s
6767
shell: bash
6868

69+
- name: Export CUDA state as a variable for adding to cache key
70+
run: |
71+
build_type_cuda_state=nocuda
72+
if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
73+
build_type_cuda_state=cuda
74+
fi
75+
echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
76+
echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
77+
shell: bash
78+
6979
- name: Build
7080
if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
7181
uses: autowarefoundation/autoware-github-actions/colcon-build@v1
7282
with:
7383
rosdistro: ${{ matrix.rosdistro }}
7484
target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
7585
build-depends-repos: ${{ matrix.build-depends-repos }}
86+
cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
7687

7788
- name: Show ccache stats after build
7889
run: du -sh ${CCACHE_DIR} && ccache -s

Diff for: ‎.github/workflows/clang-tidy-differential.yaml

-55
This file was deleted.

Diff for: ‎.github/workflows/cppcheck-differential.yaml

+9-13
Original file line numberDiff line numberDiff line change
@@ -31,37 +31,33 @@ jobs:
3131
run: git fetch origin ${{ github.base_ref }}
3232
shell: bash
3333

34-
- name: Get changed files
35-
id: changed-files
34+
- name: Get changed files (existing files only)
35+
id: get-changed-files
3636
run: |
37-
git diff --name-only "origin/${{ github.base_ref }}"...HEAD > changed_files.txt
38-
cat changed_files.txt
37+
echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
3938
shell: bash
4039

4140
- name: Run Cppcheck on changed files
41+
if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
4242
continue-on-error: true
4343
id: cppcheck
4444
run: |
45-
files=$(cat changed_files.txt | grep -E '\.(cpp|hpp)$' || true)
46-
if [ -n "$files" ]; then
47-
echo "Running Cppcheck on changed files: $files"
48-
cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions $files 2> cppcheck-report.txt
49-
else
50-
echo "No C++ files changed."
51-
touch cppcheck-report.txt
52-
fi
45+
echo "Running Cppcheck on changed files: ${{ steps.get-changed-files.outputs.changed-files }}"
46+
cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions ${{ steps.get-changed-files.outputs.changed-files }} 2> cppcheck-report.txt
5347
shell: bash
5448

5549
- name: Show cppcheck-report result
50+
if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
5651
run: |
5752
cat cppcheck-report.txt
5853
5954
- name: Upload Cppcheck report
55+
if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
6056
uses: actions/upload-artifact@v2
6157
with:
6258
name: cppcheck-report
6359
path: cppcheck-report.txt
6460

6561
- name: Fail the job if Cppcheck failed
66-
if: steps.cppcheck.outcome == 'failure'
62+
if: ${{ steps.get-changed-files.outputs.changed-files != '' && steps.cppcheck.outcome == 'failure' }}
6763
run: exit 1

Diff for: ‎build_depends.repos

+13
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,21 @@
11
repositories:
22
# core
3+
# TODO(youtalk): Remove autoware_common when https://github.com/autowarefoundation/autoware/issues/4911 is closed
34
core/autoware_common:
45
type: git
56
url: https://github.com/autowarefoundation/autoware_common.git
7+
version: remove-autoware-cmake-utils
8+
core/autoware_cmake:
9+
type: git
10+
url: https://github.com/autowarefoundation/autoware_cmake.git
11+
version: main
12+
core/autoware_utils:
13+
type: git
14+
url: https://github.com/autowarefoundation/autoware_utils.git
15+
version: main
16+
core/autoware_lanelet2_extension:
17+
type: git
18+
url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
619
version: main
720
core/autoware.core:
821
type: git

Diff for: ‎common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp

+2-8
Original file line numberDiff line numberDiff line change
@@ -526,10 +526,7 @@ visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr(
526526
marker_ptr->scale = shape_msg.dimensions;
527527
marker_ptr->color.a = 0.75f;
528528
}
529-
} else if (shape_msg.type == Shape::POLYGON) {
530-
marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
531-
calc_polygon_line_list(shape_msg, marker_ptr->points);
532-
} else {
529+
} else { // including shape_msg.type == Shape::POLYGON
533530
marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
534531
calc_polygon_line_list(shape_msg, marker_ptr->points);
535532
}
@@ -562,10 +559,7 @@ visualization_msgs::msg::Marker::SharedPtr get_2d_shape_marker_ptr(
562559
} else if (shape_msg.type == Shape::CYLINDER) {
563560
marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
564561
calc_2d_cylinder_bottom_line_list(shape_msg, marker_ptr->points);
565-
} else if (shape_msg.type == Shape::POLYGON) {
566-
marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
567-
calc_2d_polygon_bottom_line_list(shape_msg, marker_ptr->points);
568-
} else {
562+
} else { // including shape_msg.type == Shape::POLYGON
569563
marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
570564
calc_2d_polygon_bottom_line_list(shape_msg, marker_ptr->points);
571565
}

Diff for: ‎common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp

+4-4
Original file line numberDiff line numberDiff line change
@@ -16,11 +16,11 @@
1616
#define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
1717

1818
#include <autoware/universe_utils/geometry/geometry.hpp>
19+
#include <autoware_lanelet2_extension/io/autoware_osm_parser.hpp>
20+
#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
21+
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
22+
#include <autoware_lanelet2_extension/utility/utilities.hpp>
1923
#include <component_interface_specs/planning.hpp>
20-
#include <lanelet2_extension/io/autoware_osm_parser.hpp>
21-
#include <lanelet2_extension/projection/mgrs_projector.hpp>
22-
#include <lanelet2_extension/utility/message_conversion.hpp>
23-
#include <lanelet2_extension/utility/utilities.hpp>
2424

2525
#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
2626
#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>

Diff for: ‎common/autoware_test_utils/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -16,14 +16,14 @@
1616
<buildtool_depend>autoware_cmake</buildtool_depend>
1717

1818
<depend>autoware_control_msgs</depend>
19+
<depend>autoware_lanelet2_extension</depend>
1920
<depend>autoware_map_msgs</depend>
2021
<depend>autoware_perception_msgs</depend>
2122
<depend>autoware_planning_msgs</depend>
2223
<depend>autoware_universe_utils</depend>
2324
<depend>autoware_vehicle_msgs</depend>
2425
<depend>component_interface_specs</depend>
2526
<depend>component_interface_utils</depend>
26-
<depend>lanelet2_extension</depend>
2727
<depend>lanelet2_io</depend>
2828
<depend>nav_msgs</depend>
2929
<depend>rclcpp</depend>

Diff for: ‎common/geography_utils/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -10,10 +10,10 @@
1010
<buildtool_depend>ament_cmake_auto</buildtool_depend>
1111
<buildtool_depend>autoware_cmake</buildtool_depend>
1212

13+
<depend>autoware_lanelet2_extension</depend>
1314
<depend>geographic_msgs</depend>
1415
<depend>geographiclib</depend>
1516
<depend>geometry_msgs</depend>
16-
<depend>lanelet2_extension</depend>
1717
<depend>lanelet2_io</depend>
1818
<depend>tier4_map_msgs</depend>
1919

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