Merge branch 'main' into chore/euclidean_cluster/add_unit_tests

Author: badai-nguyen

Diff for: .github/CODEOWNERS

@@ -119,7 +119,6 @@ perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp
 perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
 perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
 perception/lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp
-perception/lidar_centerpoint_tvm/** carl.liu@autocore.ai xinyu.wang@tier4.jp
 perception/lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@tier4.jp
 perception/multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 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

@@ -73,6 +73,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total-arm64
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

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

@@ -73,6 +73,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

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

@@ -87,6 +87,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: differential-arm64
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

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

@@ -114,6 +114,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: differential
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h
@@ -142,20 +143,20 @@ jobs:
         id: get-modified-packages
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
 
-      - name: Get modified files
-        id: get-modified-files
+      - name: Get changed files (existing files only)
+        id: get-changed-files
         run: |
-          echo "changed_files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | tr '\n' ' ' || true)" >> $GITHUB_OUTPUT
+          echo "changed-files=$(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
         shell: bash
 
       - name: Run clang-tidy
-        if: ${{ steps.get-modified-files.outputs.changed_files != '' }}
+        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
         uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
         with:
           rosdistro: humble
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          target-files: ${{ steps.get-modified-files.outputs.changed_files }}
-          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
+          target-files: ${{ steps.get-changed-files.outputs.changed-files }}
+          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
           build-depends-repos: build_depends.repos
           cache-key-element: cuda
 

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

@@ -115,6 +115,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total
+          token: ${{ secrets.CODECOV_TOKEN }}
 
       - name: Show disk space after the tasks
         run: df -h

Diff for: build_depends.repos

@@ -1,8 +1,21 @@
 repositories:
   # core
+  # TODO(youtalk): Remove autoware_common when https://github.com/autowarefoundation/autoware/issues/4911 is closed
   core/autoware_common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git
+    version: remove-autoware-cmake-utils
+  core/autoware_cmake:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_cmake.git
+    version: main
+  core/autoware_utils:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_utils.git
+    version: main
+  core/autoware_lanelet2_extension:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
     version: main
   core/autoware.core:
     type: git

Diff for: common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png

@@ -76,6 +76,7 @@ private Q_SLOTS:
   rviz_common::properties::IntProperty * property_left_;
   rviz_common::properties::IntProperty * property_top_;
   rviz_common::properties::ColorProperty * property_signal_color_;
+  rviz_common::properties::FloatProperty * property_handle_angle_scale_;
   std::unique_ptr<rviz_common::properties::RosTopicProperty> steering_topic_property_;
   std::unique_ptr<rviz_common::properties::RosTopicProperty> gear_topic_property_;
   std::unique_ptr<rviz_common::properties::RosTopicProperty> speed_topic_property_;

Diff for: common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp

@@ -36,7 +36,8 @@ class SteeringWheelDisplay
 {
 public:
   SteeringWheelDisplay();
-  void drawSteeringWheel(QPainter & painter, const QRectF & backgroundRect);
+  void drawSteeringWheel(
+    QPainter & painter, const QRectF & backgroundRect, float handle_angle_scale_);
   void updateSteeringData(const autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & msg);
 
 private:
@@ -46,6 +47,7 @@ class SteeringWheelDisplay
   QImage wheelImage;
   QImage scaledWheelImage;
   QImage coloredImage(const QImage & source, const QColor & color);
+  autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr last_msg_ptr_;
 };
 
 }  // namespace autoware_overlay_rviz_plugin

Diff for: common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp

@@ -49,6 +49,9 @@ SignalDisplay::SignalDisplay()
   property_signal_color_ = new rviz_common::properties::ColorProperty(
     "Signal Color", QColor(QString("#00E678")), "Color of the signal arrows", this,
     SLOT(updateOverlayColor()));
+  property_handle_angle_scale_ = new rviz_common::properties::FloatProperty(
+    "Handle Angle Scale", 17.0, "Scale of the steering wheel handle angle", this,
+    SLOT(updateOverlaySize()));
 
   // Initialize the component displays
   steering_wheel_display_ = std::make_unique<SteeringWheelDisplay>();
@@ -285,7 +288,8 @@ void SignalDisplay::drawWidget(QImage & hud)
   }
 
   if (steering_wheel_display_) {
-    steering_wheel_display_->drawSteeringWheel(painter, backgroundRect);
+    steering_wheel_display_->drawSteeringWheel(
+      painter, backgroundRect, property_handle_angle_scale_->getFloat());
   }
 
   if (speed_display_) {

Diff for: common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp

@@ -59,19 +59,17 @@ void SteeringWheelDisplay::updateSteeringData(
   const autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & msg)
 {
   try {
-    // Assuming msg->steering_angle is the field you're interested in
-    float steeringAngle = msg->steering_tire_angle;
-    // we received it as a radian value, but we want to display it in degrees
-    steering_angle_ =
-      (steeringAngle * -180 / M_PI) *
-      17;  // 17 is the ratio between the steering wheel and the steering tire angle i assume
+    last_msg_ptr_ = msg;
+
+    steering_angle_ = msg->steering_tire_angle;
   } catch (const std::exception & e) {
     // Log the error
     std::cerr << "Error in processMessage: " << e.what() << std::endl;
   }
 }
 
-void SteeringWheelDisplay::drawSteeringWheel(QPainter & painter, const QRectF & backgroundRect)
+void SteeringWheelDisplay::drawSteeringWheel(
+  QPainter & painter, const QRectF & backgroundRect, float handle_angle_scale_)
 {
   // Enable Antialiasing for smoother drawing
   painter.setRenderHint(QPainter::Antialiasing, true);
@@ -80,7 +78,7 @@ void SteeringWheelDisplay::drawSteeringWheel(QPainter & painter, const QRectF &
   QImage wheel = coloredImage(scaledWheelImage, gray);
 
   // Rotate the wheel
-  float steeringAngle = steering_angle_;  // No need to round here
+  float steeringAngle = std::round(handle_angle_scale_ * (steering_angle_ / M_PI) * -180.0);
   // Calculate the position
   int wheelCenterX = backgroundRect.left() + wheel.width() + 54 + 54;
   int wheelCenterY = backgroundRect.height() / 2;
@@ -99,16 +97,40 @@ void SteeringWheelDisplay::drawSteeringWheel(QPainter & painter, const QRectF &
   // Draw the rotated image
   painter.drawImage(drawPoint.x(), drawPoint.y(), rotatedWheel);
 
-  QString steeringAngleStringAfterModulo = QString::number(fmod(steeringAngle, 360), 'f', 0);
+  std::ostringstream steering_angle_ss;
+  if (last_msg_ptr_) {
+    steering_angle_ss << std::fixed << std::setprecision(1) << steering_angle_ * 180.0 / M_PI
+                      << "°";
+  } else {
+    steering_angle_ss << "N/A";
+  }
+
+  QString steeringAngleString = QString::fromStdString(steering_angle_ss.str());
+  // if the string doesn't have a negative sign, add a space to the front of the string
+  // to align the text in both cases (negative and positive)
+  if (steeringAngleString[0] != '-') {
+    steeringAngleString = " " + steeringAngleString;
+  }
 
   // Draw the steering angle text
-  QFont steeringFont("Quicksand", 9, QFont::Bold);
+  QFont steeringFont("Quicksand", 8, QFont::Bold);
   painter.setFont(steeringFont);
   painter.setPen(QColor(0, 0, 0, 255));
-  QRect steeringRect(
-    wheelCenterX - wheelImage.width() / 2, wheelCenterY - wheelImage.height() / 2,
-    wheelImage.width(), wheelImage.height());
-  painter.drawText(steeringRect, Qt::AlignCenter, steeringAngleStringAfterModulo + "°");
+  // QRect steeringRect(
+  //   wheelCenterX - wheelImage.width() / 2 + 1, wheelCenterY - wheelImage.height() / 2,
+  //   wheelImage.width(), wheelImage.height());
+  // painter.drawText(steeringRect, Qt::AlignCenter, steeringAngleString);
+
+  // Measure the text
+  QFontMetrics fontMetrics(steeringFont);
+  QRect textRect = fontMetrics.boundingRect(steeringAngleString);
+
+  // Center the text
+  int textX = wheelCenterX - textRect.width() / 2;
+  int textY = wheelCenterY - textRect.height() / 2;
+
+  QRect steeringRect(textX, textY, textRect.width(), textRect.height());
+  painter.drawText(steeringRect, Qt::AlignCenter, steeringAngleString);
 }
 
 QImage SteeringWheelDisplay::coloredImage(const QImage & source, const QColor & color)

Diff for: common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp

@@ -526,10 +526,7 @@ visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr(
       marker_ptr->scale = shape_msg.dimensions;
       marker_ptr->color.a = 0.75f;
     }
-  } else if (shape_msg.type == Shape::POLYGON) {
-    marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
-    calc_polygon_line_list(shape_msg, marker_ptr->points);
-  } else {
+  } else {  // including shape_msg.type == Shape::POLYGON
     marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
     calc_polygon_line_list(shape_msg, marker_ptr->points);
   }
@@ -562,10 +559,7 @@ visualization_msgs::msg::Marker::SharedPtr get_2d_shape_marker_ptr(
   } else if (shape_msg.type == Shape::CYLINDER) {
     marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
     calc_2d_cylinder_bottom_line_list(shape_msg, marker_ptr->points);
-  } else if (shape_msg.type == Shape::POLYGON) {
-    marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
-    calc_2d_polygon_bottom_line_list(shape_msg, marker_ptr->points);
-  } else {
+  } else {  // including shape_msg.type == Shape::POLYGON
     marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
     calc_2d_polygon_bottom_line_list(shape_msg, marker_ptr->points);
   }

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

@@ -16,11 +16,11 @@
 #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 
 #include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware_lanelet2_extension/io/autoware_osm_parser.hpp>
+#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
+#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
+#include <autoware_lanelet2_extension/utility/utilities.hpp>
 #include <component_interface_specs/planning.hpp>
-#include <lanelet2_extension/io/autoware_osm_parser.hpp>
-#include <lanelet2_extension/projection/mgrs_projector.hpp>
-#include <lanelet2_extension/utility/message_conversion.hpp>
-#include <lanelet2_extension/utility/utilities.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>

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

@@ -16,14 +16,14 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
-  <depend>lanelet2_extension</depend>
   <depend>lanelet2_io</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>

Diff for: common/autoware_test_utils/package.xml

@@ -10,10 +10,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_lanelet2_extension</depend>
   <depend>geographic_msgs</depend>
   <depend>geographiclib</depend>
   <depend>geometry_msgs</depend>
-  <depend>lanelet2_extension</depend>
   <depend>lanelet2_io</depend>
   <depend>tier4_map_msgs</depend>
 

Diff for: common/geography_utils/package.xml

@@ -13,9 +13,9 @@
 // limitations under the License.
 
 #include <GeographicLib/Geoid.hpp>
+#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
+#include <autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp>
 #include <geography_utils/lanelet2_projector.hpp>
-#include <lanelet2_extension/projection/mgrs_projector.hpp>
-#include <lanelet2_extension/projection/transverse_mercator_projector.hpp>
 
 #include <lanelet2_projection/UTM.h>
 

Diff for: common/geography_utils/src/lanelet2_projector.cpp

@@ -13,9 +13,9 @@
 // limitations under the License.
 
 #include <GeographicLib/Geoid.hpp>
+#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
 #include <geography_utils/lanelet2_projector.hpp>
 #include <geography_utils/projection.hpp>
-#include <lanelet2_extension/projection/mgrs_projector.hpp>
 
 namespace geography_utils
 {

Diff for: common/geography_utils/src/projection.cpp

@@ -10,9 +10,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
-  <depend>lanelet2_extension</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
   <depend>libqt5-widgets</depend>

Diff for: common/tier4_traffic_light_rviz_plugin/package.xml

@@ -22,9 +22,9 @@
 #include <QString>
 #include <QStringList>
 #include <QVBoxLayout>
-#include <lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
-#include <lanelet2_extension/utility/message_conversion.hpp>
-#include <lanelet2_extension/utility/query.hpp>
+#include <autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
+#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
+#include <autoware_lanelet2_extension/utility/query.hpp>
 #include <rviz_common/display_context.hpp>
 
 #include <lanelet2_core/primitives/RegulatoryElement.h>

Diff for: common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp

@@ -12,11 +12,11 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
-  <depend>lanelet2_extension</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>visualization_msgs</depend>

Diff for: common/traffic_light_recognition_marker_publisher/package.xml

@@ -15,10 +15,10 @@
 #ifndef TRAFFIC_LIGHT_RECOGNITION_MARKER_PUBLISHER_HPP_
 #define TRAFFIC_LIGHT_RECOGNITION_MARKER_PUBLISHER_HPP_
 
-#include <lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
-#include <lanelet2_extension/utility/message_conversion.hpp>
-#include <lanelet2_extension/utility/query.hpp>
-#include <lanelet2_extension/visualization/visualization.hpp>
+#include <autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
+#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
+#include <autoware_lanelet2_extension/utility/query.hpp>
+#include <autoware_lanelet2_extension/visualization/visualization.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>

Diff for: common/traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp

@@ -16,8 +16,8 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
+  <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_perception_msgs</depend>
-  <depend>lanelet2_extension</depend>
   <depend>tier4_perception_msgs</depend>
 
   <export>

Diff for: common/traffic_light_utils/package.xml

@@ -93,6 +93,7 @@ class PipelineStage
    * @return The output of the pipeline
    */
   virtual OutputType schedule(const InputType & input) = 0;
+  virtual ~PipelineStage() {}
   InputType input_type_indicator_;
   OutputType output_type_indicator_;
 };
@@ -299,7 +300,7 @@ class InferenceEngineTVM : public InferenceEngine
     }
   }
 
-  TVMArrayContainerVector schedule(const TVMArrayContainerVector & input)
+  TVMArrayContainerVector schedule(const TVMArrayContainerVector & input) override
   {
     // Set input(s)
     for (uint32_t index = 0; index < input.size(); ++index) {