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KhalilSelyanKhalilSelyan
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Merge branch 'main' into fix/steering-wheel-angle
2 parents fb67bab + c1dbd5b commit e7aae90

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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

+12
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 != '' }}
@@ -62,6 +73,7 @@ jobs:
6273
fail_ci_if_error: false
6374
verbose: true
6475
flags: total-arm64
76+
token: ${{ secrets.CODECOV_TOKEN }}
6577

6678
- name: Show disk space after the tasks
6779
run: df -h

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

+12
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 != '' }}
@@ -62,6 +73,7 @@ jobs:
6273
fail_ci_if_error: false
6374
verbose: true
6475
flags: total
76+
token: ${{ secrets.CODECOV_TOKEN }}
6577

6678
- name: Show disk space after the tasks
6779
run: df -h

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

+12
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
@@ -76,6 +87,7 @@ jobs:
7687
fail_ci_if_error: false
7788
verbose: true
7889
flags: differential-arm64
90+
token: ${{ secrets.CODECOV_TOKEN }}
7991

8092
- name: Show disk space after the tasks
8193
run: df -h

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

+56
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
@@ -103,6 +114,51 @@ jobs:
103114
fail_ci_if_error: false
104115
verbose: true
105116
flags: differential
117+
token: ${{ secrets.CODECOV_TOKEN }}
118+
119+
- name: Show disk space after the tasks
120+
run: df -h
121+
122+
clang-tidy-differential:
123+
needs: build-and-test-differential
124+
runs-on: ubuntu-latest
125+
container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
126+
steps:
127+
- name: Set PR fetch depth
128+
run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
129+
130+
- name: Checkout PR branch and all PR commits
131+
uses: actions/checkout@v4
132+
with:
133+
ref: ${{ github.event.pull_request.head.sha }}
134+
fetch-depth: ${{ env.PR_FETCH_DEPTH }}
135+
136+
- name: Show disk space before the tasks
137+
run: df -h
138+
139+
- name: Remove exec_depend
140+
uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
141+
142+
- name: Get modified packages
143+
id: get-modified-packages
144+
uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
145+
146+
- name: Get changed files (existing files only)
147+
id: get-changed-files
148+
run: |
149+
echo "changed-files=$(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
150+
shell: bash
151+
152+
- name: Run clang-tidy
153+
if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
154+
uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
155+
with:
156+
rosdistro: humble
157+
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
158+
target-files: ${{ steps.get-changed-files.outputs.changed-files }}
159+
clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
160+
build-depends-repos: build_depends.repos
161+
cache-key-element: cuda
106162

107163
- name: Show disk space after the tasks
108164
run: df -h

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

+12
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
@@ -104,6 +115,7 @@ jobs:
104115
fail_ci_if_error: false
105116
verbose: true
106117
flags: total
118+
token: ${{ secrets.CODECOV_TOKEN }}
107119

108120
- name: Show disk space after the tasks
109121
run: df -h

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

-55
This file was deleted.

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

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

+2-2
Original file line numberDiff line numberDiff line change
@@ -13,9 +13,9 @@
1313
// limitations under the License.
1414

1515
#include <GeographicLib/Geoid.hpp>
16+
#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
17+
#include <autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp>
1618
#include <geography_utils/lanelet2_projector.hpp>
17-
#include <lanelet2_extension/projection/mgrs_projector.hpp>
18-
#include <lanelet2_extension/projection/transverse_mercator_projector.hpp>
1919

2020
#include <lanelet2_projection/UTM.h>
2121

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