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feat: merge changes that of 0.40.0 into humble #9739

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feat: merge changes that of 0.40.0 into humble #9739

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Description

This PR applies changes in that of 0.40.0 into humble

How was this PR tested?

Currently the test strategy is under discussion with @mitsudome-r

Notes for reviewers

As this is a kind of breaking change for humble, effective strategy is needed for testing. Any your ideas for the test strategy, questions, and comments are highly appreciated!

Effects on system behavior

The humble branch will have all features in the 0.40.0

satoshi-ota and others added 30 commits November 18, 2024 02:09
@satoshi-ota
feat(avoidance): output velocity factor (#9345)
c826605 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@Kazunori-Nakajima
feat(freespace_planner): add processing time pub (#9332)
c5597ce 
Signed-off-by: Kasunori-Nakajima <kazunori.nakajima@tier4.jp>
@satoshi-ota
feat(start_planner): output velocity factor (#9347)
44d9a98 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota
feat(lane_change): output velocity factor (#9349)
09c0182 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota
feat(goal_planner): output velocity factor (#9348)
4cb6f10 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@danielsanchezaran
feat(mrm_comfortable_stop_operator): add updateParam for mrm comforta…
4a4db99 
…ble stop (#9353)

* add updateParam for mrm comfortable stop

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* remove abs since it is not necessary

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
@Kazunori-Nakajima
feat(control_evaluator): add processing time publisher (#9339)
2a37cd2 
Signed-off-by: Kasunori-Nakajima <kazunori.nakajima@tier4.jp>
@yhisaki
refactor(autoware_trajectory): refactor autoware_trajectory (#9356)
34fc143 
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
@satoshi-ota
fix(factors_panel): sort by distance to stop/decel or point where it …
9b0ba2d 
…starts moving the steering (#9346)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@a-maumau
refactor(map_loader)!: prefix package and namespace with autoware (#8927
24652f8 
)

* make lanelet2_map_visualization independent

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* remove unused files

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* remove unused package

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* fix package name

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* add autoware_ prefix

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* add autoware to exec name

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* add autoware prefix

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* removed unnecessary dependency

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

---------

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
@go-sakayori
perf(static_obstacle_avoidance): remove redundant calculation related…
d813446 
… to lanelet functions (#9355)

* add traffic light distance and modified goal allowance to avoidance data

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

* add closest lanelet related variable to avoidanceData structure

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

* use route handler for checking closest lanelet

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

* use std::optional

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

---------

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
@soblin
feat(goal_planner): move goal_candidates from ThreadSafeData to GoalP…
2a2bffa 
…lannerData (#9292)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
@esteve
refactor(traffic_light_utils): prefix package and namespace with auto…
f112f65 
…ware (#9251)

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
@youtalk
chore(perception_utils): install include directory (#9354)
9aab36b
@xtk8532704
feat(tier4_control_launch): use preset.yaml to control which modules …
ef36c36 
…to launch for control modules (#9351)

* update contro.launch for preset.xml

Signed-off-by: xtk8532704 <1041084556@qq.com>

* update options.

Signed-off-by: xtk8532704 <1041084556@qq.com>

* fix bug.

Signed-off-by: xtk8532704 <1041084556@qq.com>

* rename to enable_*

Signed-off-by: xtk8532704 <1041084556@qq.com>

* check group.

Signed-off-by: xtk8532704 <1041084556@qq.com>

* space.

Signed-off-by: xtk8532704 <1041084556@qq.com>

* reduce num of load_composable_node.

Signed-off-by: xtk8532704 <1041084556@qq.com>

* tmp save.

Signed-off-by: xtk8532704 <1041084556@qq.com>

* tmp save.

Signed-off-by: xtk8532704 <1041084556@qq.com>

* splite control modules' launch.

Signed-off-by: xtk8532704 <1041084556@qq.com>

* final version

Signed-off-by: xtk8532704 <1041084556@qq.com>

* remove on/off option for shift decider, vehicle cmd gate, and operation mode transition manager

Signed-off-by: xtk8532704 <1041084556@qq.com>

* pre-commit

Signed-off-by: xtk8532704 <1041084556@qq.com>

---------

Signed-off-by: xtk8532704 <1041084556@qq.com>
@go-sakayori
perf(static_obstacle_avoidance): use lanelet::utils instead of route …
802f906 
…handle for closest lanelet (#9367)

use lanelet::utils for performance improvement

Signed-off-by: Go Sakayori <gsakayori@gmail.com>
@badai-nguyen
fix(compare_map_segmentation): timer period mismatched with parameter (…
2ce0510 
…#9259)

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
@badai-nguyen
chore(compare_map_segmentation): add maintainer (#9371)
dbb1015 
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
@technolojin
feat(autoware_multi_object_tracker): new function to add odometry unc…
bcd7830 
…ertainty (#9139)

* feat: add Odometry uncertainty to object tracking

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: Add odometry heading uncertainty to object pose covariance

feat: Rotate object pose covariance matrix to account for yaw uncertainty

Rotate the object pose covariance matrix in the uncertainty_processor.cpp file to account for the yaw uncertainty. This ensures that the covariance matrix accurately represents the position uncertainty of the object.

Refactor the code to rotate the covariance matrix using Eigen's Rotation2D class. The yaw uncertainty is added to the y-y element of the rotated covariance matrix. Finally, update the object_pose_cov array with the updated covariance values.

Closes #123

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: Add odometry motion uncertainty to object pose covariance

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

refactoring

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: Update ego twist uncertainty to the object velocity uncertainty

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: update object twist covariance by odometry yaw rate uncertainty

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: move uncertainty modeling to input side

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: add option to select odometry uncertainty

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: rename consider_odometry_uncertainty to enable_odometry_uncertainty

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: transform to world first, add odometry covariance later

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

style(pre-commit): autofix

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: Add odometry heading uncertainty to object pose covariance

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@mitsudome-r @youtalk
fix(autoware_behavior_path_sampling_planner_module): fix invalid para…
5fcd196 
…meter file (#9231)

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
@kyoichi-sugahara
chore(autoware_mpc_lateral_controller): add maintainer (#9374)
d1eb8be 
Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
@veqcc
fix(yabloc_pose_initializer): include opencv as system (#9375)
245802e 
Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
@veqcc
fix(autoware_pose_estimator_arbiter): add missing include (#9376)
8e06484 
Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
@veqcc
fix(autoware_trajectory_follower_node): fix clang-diagnostic-format-s…
a1c3e6d 
…ecurity (#9378)

Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
@veqcc
fix(autoware_control_validator): fix clang-diagnostic-unused-private-…
332a9bb 
…field (#9381)

Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
@veqcc
fix(control_performance_analysis): clang-diagnostic-pessimizing-move (#…
5778e01 
…9380)

Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
@go-sakayori
test(bpp_common): add unit test for safety check (#9386)
2e0d5de 
* fix docstring

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

* add basic collision test

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

* add some more tests

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

* add unit test for all functions

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

* remove unecessary header and space

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

---------

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
Signed-off-by: Go Sakayori <gsakayori@gmail.com>
@takayuki5168
feat: suppress warning/error of the empty predicted trajectory by MPC (…
a7cc44d 
…#9373)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@veqcc
fix(autoware_mpc_lateral_controller): fix variableScope (#9390)
de9d9cb 
Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp>
@takayuki5168
feat(mpc_lateral_controller): suppress rclcpp_warning/error (#9382)
3a1ae3b 
* feat(mpc_lateral_controller): suppress rclcpp_warning/error

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix test

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
technolojin and others added 8 commits December 11, 2024 15:59
@technolojin
fix(autoware_lidar_transfusion): non-maximum suppression target decis…
da5284c 
…ion logic (#9612)

fix: non-maximum suppression target decision logic

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@yuki-takagi-66
refactor(obstacle_cruise_planner)!: refactor rviz and terminal info (#…
26b1ab6 
…9594)

Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
@soblin
chore(planning_test_manager): update owner (#9620)
778c074 
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
@takayuki5168
feat(duplicated_node_checker): show the node name on the terminal (#9609
53aaf0f 
)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@takayuki5168
fix(static_centerline_generator): several bug fixes (#9426)
3cfb03e 
* fix: dependent packages

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat: use steer angle, use warn for steer angle failure, calc curvature dicontinuously

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix cppcheck

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@technolojin
refactor(autoware_multi_object_tracker): merge normal_vehicle_tracker…
e30350c 
… and big_vehicle_tracker (#9613)

* refactor: define object_model_ at initialization

* refactor: combine normal and big vehicle tracker
@rej55
chore(package.xml): bump version to 0.40.0 (#9618)
d741026 
Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
@sasakisasaki
Merge commit 'd741026d8824c8240d2945eeb942e5dd9e6dc363' into feat-upd…
5157753 
…ate-to-0.40.0

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) component:localization Vehicle's position determination in its environment. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:tools Utility and debugging software. (auto-assigned) component:system System design and integration. (auto-assigned) component:map Map creation, storage, and loading. (auto-assigned) component:vehicle Vehicle-specific implementations, drivers, packages. (auto-assigned) type:ci Continuous Integration (CI) processes and testing. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) component:simulation Virtual environment setups and simulations. (auto-assigned) component:evaluator Evaluation tools for planning, localization etc. (auto-assigned) tag:require-cuda-build-and-test labels Dec 23, 2024
@sasakisasaki
fix(autoware_lanelet2_map_visualizer): bug in remaining conflicts
3a50297 
Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
@mitsudome-r mitsudome-r added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Dec 23, 2024
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codecov bot commented Dec 23, 2024 •
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Codecov Report

Attention: Patch coverage is 59.12698% with 206 lines in your changes missing coverage. Please review.

Project coverage is 29.62%. Comparing base (386d2af) to head (3a50297).
Report is 370 commits behind head on humble.

Files with missing lines Patch % Lines
common/autoware_pyplot/src/pyplot.cpp 57.73% 38 Missing and 3 partials ⚠️
common/autoware_pyplot/src/axes.cpp 43.47% 39 Missing ⚠️
...autoware_autonomous_emergency_braking/src/node.cpp 67.39% 11 Missing and 4 partials ⚠️
common/autoware_pyplot/src/figure.cpp 43.47% 13 Missing ⚠️
...ontrol/autoware_mpc_lateral_controller/src/mpc.cpp 63.63% 10 Missing and 2 partials ⚠️
...ion_utils/src/factor/steering_factor_interface.cpp 0.00% 10 Missing ⚠️
...ommon/autoware_test_utils/src/mock_data_parser.cpp 80.43% 5 Missing and 4 partials ⚠️
..._checker/src/lane_departure_checker_node/utils.cpp 75.75% 8 Missing ⚠️
common/autoware_pyplot/src/text.cpp 0.00% 7 Missing ⚠️
..._departure_checker_node/lane_departure_checker.cpp 0.00% 7 Missing ⚠️
... and 22 more
Additional details and impacted files 
@@            Coverage Diff             @@
##           humble    #9739      +/-   ##
==========================================
+ Coverage   29.53%   29.62%   +0.09%     
==========================================
  Files        1442     1442              
  Lines      108512   108350     -162     
  Branches    41405    41377      -28     
==========================================
+ Hits        32049    32101      +52     
+ Misses      73345    73132     -213     
+ Partials     3118     3117       -1
Flag Coverage Δ *Carryforward flag
differential 29.62% <59.12%> (?)
total 29.56% <59.12%> (+0.02%) ⬆️ Carriedforward from e30350c

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
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stale bot commented Feb 22, 2025

This pull request has been automatically marked as stale because it has not had recent activity.

@stale stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Feb 22, 2025
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component:common Common packages from the autoware-common repository. (auto-assigned) component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:evaluator Evaluation tools for planning, localization etc. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) component:localization Vehicle's position determination in its environment. (auto-assigned) component:map Map creation, storage, and loading. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) component:simulation Virtual environment setups and simulations. (auto-assigned) component:system System design and integration. (auto-assigned) component:tools Utility and debugging software. (auto-assigned) component:vehicle Vehicle-specific implementations, drivers, packages. (auto-assigned) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) status:stale Inactive or outdated issues. (auto-assigned) tag:require-cuda-build-and-test type:ci Continuous Integration (CI) processes and testing. (auto-assigned) type:documentation Creating or refining documentation. (auto-assigned)
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