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TaikiYamada4takayuki5168SakodaShintaropre-commit-ci[bot]maxime-clem
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chore: merge tier4/main into alpha/v0.44 (#1969)
* feat(motion_velocity_smoother): add motion_velocity_smoother's virtual wall such as MRM (#5555) * feat: add motion_velocity_smoother's virtual wall Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat(localization): add `pose_instability_detector` (#5439) * Added pose_instability_detector Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Renamed files Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed parameter name Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed to launch Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed to run normally Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed to publish diagnostics Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed a variable name Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed Copyright Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added test Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added maintainer Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added maintainer Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Removed log output Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Modified test Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed comment Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added a test case Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added set_first_odometry_ Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Refactored test Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed test Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed topic name Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed position Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added twist message2 Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed launch Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Updated README.md Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed as pointed out by clang-tidy Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Renamed parameters Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed timer Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed README.md Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added debug publishers Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed parameters Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed tests Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Changed the type of ekf_to_odom and add const Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed DiagnosticStatus Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Changed odometry_data to std::optional Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Refactored debug output in pose instability detector Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Remove warning message for negative time difference in PoseInstabilityDetector Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Updated rqt_runtime_monitor.png Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> --------- Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(drivable_area_expansion): fix bug when reusing previous path points (#5586) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * refactor(pose_instability_detector, ar_tag_based_localizer): specify file path using get_package_share_directory (#5588) * use get_package_share_directory Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use get_package_share_directory in pose_instability_detector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix(detected_object_validation): add 3d pointcloud based validator (#5327) * fix: add 3d validation bind function Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: check validation point within shape Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add 2d validator option param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * Revert "chore: refactor" This reverts commit e3cbf6cb524a34ad3b693a8c0eaa1680e3141f72. * chore: update docs and param file Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor: change to abstract class Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: add maintainer Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix(goal_planner): fix detection_polygons visualiztion (#5596) * ci(sync-files): remove stale label pre-commands (#5597) Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai> * chore(run_out): add maintainer (#5598) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(goal_planner): fix extending current lanes (#5595) * fix(goal_planner): fix extending current lanes Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix build error Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix(geo_pose_projector): fix -Werror=deprecated-declarations (#5599) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(goal_planner): refactor select path (#5559) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat(lane_departure_checker): better cubstones's search (#5582) * feat(lane_departure_checker): better cubstones's search Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * build(tier4_perception_launch): add tracking_object_merger (#5602) Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix(avoidance): fix avoidance exit condition (#5592) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): fix wrong reason for unavoidable situation (#5558) * fix(avoidance): fix wrong reason for unavoidable situation Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): fix misreading variable name Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(radar_object_clustering): move radar object clustering parameter to param file (#5451) * move radar object clustering parameter to param file Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * remove default parameter settings and fix cmakelists --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat(radar_object_tracker): Change to use `use_radar_tracking_fusion` as true (#5605) Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * fix(avoidance): fix bug in shift lon distance calculation (#5557) * fix(avoidance): consider avoidance prepare time Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): consider avoidance prepare distance Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): use std::optional Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): prevent sudden steering at avoidance maneuver (#5572) * fix(avoidance): prevent sudden steering at yield maneuver Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): output debug info Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * Update planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(out_of_lane): more stable decisions (#5197) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * refactor(goal_planner): add prev_data instead of status (#5561) * feat(goal_planner): keep margin against objects as possible (#5569) * refactor(goal_planner): add prev_data instead of status Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat(goal_planner): keep margin against objects as possible Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat(out_of_lane): improve reuse of previous decision (#5611) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * refactor(start_planner): support new interface (#5606) * refactor(start_planner): support new interface refactor state transition logic in StartPlannerModule Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix(lane_change): regulate at the traffic light (#5457) * fix(lane_change): regulate at the traffic light Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix conflict Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix(start_planner, goal_planner): remove inappropriate reference value (#5618) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat(component_state_monitor): monitor pose_estimator output (#5617) Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix(simple_planning_simulator): fix ego sign pitch problem (#5616) * fix ego sign pitch problem Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * change variable name for clarity Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update documentation to clarify that driving against the lane is not supported Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix(utils): fix monotonic bound create logic (#5565) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(lane_change): fix abort path (#5628) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * refactor(start_planner): add verbose parameter for debug print (#5622) * refactor(start_planner): add verbose parameter for debug print - Added a new parameter "verbose" to the StartPlannerParameters struct. - Updated the start_planner.param.yaml file to include the "verbose" parameter. - Added a new method receivedNewRoute() in the StartPlannerModule class to check if a new route has been received. - Updated the updateData() method to use the receivedNewRoute() method instead of directly checking if a new route has been received. - Renamed the method IsGoalBehindOfEgoInSameRouteSegment() to isGoalBehindOfEgoInSameRouteSegment(). - Added a new method logPullOutStatus() to log the pull out status. - Updated the setDebugData() method to call logPullOutStatus() if the "verbose" parameter is true. Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor(goal_planner): add rss safety check function (#5620) * refactor(goal_planner): add rss safety check function Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * has_collision Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat(goal_planner): prevent auto approval for unsafe path (#5621) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * refactor(behavior_path_planner): separate drivable area functions (#5604) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * perf(image_projection_based_fusion): replace std::bitset (#5603) * fix(bytetrack): fix uninteded roi value error due to casting int to uint (#5589) * fix uint32 conversion bug in bytetrack Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * refactor outside xy variable --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix(start_planner): fix logPullOutStatus format specifier (#5637) * Fix logFunc format specifier in StartPlannerModule Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix(goal_planner): fix prevent auto approval for unsafe path #5621 (#5636) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix(out_of_lane): prevent "Same points are given" error message (#5643) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * build(lidar_centerpoint_tvm): add missing tf2_sensor_msgs depedency (#5644) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(start_planner): check safety only when waiting approval (#5792) 1. The `updateData()` function now sets `status_.is_safe_dynamic_objects` to true when `requiresDynamicObjectsCollisionDetection()` returns false. 2. The `isExecutionReady()` function now checks for dynamic object collisions only if `requiresDynamicObjectsCollisionDetection()` returns true and `isWaitingApproval()` also returns true. This change ensures that dynamic object collision detection is performed only when necessary and approval is pending. Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * feat(start_planner): add surround moving obstacle check (#5782) * feat(start_planner): add surround moving obstacle check This commit introduces a new feature in the start_planner module for checking surrounding moving obstacles. - It adds parameters to specify the search radius and threshold velocity for moving obstacles, along with flags to indicate which types of objects should be checked. - The `noMovingObjectsAround` function has been added to filter dynamic objects within a certain radius based on their velocity. - If no moving objects are detected, the function returns true; otherwise, it returns false. - This feature enhances the safety of the start_planner by ensuring that the path can't be approved while surrond moving obstacles exist. --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix(lidar_centerpoint,image_projection_based_fusion): add guard to avoid exceeding max voxel size (#1065) fix(lidar_centerpoint,image_projection_based_fusion): add guard to avoid exceeding max voxel size (#5824) Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * feat: add github workflow of create-awf-latest.yml (#1082) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix(static_drivable_area_expansion): fix bound extraction logic (#6006) * fix(static_drivable_area_expansion): fix bound extraction logic Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(static_drivable_area_expansion): define as anon func Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): check traffic light info in order to limit drivable area (#6016) * feat(avoidance): don't use opposite lane before intersection Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): check traffic light info in order to limit drivable area Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): return shift path was not generated expectedly (#6017) fix(avoidance): output return shift path properly Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (#1086) feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (#5835) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * refactor(tier4_planning_launch): remove duplicate arguments in launch launch (#1088) refactor(tier4_planning_launch): remove duplicate arguments in launchfile (#6040) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * docs(start_planner): update explanation about start pose candidate's priority (#6003) * add explanation about start pose candidate priority Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * fix(start_planner): don't update start pose when backward driving is finished (#5998) Fix conditional check in updatePullOutStatus function Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * docs(start_planner): update Purpose / Role of the document (#6002) Update Start Planner module to stop in response to dynamic obstacles Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * feat(start_planner): keep distance against front objects (#5983) * refactor extractCollisionCheckPath Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * feat(start_planner): define collision check margin as list (#5994) * define collision check margins list in start planner module Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor(motion_utils): clear the repeat definitions and correct the dependencies (#5909) * change .hpp name Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * change .cpp name Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * correct the #inlcude and #ifndef Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * toPath(): move the prototypes and the implementations in .hpp and .cpp Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * correct the dependency for /home/shen/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * toPath(): deleted the repeat definition in planning_interface_test_manager_utils.hpp Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * toPath(): corrected the call and dependency in planning_interface_test_manager.cpp Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * convertPathToTrajectoryPoints(), convertTrajectoryPointsToPath(), lerpOrientation(): moved to conversion.hpp and conversion.cpp Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * convertPathToTrajectoryPoints(): corrected the call and dependency Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * convertTrajectoryPointsToPath(): Corrected the call Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * lerpOrientation(): deleted the repeat definition in longitudinal_controller_utils.hpp and longitudinal_controller_utils.cpp Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * lerpOrientation(): Correct the call in longitudinal_controller_utils.hpp Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * lerpOrientation(): Corrected the dependency and call in test_longitudinal_controller_utils.cpp Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * name of conversion.cpp: modified the CMakeLists Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * namespace updated, but maybe not correct, will be tested in the next commit Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * Correct the dependencies the test_trajectory.cpp and test_interpolation.cpp Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * style(pre-commit): autofix * [namespace problems fixed] conversion.cpp & conversion.hpp: The dependencies have been added. Also, the namespaces have been corrected. Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * style(pre-commit): autofix * correct all the dependencies in #include Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * style(pre-commit): autofix * avoid using the ../../ in the paths Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * dependencies fixed and package added in .xml Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * style(pre-commit): autofix * change toPath() to convertToPath() Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * lerpOrientation(): move from conversion to spherical_linear_interpolation Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * style(pre-commit): autofix * fix the missing relative path definition. ../../ will not be used. Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * the unneccessary dependencies eleminated. In specific, the lerpOrientation() related dependencies in coversion.hpp and unneccessary dependencies in conversion.cpp are deleted. Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * change the function to template in .cpp and .hpp Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * style(pre-commit): autofix * change the corresponding calls to template Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * style(pre-commit): autofix * change name to convertToTrajectory() Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * style(pre-commit): autofix * change the template of convertToPathWithLaneId() Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * fix the dependencies Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * refactor(motion_utils): specialize class Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(motion_utils): remove unnecessary header Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(lane_change): check able to return to original lane in abort (#6034) * fix(lane_change): check able to return to original lane in abort Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix cancel state Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * revert changes Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * feat(behavior_velocity): add the option to keep the last valid observation (#6036) * feat(behavior_velocity): add the option to keep the last valid observation Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * keep_last_observation is false by default and intersection/traffic_light is explicily true Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * for intersection Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> --------- Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * feat(intersection): distinguish 1st/2nd attention lanelet (#6042) * fix(intersection): fix bugs (#6050) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * feat: add sync-awf-latest.yaml (#1096) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat: sync with awf/autoware.universe by force-push (#1115) * feat: sync with awf/autoware.universe by force-push Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat: use tier4/awf-latest for upstream sync (#1131) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat(workflow): modify workflow from sync-awf-latest workflow (#1167) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix(drivable_area_expansion): fix invalid access (#6566) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(route_handler): query shoulder lane in getLaneletSequence() if only_route_lanes is false and the arg is shoulder type (#6567) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * fix(start_planner): consider backward completion before preparing blinker (#6558) consider backward completion Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * feat: run sync-awf-latest every one hour (#1219) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * revert: feat(global_parameter_loader): add gtest to global parameter loader (backport #6872) (backport #1274) (#1275) revert: feat(global_parameter_loader): add gtest to global parameter loader (backport #6872) (#1274) revert: feat(global_parameter_loader): add gtest to global parameter loader (#6872) Revert "feat(global_parameter_loader): add gtest to global parameter loader (…" This reverts commit dfec62ac277f893fd6276e3c6ffd9c7d4f475225. (cherry picked from commit e5196bc36dc05e94f7011897f4e95bfb8a8bf6d9) Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> * fix: pre-commit.ci error (#1282) fix: pre-commit ci error * ci: add comment-on-pr.yaml (#1281) * Create comment-on-pr.yaml * Update .github/workflows/comment-on-pr.yaml * chore(topic_state_monitor): enrich error log message (#7236) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * refactor(universe_utils): add autoware namespace Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> fix aeb * refactor(motion_utils): add autoware namespace Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat(default_ad_api): add log when operation mode change fails Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat(diagnostic_graph_utils): add logging tool Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix all OK Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * ci(pre-commit): autoupdate (#1353) * ci(pre-commit): autoupdate Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> * style(pre-commit): autofix --------- Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(lane_change): prevent empty path when rerouting (#7717) (#1355) fix(lane_change): prevent empty path when routing Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat(start_planner): yaw threshold for rss check (#7657) * add param to customize yaw th Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add param to other modules Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * docs Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update READMEs with params Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix LC README Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * use normalized yaw diff Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * ci(pre-commit): autoupdate (#1360) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * feat(motion_velocity_planner): publish processing times (#7633) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (#7683) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * perf(dynamic_obstacle_stop): create rtree with packing algorithm (#7730) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * perf(motion_velocity_planner): resample trajectory after vel smoothing (#7732) * perf(dynamic_obstacle_stop): create rtree with packing algorithm Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Revert "perf(out_of_lane): downsample the trajectory to improve performance (#7691)" This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. * perf(motion_velocity_planner): resample trajectory after vel smoothing Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> --------- Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * feat(static_centerline_generator): organize AUTO/GUI/VMB modes (#7432) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * refactor(static_centerline_optimizer): clean up the code (#7756) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix(static_centerline_generator): save_map only once (#7770) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix(pose_instability_detector): fix a rare error (#7681) * Added an error test case Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed to avoid out-of-size access Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed the test case Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed test Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> --------- Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * feat(mrm_handler): operate mrm only when autonomous operation mode (#1377) feat(mrm_handler): operate mrm only when autonomous operation mode (#7784) * feat: add isOperationModeAutonomous() function to MRM handler core The code changes add a new function `isOperationModeAutonomous()` to the MRM handler core. This function is used to check if the operation mode is set to autonomous. --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> * fix(image_transport_decompressor): missing config setting (#7615) Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp> * fix(euclidean_cluster, ground_segmentation): cherry-pick bug fix PRs (#1378) * fix(euclidean_cluster): fix euclidean cluster params (#7662) * fix(euclidean_cluster): fix max and min cluster size Signed-off-by: beginningfan <beginning.fan@autocore.ai> * fix(gnss_poser): fix a typo Signed-off-by: beginningfan <beginning.fan@autocore.ai> * fix(euclidean_cluster): fix min cluster size Signed-off-by: beginningfan <beginning.fan@autocore.ai> * style(pre-commit): autofix --------- Signed-off-by: beginningfan <beginning.fan@autocore.ai> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(euclidean_cluster): fix max_cluster_size bug (#7734) Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix(ground_segmentation): fix bug (#7771) --------- Signed-off-by: beginningfan <beginning.fan@autocore.ai> Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: beginningfan <103237402+beginningfan@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> * fix(motion_planning): fix processing time topic names (#7885) (#1394) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * fix(multi_object_tracker): fix publish interval adjust timing (#7904) (#1400) refactor: optimize publish time check in multi_object_tracker_node.cpp Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix(velocity_smoother): float type of processing time was wrong Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix(path_optimizer): revert the feature of publishing processing time Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix(tier4_perception_launch): set `use_image_transport` in launch (#8315) set use_image_transport in launch Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * fix(static_obstacle_avoidance): remove invalid small shift lines Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(goal_planner): fix typo (#8763) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(pointcloud_preprocessor): fix typo (#8762) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(goal_planner): fix object extraction area (#8764) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix(goal_planner): fix time_keeper race (#8780) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (#8678) Signed-off-by: amadeuszsz <amadeusz.szymko.2@tier4.jp> * fix(goal_planner): fix typo (#8910) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(intersection): fix typo (#8911) * fix(intersection): fix typo Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(intersection): fix typo Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(lane_change): set initail rtc state properly (#8902) set initail rtc state properly Signed-off-by: Go Sakayori <gsakayori@gmail.com> * refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (#8913) * align autoware_raw_vehicle_cmd_converter's parameter Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * align start_planner's parameter Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * chore(mpc_lateral_controller): consistent parameters with autoware_launch (#8914) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore(planning): consistent parameters with autoware_launch (#8915) * chore(planning): consistent parameters with autoware_launch Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix json schema Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat(emergency_handler): delete package (#8917) * feat(emergency_handler): delete package Signed-off-by: veqcc <ryuta.kambe@tier4.jp> * refactor(detected_object_validation): rework parameters (#7750) * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin <batuhanbeytekin@gmail.com> Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com> * style(pre-commit): autofix Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com> * Update perception/detected_object_validation/schema/object_lanelet_filter.schema.json Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Signed-off-by: batuhanbeytekin <batuhanbeytekin@gmail.com> Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com> * Update perception/detected_object_validation/schema/object_position_filter.schema.json Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Signed-off-by: batuhanbeytekin <batuhanbeytekin@gmail.com> Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com> * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin <batuhanbeytekin@gmail.com> Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com> * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin <batuhanbeytekin@gmail.com> Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com> * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin <batuhanbeytekin@gmail.com> Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com> * style(pre-commit): autofix Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com> * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin <batuhanbeytekin@gmail.com> Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com> * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin <batuhanbeytekin@gmail.com> Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: batuhanbeytekin <batuhanbeytekin@gmail.com> Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(system_error_monitor): remove system error monitor (#8929) * feat: delete-system-error-monitor-from-autoware Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * feat: remove unnecessary params --------- Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * fix(intersection): set RTC enable (#9040) set rtc enable Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (#9234) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore: rename codeowners file Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * chore: rename codeowners file Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * ci(pre-commit-optional): autoupdate (#1724) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776) not sync github-release Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix CODEOWNERS Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * Apply changes from awf-latest and feat/traffic_light-v2i Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * chore: fix sync-awf-latest.yaml (#1784) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feat(planning_test_manager): abstract message-specific functions (#9882) * abstract message-specific functions Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * include necessary header Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt velocity_smoother to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_velocity_planner to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt path_optimizer to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * fix output subscription Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_path_planner to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt scenario_selector to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt freespace_planner to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt planning_validator to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt obstacle_stop_planner to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt obstacle_cruise_planner to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * disable test for freespace_planner Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_velocity_crosswalk_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_path_lane_change_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_path_avoidance_by_lane_change_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_path_dynamic_obstacle_avoidance_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_path_external_request_lane_change_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_path_side_shift_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_path_static_obstacle_avoidance_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt path_smoother to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_velocity_blind_spot_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_velocity_detection_area_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_velocity_intersection_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_velocity_no_stopping_area_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_velocity_run_out_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_velocity_stop_line_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_velocity_traffic_light_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_velocity_virtual_traffic_light_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt behavior_velocity_walkway_module to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * adapt motion_velocity_planner_node_universe to new test manager Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * include necessary headers Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * Odometries -> Odometry Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: mitukou1109 <mitukou1109@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> * feat: introduce motion_velocity_obstacle_<stop/slow_down/cruise>_module (#9807) * implement obstacle stop, slow_down, and cruise Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix clang-tidy Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * revert obstacle_cruise_planner Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat(motion_velocity_planner): common implementation for motion_velocity_obstacle_<stop/slow_down/cruise>_module (#10035) * feat(motion_velocity_planner): prepare for motion_velocity_<stop/slow_down/cruise>_module Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update launch Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * refactor(goal_planner): make parameters const (#10043) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * fix(goal_planner): check usage of bus_stop_area by goal_pose (#10041) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * feat(autoware_trajectory): update autoware_trajectory interfaces (#10034) * feat(autoware_trajectory): update autoware_trajectory interfaces Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * add const Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * Update shift.hpp Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * fix names Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * fix copyright Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> --------- Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (#10023) Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776) not sync github-release Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * feat(behavior_planning): add behavior_path_planner_type to launch path_generator (#10217) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix(tier4_planning_launch): remap topics for path_generator (#10249) remap topics for path_generator Signed-off-by: mitukou1109 <mitukou1109@gmail.com> * fix(obstacle_stop): accounting for vehicle bumper length when handling point-cloud stop points (#10250) * fix for point-cloud stop point * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: sync files (#1911) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * fix(docker-build-test-tidy-pr.yaml): use `step-security/changed-files` action instead (#10279) (#1912) use step-security Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * ci(pre-commit-optional): autoupdate (#1941) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * chore: sync files (#1942) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * chore: sync files (#1961) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Signed-off-by: beginningfan <beginning.fan@autocore.ai> Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> Signed-off-by: amadeuszsz <amadeusz.szymko.2@tier4.jp> Signed-off-by: Go Sakayori <gsakayori@gmail.com> Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Signed-off-by: batuhanbeytekin <batuhanbeytekin@gmail.com> Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com> Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> Signed-off-by: Hayato Mizushima <hayato-m126@users.noreply.github.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> Signed-off-by: mitukou1109 <mitukou1109@gmail.com> Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Co-authored-by: M. Fatih Cırıt <xmfcx@users.noreply.github.com> Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: danielsanchezaran <daniel.sanchez@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Co-authored-by: Zhe Shen <80969277+HansOersted@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com> Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: github-actions <github-actions@github.com> Co-authored-by: SakodaShintaro <rgbygscrsedppbwg@gmail.com> Co-authored-by: Zhi Wang <zhi.wang@tier4.jp> Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: Naophis <nao1288stusj@gmail.com> Co-authored-by: beginningfan <103237402+beginningfan@users.noreply.github.com> Co-authored-by: Taekjin LEE <technolojin@gmail.com> Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Co-authored-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com> Co-authored-by: Ryuta Kambe <ryuta.kambe@tier4.jp> Co-authored-by: Batuhan Beytekin <71197983+batuhanbeytekin@users.noreply.github.com> Co-authored-by: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com> Co-authored-by: Hayato Mizushima <hayato-m126@users.noreply.github.com> Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Kem (TiankuiXian) <temkei.kem@tier4.jp> Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> Co-authored-by: Y.Hisaki <yhisaki31@gmail.com> Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Co-authored-by: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
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Diff for: ‎.github/CODEOWNERS renamed to ‎.github/_CODEOWNERS

File renamed without changes.

Diff for: ‎.github/workflows/beta-to-tier4-main-sync.yaml

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name: beta-to-tier4-main-sync
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on:
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workflow_dispatch:
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inputs:
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source_branch:
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description: Source branch
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required: true
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type: string
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jobs:
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sync-beta-branch:
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runs-on: ubuntu-latest
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steps:
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- name: Generate token
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id: generate-token
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uses: tibdex/github-app-token@v1
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with:
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app_id: ${{ secrets.APP_ID }}
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private_key: ${{ secrets.PRIVATE_KEY }}
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- name: Run sync-branches
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uses: autowarefoundation/autoware-github-actions/sync-branches@v1
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with:
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token: ${{ steps.generate-token.outputs.token }}
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base-branch: tier4/main
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sync-pr-branch: beta-to-tier4-main-sync
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sync-target-repository: https://github.com/tier4/autoware.universe.git
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sync-target-branch: ${{ inputs.source_branch }}
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pr-title: "chore: sync beta branch ${{ inputs.source_branch }} with tier4/main"
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pr-labels: |
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bot
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sync-beta-branch
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auto-merge-method: merge

Diff for: ‎.github/workflows/clang-tidy-pr-comments-manually.yaml

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runs-on: ubuntu-22.04
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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- name: Download analysis results
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run: |
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- name: Check out PR head
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if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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with:
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repository: ${{ steps.set-variables.outputs.pr-head-repo }}
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ref: ${{ steps.set-variables.outputs.pr-head-ref }}

Diff for: ‎.github/workflows/clang-tidy-pr-comments.yaml

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runs-on: ubuntu-22.04
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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- name: Download analysis results
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run: |
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- name: Check out PR head
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if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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with:
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repository: ${{ steps.set-variables.outputs.pr-head-repo }}
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ref: ${{ steps.set-variables.outputs.pr-head-ref }}

Diff for: ‎.github/workflows/delete-closed-pr-docs.yaml

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runs-on: ubuntu-22.04
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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Diff for: ‎.github/workflows/deploy-docs.yaml

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runs-on: ubuntu-22.04
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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ref: ${{ github.event.pull_request.head.sha }}

Diff for: ‎.github/workflows/dispatch-push-event.yaml

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name: dispatch-push-event
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on:
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push:
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jobs:
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search-dispatch-repo:
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runs-on: ubuntu-latest
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strategy:
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matrix:
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include:
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- { version: beta/v0.3.**, dispatch-repo: pilot-auto.x1.eve }
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outputs:
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dispatch-repo: ${{ steps.search-dispatch-repo.outputs.value }}
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steps:
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- name: Search dispatch repo
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id: search-dispatch-repo
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run: |
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if [[ ${{ github.ref_name }} =~ ${{ matrix.version }} ]]; then
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echo ::set-output name=value::"${{ matrix.dispatch-repo }}"
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echo "Detected beta branch: ${{ github.ref_name }}"
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echo "Dispatch repository: ${{ matrix.dispatch-repo }}"
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fi
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dispatch-push-event:
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runs-on: ubuntu-latest
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needs: search-dispatch-repo
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if: ${{ needs.search-dispatch-repo.outputs.dispatch-repo != '' }}
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steps:
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- name: Generate token
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id: generate-token
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uses: tibdex/github-app-token@v1
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with:
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app_id: ${{ secrets.INTERNAL_APP_ID }}
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private_key: ${{ secrets.INTERNAL_PRIVATE_KEY }}
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# 注意: workflow_dispatchで指定するブランチはmain固定となっているため、dispatch-repoのmainブランチにupdate-beta-branch.yamlが存在することが前提条件。
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- name: Dispatch the update-beta-branch workflow
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run: |
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curl -L \
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-X POST \
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-H "Accept: application/vnd.github+json" \
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-H "Authorization: Bearer ${{ steps.generate-token.outputs.token }}" \
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-H "X-GitHub-Api-Version: 2022-11-28" \
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https://api.github.com/repos/tier4/${{ needs.search-dispatch-repo.outputs.dispatch-repo }}/actions/workflows/update-beta-branch.yaml/dispatches \
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-d '{"ref":"main"}'

Diff for: ‎.github/workflows/dispatch-release-note.yaml

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name: dispatch-release-note
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on:
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push:
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branches:
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- beta/v*
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- tier4/main
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tags:
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- v*
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workflow_dispatch:
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inputs:
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beta-branch-or-tag-name:
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description: The name of the beta branch or tag to write release note
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type: string
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required: true
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jobs:
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dispatch-release-note:
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runs-on: ubuntu-latest
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name: release-repository-dispatch
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steps:
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- name: Set tag name
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id: set-tag-name
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run: |
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if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
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REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}"
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else
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REF_NAME="${{ github.ref_name }}"
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fi
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echo ::set-output name=ref-name::"$REF_NAME"
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echo ::set-output name=tag-name::"${REF_NAME#beta/}"
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- name: Generate token
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id: generate-token
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uses: tibdex/github-app-token@v1
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with:
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app_id: ${{ secrets.APP_ID }}
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private_key: ${{ secrets.PRIVATE_KEY }}
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- name: Repository dispatch for release note
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run: |
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curl \
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-X POST \
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-H "Accept: application/vnd.github+json" \
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-H "Authorization: token ${{ steps.generate-token.outputs.token }}" \
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-H "X-GitHub-Api-Version: 2022-11-28" \
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"https://api.github.com/repos/tier4/update-release-notes/dispatches" \
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-d '{"event_type":"${{ steps.set-tag-name.outputs.ref-name }}"}'

Diff for: ‎.github/workflows/slack-send.yaml

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name: slack-send
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on:
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workflow_run:
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workflows:
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- build-and-test
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types:
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- completed
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jobs:
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on-failure:
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if: ${{ github.event.workflow_run.conclusion == 'failure' }}
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runs-on: ubuntu-latest
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steps:
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- name: Check out repository
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uses: actions/checkout@v3
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- name: Send to Slack workflow
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uses: slackapi/slack-github-action@v1
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with:
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payload: |
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{
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"workflow-url": "${{ github.event.workflow_run.html_url }}"
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}
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env:
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SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WORKFLOW_WEBHOOK_URL }}

Diff for: ‎.github/workflows/sync-awf-latest.yaml

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name: sync-awf-latest
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on:
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schedule:
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- cron: 50 */1 * * * # every 1 hour (**:50)
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workflow_dispatch:
7+
8+
jobs:
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sync-awf-latest:
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runs-on: ubuntu-latest
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steps:
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- name: Generate token
13+
id: generate-token
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uses: tibdex/github-app-token@v1
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with:
16+
app_id: ${{ secrets.APP_ID }}
17+
private_key: ${{ secrets.PRIVATE_KEY }}
18+
19+
- name: Run sync-branches
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uses: autowarefoundation/autoware-github-actions/sync-branches@v1
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with:
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token: ${{ steps.generate-token.outputs.token }}
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base-branch: awf-latest
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sync-pr-branch: sync-awf-latest
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sync-target-repository: https://github.com/autowarefoundation/autoware.universe.git
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sync-target-branch: main
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pr-title: "chore: sync awf-latest"
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pr-labels: |
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bot
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auto-merge-method: merge

Diff for: ‎.github/workflows/sync-upstream.yaml

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name: sync-upstream
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on:
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workflow_dispatch:
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inputs:
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target_branch:
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description: Target branch
8+
required: true
9+
type: string
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11+
jobs:
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sync-upstream:
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runs-on: ubuntu-latest
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steps:
15+
- name: Generate token
16+
id: generate-token
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uses: tibdex/github-app-token@v1
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with:
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app_id: ${{ secrets.APP_ID }}
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private_key: ${{ secrets.PRIVATE_KEY }}
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- uses: actions/setup-node@v3
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with:
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node-version: 16
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- run: npm install @holiday-jp/holiday_jp
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- uses: actions/github-script@v6
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id: is-holiday
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with:
31+
script: |
32+
const holiday_jp = require(`${process.env.GITHUB_WORKSPACE}/node_modules/@holiday-jp/holiday_jp`)
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core.setOutput('holiday', holiday_jp.isHoliday(new Date()));
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- name: Print warning for invalid branch name
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if: ${{ inputs.target_branch == 'tier4/main' }}
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run: |
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echo This action cannot be performed on 'tier4/main' branch
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- name: Run sync-branches
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if: ${{ inputs.target_branch != 'tier4/main' }}
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uses: autowarefoundation/autoware-github-actions/sync-branches@v1
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with:
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token: ${{ steps.generate-token.outputs.token }}
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base-branch: ${{ inputs.target_branch }}
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sync-pr-branch: sync-upstream
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sync-target-repository: https://github.com/tier4/autoware.universe.git
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sync-target-branch: awf-latest
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pr-title: "chore: sync tier4/autoware.universe:awf-latest"
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auto-merge-method: merge

Diff for: ‎.pre-commit-config.yaml

+6-1
Original file line numberDiff line numberDiff line change
@@ -41,6 +41,11 @@ repos:
4141
hooks:
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- id: yamllint
4343

44+
- repo: https://github.com/autowarefoundation/autoware-guideline-check
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rev: 0.1.0
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hooks:
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- id: check-package-depends
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- repo: https://github.com/tier4/pre-commit-hooks-ros
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rev: v0.10.0
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hooks:
@@ -74,7 +79,7 @@ repos:
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args: [--line-length=100]
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- repo: https://github.com/pre-commit/mirrors-clang-format
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rev: v19.1.5
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rev: v19.1.6
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hooks:
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- id: clang-format
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types_or: [c++, c, cuda]

Diff for: ‎mkdocs.yaml

+1-3
Original file line numberDiff line numberDiff line change
@@ -63,9 +63,7 @@ plugins:
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module_name: mkdocs_macros
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- mkdocs-video
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- same-dir
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# https://squidfunk.github.io/mkdocs-material/plugins/search/#config.separator
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- search:
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separator: '[\s\-_,:!=\[\]()"/]+|(?!\b)(?=[A-Z][a-z])|\.(?!\d)|&[lg]t;'
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- search
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markdown_extensions:
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- abbr

Diff for: ‎planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/config/traffic_light.param.yaml

+6
Original file line numberDiff line numberDiff line change
@@ -8,3 +8,9 @@
88
yellow_light_stop_velocity: 1.0 # Velocity threshold (m/s) below which the vehicle will always stop before the traffic light when the signal turns yellow, regardless of the pass_judge decision.
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enable_pass_judge: true
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enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
11+
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v2i:
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use_rest_time: false
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last_time_allowed_to_pass: 2.0 # relative time against at the time of turn to red
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velocity_threshold: 0.5 # change the decision logic whether the current velocity is faster or not
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required_time_to_departure: 3.0 # prevent low speed pass

Diff for: ‎planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml

+1
Original file line numberDiff line numberDiff line change
@@ -32,6 +32,7 @@
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<depend>autoware_utils</depend>
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<depend>eigen</depend>
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<depend>geometry_msgs</depend>
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<depend>jpn_signal_v2i_msgs</depend>
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<depend>pluginlib</depend>
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<depend>rclcpp</depend>
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<depend>tf2</depend>

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