From 02a085987f144e7eac754ca50993d14fc98bef4d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 24 Apr 2024 18:43:41 +0300 Subject: [PATCH 01/17] refactor: update for the awsim_labs (#2) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- NOTICE | 2 +- README.md | 2 +- .../CMakeLists.txt | 2 +- .../config/sensor_kit_calibration.yaml | 0 .../config/sensors_calibration.yaml | 0 .../package.xml | 4 ++-- .../urdf/sensor_kit.xacro | 2 +- .../urdf/sensors.xacro | 2 +- .../CMakeLists.txt | 2 +- .../config/diagnostic_aggregator/sensor_kit.param.yaml | 0 .../data/traffic_light_camera.yaml | 0 .../launch/imu.launch.xml | 0 .../launch/lidar.launch.xml | 8 ++++---- .../launch/pointcloud_preprocessor.launch.py | 0 .../launch/sensing.launch.xml | 4 ++-- .../package.xml | 4 ++-- .../CMakeLists.txt | 2 +- .../launch/velodyne_lidar.launch.xml | 2 +- .../launch/velodyne_node_container.launch.py | 0 .../package.xml | 2 +- 20 files changed, 19 insertions(+), 19 deletions(-) rename {awsim_sensor_kit_description => awsim_labs_sensor_kit_description}/CMakeLists.txt (80%) rename {awsim_sensor_kit_description => awsim_labs_sensor_kit_description}/config/sensor_kit_calibration.yaml (100%) rename {awsim_sensor_kit_description => awsim_labs_sensor_kit_description}/config/sensors_calibration.yaml (100%) rename {awsim_sensor_kit_description => awsim_labs_sensor_kit_description}/package.xml (79%) rename {awsim_sensor_kit_description => awsim_labs_sensor_kit_description}/urdf/sensor_kit.xacro (99%) rename {awsim_sensor_kit_description => awsim_labs_sensor_kit_description}/urdf/sensors.xacro (94%) rename {awsim_sensor_kit_launch => awsim_labs_sensor_kit_launch}/CMakeLists.txt (88%) rename {awsim_sensor_kit_launch => awsim_labs_sensor_kit_launch}/config/diagnostic_aggregator/sensor_kit.param.yaml (100%) rename {awsim_sensor_kit_launch => awsim_labs_sensor_kit_launch}/data/traffic_light_camera.yaml (100%) rename {awsim_sensor_kit_launch => awsim_labs_sensor_kit_launch}/launch/imu.launch.xml (100%) rename {awsim_sensor_kit_launch => awsim_labs_sensor_kit_launch}/launch/lidar.launch.xml (78%) rename {awsim_sensor_kit_launch => awsim_labs_sensor_kit_launch}/launch/pointcloud_preprocessor.launch.py (100%) rename {awsim_sensor_kit_launch => awsim_labs_sensor_kit_launch}/launch/sensing.launch.xml (89%) rename {awsim_sensor_kit_launch => awsim_labs_sensor_kit_launch}/package.xml (88%) rename {common_awsim_sensor_launch => common_awsim_labs_sensor_launch}/CMakeLists.txt (86%) rename {common_awsim_sensor_launch => common_awsim_labs_sensor_launch}/launch/velodyne_lidar.launch.xml (83%) rename {common_awsim_sensor_launch => common_awsim_labs_sensor_launch}/launch/velodyne_node_container.launch.py (100%) rename {common_awsim_sensor_launch => common_awsim_labs_sensor_launch}/package.xml (94%) diff --git a/NOTICE b/NOTICE index a37edc0..eba56a1 100644 --- a/NOTICE +++ b/NOTICE @@ -1,4 +1,4 @@ -awsim_sensor_kit_launch +awsim_labs_sensor_kit_launch Copyright 2021 The Autoware Foundation This product includes software developed at diff --git a/README.md b/README.md index ba8b39d..5271708 100644 --- a/README.md +++ b/README.md @@ -1 +1 @@ -# awsim_sensor_kit_launch +# awsim_labs_sensor_kit_launch diff --git a/awsim_sensor_kit_description/CMakeLists.txt b/awsim_labs_sensor_kit_description/CMakeLists.txt similarity index 80% rename from awsim_sensor_kit_description/CMakeLists.txt rename to awsim_labs_sensor_kit_description/CMakeLists.txt index f05bd5c..1003236 100644 --- a/awsim_sensor_kit_description/CMakeLists.txt +++ b/awsim_labs_sensor_kit_description/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(awsim_sensor_kit_description) +project(awsim_labs_sensor_kit_description) find_package(ament_cmake_auto REQUIRED) diff --git a/awsim_sensor_kit_description/config/sensor_kit_calibration.yaml b/awsim_labs_sensor_kit_description/config/sensor_kit_calibration.yaml similarity index 100% rename from awsim_sensor_kit_description/config/sensor_kit_calibration.yaml rename to awsim_labs_sensor_kit_description/config/sensor_kit_calibration.yaml diff --git a/awsim_sensor_kit_description/config/sensors_calibration.yaml b/awsim_labs_sensor_kit_description/config/sensors_calibration.yaml similarity index 100% rename from awsim_sensor_kit_description/config/sensors_calibration.yaml rename to awsim_labs_sensor_kit_description/config/sensors_calibration.yaml diff --git a/awsim_sensor_kit_description/package.xml b/awsim_labs_sensor_kit_description/package.xml similarity index 79% rename from awsim_sensor_kit_description/package.xml rename to awsim_labs_sensor_kit_description/package.xml index 0a0239c..a40594d 100644 --- a/awsim_sensor_kit_description/package.xml +++ b/awsim_labs_sensor_kit_description/package.xml @@ -1,9 +1,9 @@ - awsim_sensor_kit_description + awsim_labs_sensor_kit_description 0.1.0 - The awsim_sensor_kit_description package + The awsim_labs_sensor_kit_description package Piotr Jaroszek Apache License 2.0 diff --git a/awsim_sensor_kit_description/urdf/sensor_kit.xacro b/awsim_labs_sensor_kit_description/urdf/sensor_kit.xacro similarity index 99% rename from awsim_sensor_kit_description/urdf/sensor_kit.xacro rename to awsim_labs_sensor_kit_description/urdf/sensor_kit.xacro index 7662b50..b144365 100644 --- a/awsim_sensor_kit_description/urdf/sensor_kit.xacro +++ b/awsim_labs_sensor_kit_description/urdf/sensor_kit.xacro @@ -7,7 +7,7 @@ - + diff --git a/awsim_sensor_kit_description/urdf/sensors.xacro b/awsim_labs_sensor_kit_description/urdf/sensors.xacro similarity index 94% rename from awsim_sensor_kit_description/urdf/sensors.xacro rename to awsim_labs_sensor_kit_description/urdf/sensors.xacro index 33bb538..9654795 100644 --- a/awsim_sensor_kit_description/urdf/sensors.xacro +++ b/awsim_labs_sensor_kit_description/urdf/sensors.xacro @@ -1,6 +1,6 @@ - + diff --git a/awsim_sensor_kit_launch/CMakeLists.txt b/awsim_labs_sensor_kit_launch/CMakeLists.txt similarity index 88% rename from awsim_sensor_kit_launch/CMakeLists.txt rename to awsim_labs_sensor_kit_launch/CMakeLists.txt index 89ce0df..22b117d 100644 --- a/awsim_sensor_kit_launch/CMakeLists.txt +++ b/awsim_labs_sensor_kit_launch/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(awsim_sensor_kit_launch) +project(awsim_labs_sensor_kit_launch) find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() diff --git a/awsim_sensor_kit_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/awsim_labs_sensor_kit_launch/config/diagnostic_aggregator/sensor_kit.param.yaml similarity index 100% rename from awsim_sensor_kit_launch/config/diagnostic_aggregator/sensor_kit.param.yaml rename to awsim_labs_sensor_kit_launch/config/diagnostic_aggregator/sensor_kit.param.yaml diff --git a/awsim_sensor_kit_launch/data/traffic_light_camera.yaml b/awsim_labs_sensor_kit_launch/data/traffic_light_camera.yaml similarity index 100% rename from awsim_sensor_kit_launch/data/traffic_light_camera.yaml rename to awsim_labs_sensor_kit_launch/data/traffic_light_camera.yaml diff --git a/awsim_sensor_kit_launch/launch/imu.launch.xml b/awsim_labs_sensor_kit_launch/launch/imu.launch.xml similarity index 100% rename from awsim_sensor_kit_launch/launch/imu.launch.xml rename to awsim_labs_sensor_kit_launch/launch/imu.launch.xml diff --git a/awsim_sensor_kit_launch/launch/lidar.launch.xml b/awsim_labs_sensor_kit_launch/launch/lidar.launch.xml similarity index 78% rename from awsim_sensor_kit_launch/launch/lidar.launch.xml rename to awsim_labs_sensor_kit_launch/launch/lidar.launch.xml index 79add12..9169f35 100644 --- a/awsim_sensor_kit_launch/launch/lidar.launch.xml +++ b/awsim_labs_sensor_kit_launch/launch/lidar.launch.xml @@ -9,7 +9,7 @@ - + @@ -18,7 +18,7 @@ - + @@ -27,14 +27,14 @@ - + - + diff --git a/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py similarity index 100% rename from awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py rename to awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py diff --git a/awsim_sensor_kit_launch/launch/sensing.launch.xml b/awsim_labs_sensor_kit_launch/launch/sensing.launch.xml similarity index 89% rename from awsim_sensor_kit_launch/launch/sensing.launch.xml rename to awsim_labs_sensor_kit_launch/launch/sensing.launch.xml index 51eef61..fa0a0c1 100644 --- a/awsim_sensor_kit_launch/launch/sensing.launch.xml +++ b/awsim_labs_sensor_kit_launch/launch/sensing.launch.xml @@ -7,7 +7,7 @@ - + @@ -17,7 +17,7 @@ - + diff --git a/awsim_sensor_kit_launch/package.xml b/awsim_labs_sensor_kit_launch/package.xml similarity index 88% rename from awsim_sensor_kit_launch/package.xml rename to awsim_labs_sensor_kit_launch/package.xml index 93f53f5..329fcea 100644 --- a/awsim_sensor_kit_launch/package.xml +++ b/awsim_labs_sensor_kit_launch/package.xml @@ -1,9 +1,9 @@ - awsim_sensor_kit_launch + awsim_labs_sensor_kit_launch 0.1.0 - The awsim_sensor_kit_launch package + The awsim_labs_sensor_kit_launch package Piotr Jaroszek Apache License 2.0 diff --git a/common_awsim_sensor_launch/CMakeLists.txt b/common_awsim_labs_sensor_launch/CMakeLists.txt similarity index 86% rename from common_awsim_sensor_launch/CMakeLists.txt rename to common_awsim_labs_sensor_launch/CMakeLists.txt index 9d66934..9b21bf8 100644 --- a/common_awsim_sensor_launch/CMakeLists.txt +++ b/common_awsim_labs_sensor_launch/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(common_awsim_sensor_launch) +project(common_awsim_labs_sensor_launch) find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() diff --git a/common_awsim_sensor_launch/launch/velodyne_lidar.launch.xml b/common_awsim_labs_sensor_launch/launch/velodyne_lidar.launch.xml similarity index 83% rename from common_awsim_sensor_launch/launch/velodyne_lidar.launch.xml rename to common_awsim_labs_sensor_launch/launch/velodyne_lidar.launch.xml index 036ff39..e7c147e 100644 --- a/common_awsim_sensor_launch/launch/velodyne_lidar.launch.xml +++ b/common_awsim_labs_sensor_launch/launch/velodyne_lidar.launch.xml @@ -4,7 +4,7 @@ - + diff --git a/common_awsim_sensor_launch/launch/velodyne_node_container.launch.py b/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py similarity index 100% rename from common_awsim_sensor_launch/launch/velodyne_node_container.launch.py rename to common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py diff --git a/common_awsim_sensor_launch/package.xml b/common_awsim_labs_sensor_launch/package.xml similarity index 94% rename from common_awsim_sensor_launch/package.xml rename to common_awsim_labs_sensor_launch/package.xml index 1d83e1d..5eb46f5 100644 --- a/common_awsim_sensor_launch/package.xml +++ b/common_awsim_labs_sensor_launch/package.xml @@ -1,7 +1,7 @@ - common_awsim_sensor_launch + common_awsim_labs_sensor_launch 0.1.0 The common_sensor_launch package Piotr Jaroszek From c304b7612c97d6ef6c89e46f99da8c057c1f68f8 Mon Sep 17 00:00:00 2001 From: Amadeusz Szymko Date: Mon, 22 Jul 2024 16:32:24 +0900 Subject: [PATCH 02/17] refactor!: pointcloud_preprocessor prefix package and namespace with autoware (#3) Signed-off-by: Amadeusz Szymko --- .../launch/pointcloud_preprocessor.launch.py | 4 ++-- awsim_labs_sensor_kit_launch/package.xml | 2 +- .../launch/velodyne_node_container.launch.py | 16 ++++++++-------- 3 files changed, 11 insertions(+), 11 deletions(-) diff --git a/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py index a230ce0..26eaa1b 100644 --- a/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py +++ b/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py @@ -29,8 +29,8 @@ def launch_setup(context, *args, **kwargs): # set concat filter as a component concat_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", name="concatenate_data", remappings=[ ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), diff --git a/awsim_labs_sensor_kit_launch/package.xml b/awsim_labs_sensor_kit_launch/package.xml index 329fcea..d6ad244 100644 --- a/awsim_labs_sensor_kit_launch/package.xml +++ b/awsim_labs_sensor_kit_launch/package.xml @@ -9,9 +9,9 @@ ament_cmake_auto + autoware_pointcloud_preprocessor common_sensor_launch gnss_poser - pointcloud_preprocessor tamagawa_imu_driver topic_tools ublox_gps diff --git a/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py b/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py index 40291ab..87565eb 100644 --- a/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py +++ b/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py @@ -72,8 +72,8 @@ def create_parameter_dict(*args): nodes.append( ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::CropBoxFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent", name="crop_box_filter_self", remappings=[ ("input", "pointcloud_raw_ex"), @@ -94,8 +94,8 @@ def create_parameter_dict(*args): nodes.append( ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::CropBoxFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent", name="crop_box_filter_mirror", remappings=[ ("input", "self_cropped/pointcloud_ex"), @@ -108,8 +108,8 @@ def create_parameter_dict(*args): nodes.append( ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::RingOutlierFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent", name="ring_outlier_filter", remappings=[ ("input", "rectified/pointcloud_ex"), @@ -130,8 +130,8 @@ def create_parameter_dict(*args): ) distortion_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::DistortionCorrectorComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent", name="distortion_corrector_node", remappings=[ ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), From 8c1bc5556e47d8ba203a8eb1e323dca526168bcc Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Tue, 27 Aug 2024 08:24:30 +0900 Subject: [PATCH 03/17] refactor: renamed the package name imu_corrector to autoware_imu_corrector (#5) Signed-off-by: Kenzo Lobos-Tsunekawa --- awsim_labs_sensor_kit_launch/launch/imu.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/awsim_labs_sensor_kit_launch/launch/imu.launch.xml b/awsim_labs_sensor_kit_launch/launch/imu.launch.xml index 86caac8..ee40cf1 100644 --- a/awsim_labs_sensor_kit_launch/launch/imu.launch.xml +++ b/awsim_labs_sensor_kit_launch/launch/imu.launch.xml @@ -1,14 +1,14 @@ - + - + From dbce284705bfcbfa05d8e11c13835c51e1cd984e Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Thu, 29 Aug 2024 16:27:04 +0900 Subject: [PATCH 04/17] chore(package_xml): added autoware_ prefix to gnss_poser (#4) Signed-off-by: TaikiYamada4 --- awsim_labs_sensor_kit_launch/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/awsim_labs_sensor_kit_launch/package.xml b/awsim_labs_sensor_kit_launch/package.xml index d6ad244..3048d93 100644 --- a/awsim_labs_sensor_kit_launch/package.xml +++ b/awsim_labs_sensor_kit_launch/package.xml @@ -9,9 +9,9 @@ ament_cmake_auto + autoware_gnss_poser autoware_pointcloud_preprocessor common_sensor_launch - gnss_poser tamagawa_imu_driver topic_tools ublox_gps From 3695cabb171610e1a76ac14efac3e39b5bc89af0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?A=2E=20Sena=20Y=C4=B1lmaz?= <108546951+Aysenayilmaz@users.noreply.github.com> Date: Wed, 2 Oct 2024 12:16:44 +0300 Subject: [PATCH 05/17] feat: ring outlier filter and distortion correction node load from param file (#6) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: A. Sena Yılmaz --- .../launch/pointcloud_preprocessor.launch.py | 7 +- .../distortion_corrector_node.param.yaml | 5 + .../ring_outlier_filter_node.param.yaml | 14 +++ .../launch/velodyne_node_container.launch.py | 108 +++++++++++------- 4 files changed, 89 insertions(+), 45 deletions(-) create mode 100644 common_awsim_labs_sensor_launch/config/distortion_corrector_node.param.yaml create mode 100644 common_awsim_labs_sensor_launch/config/ring_outlier_filter_node.param.yaml diff --git a/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py index 26eaa1b..e296121 100644 --- a/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py +++ b/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py @@ -39,13 +39,14 @@ def launch_setup(context, *args, **kwargs): parameters=[ { "input_topics": [ - "/sensing/lidar/top/pointcloud", - "/sensing/lidar/left/pointcloud", - "/sensing/lidar/right/pointcloud", + "/sensing/lidar/top/pointcloud_before_sync", + "/sensing/lidar/left/pointcloud_before_sync", + "/sensing/lidar/right/pointcloud_before_sync", ], "output_frame": LaunchConfiguration("base_frame"), "timeout_sec": 0.01, "input_twist_topic_type": "twist", + "publish_synchronized_pointcloud": True, } ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], diff --git a/common_awsim_labs_sensor_launch/config/distortion_corrector_node.param.yaml b/common_awsim_labs_sensor_launch/config/distortion_corrector_node.param.yaml new file mode 100644 index 0000000..3afa481 --- /dev/null +++ b/common_awsim_labs_sensor_launch/config/distortion_corrector_node.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + base_frame: base_link + use_imu: true + use_3d_distortion_correction: false diff --git a/common_awsim_labs_sensor_launch/config/ring_outlier_filter_node.param.yaml b/common_awsim_labs_sensor_launch/config/ring_outlier_filter_node.param.yaml new file mode 100644 index 0000000..76bf689 --- /dev/null +++ b/common_awsim_labs_sensor_launch/config/ring_outlier_filter_node.param.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + distance_ratio: 1.03 + object_length_threshold: 0.1 + num_points_threshold: 4 + max_rings_num: 128 + max_points_num_per_ring: 4000 + publish_outlier_pointcloud: false + min_azimuth_deg: 0.0 + max_azimuth_deg: 360.0 + max_distance: 12.0 + vertical_bins: 128 + horizontal_bins: 36 + noise_threshold: 2 diff --git a/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py b/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py index 87565eb..0f5993c 100644 --- a/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py +++ b/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py @@ -11,7 +11,8 @@ # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. - +import os +from ament_index_python.packages import get_package_share_directory import launch from launch.actions import DeclareLaunchArgument from launch.actions import OpaqueFunction @@ -22,6 +23,7 @@ from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode +from launch_ros.parameter_descriptions import ParameterFile import yaml @@ -57,8 +59,25 @@ def create_parameter_dict(*args): result[x] = LaunchConfiguration(x) return result + # Pointcloud preprocessor parameters + distortion_corrector_node_param = ParameterFile( + param_file=LaunchConfiguration("distortion_correction_node_param_path").perform(context), + allow_substs=True, + ) + ring_outlier_filter_node_param = ParameterFile( + param_file=LaunchConfiguration("ring_outlier_filter_node_param_path").perform(context), + allow_substs=True, + ) + nodes = [] + nodes.append( + ComposableNode( + package="glog_component", + plugin="GlogComponent", + name="glog_component", + ) + ) cropbox_parameters = create_parameter_dict("input_frame", "output_frame") cropbox_parameters["negative"] = True @@ -105,7 +124,27 @@ def create_parameter_dict(*args): extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) ) + nodes.append( + ComposableNode( + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent", + name="distortion_corrector_node", + remappings=[ + ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), + ("~/input/imu", "/sensing/imu/imu_data"), + ("~/input/pointcloud", "mirror_cropped/pointcloud_ex"), + ("~/output/pointcloud", "rectified/pointcloud_ex"), + ], + parameters=[distortion_corrector_node_param], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + ) + # Ring Outlier Filter is the last component in the pipeline, so control the output frame here + # if LaunchConfiguration("output_as_sensor_frame").perform(context).lower() == "true": + # ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")} + # else: + # ring_outlier_output_frame = {"output_frame": ""} # keep the output frame as the input frame nodes.append( ComposableNode( package="autoware_pointcloud_preprocessor", @@ -113,8 +152,9 @@ def create_parameter_dict(*args): name="ring_outlier_filter", remappings=[ ("input", "rectified/pointcloud_ex"), - ("output", "pointcloud"), + ("output", "pointcloud_before_sync"), ], + parameters=[ring_outlier_filter_node_param], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) ) @@ -127,47 +167,10 @@ def create_parameter_dict(*args): package="rclcpp_components", executable=LaunchConfiguration("container_executable"), composable_node_descriptions=nodes, + output="both", ) - distortion_component = ComposableNode( - package="autoware_pointcloud_preprocessor", - plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent", - name="distortion_corrector_node", - remappings=[ - ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), - ("~/input/imu", "/sensing/imu/imu_data"), - ("~/input/pointcloud", "mirror_cropped/pointcloud_ex"), - ("~/output/pointcloud", "rectified/pointcloud_ex"), - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - - distortion_relay_component = ComposableNode( - package="topic_tools", - plugin="topic_tools::RelayNode", - name="pointcloud_distortion_relay", - namespace="", - parameters=[ - {"input_topic": "mirror_cropped/pointcloud_ex"}, - {"output_topic": "rectified/pointcloud_ex"} - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - - # one way to add a ComposableNode conditional on a launch argument to a - # container. The `ComposableNode` itself doesn't accept a condition - distortion_loader = LoadComposableNodes( - composable_node_descriptions=[distortion_component], - target_container=container, - condition=launch.conditions.IfCondition(LaunchConfiguration("use_distortion_corrector")), - ) - distortion_relay_loader = LoadComposableNodes( - composable_node_descriptions=[distortion_relay_component], - target_container=container, - condition=launch.conditions.UnlessCondition(LaunchConfiguration("use_distortion_corrector")), - ) - - return [container, distortion_loader, distortion_relay_loader] + return [container] def generate_launch_description(): @@ -178,17 +181,38 @@ def add_launch_arg(name: str, default_value=None, description=None): launch_arguments.append( DeclareLaunchArgument(name, default_value=default_value, description=description) ) + + common_sensor_share_dir = get_package_share_directory("common_sensor_launch") add_launch_arg("base_frame", "base_link", "base frame id") add_launch_arg("container_name", "velodyne_composable_node_container", "container name") add_launch_arg("input_frame", LaunchConfiguration("base_frame"), "use for cropbox") add_launch_arg("output_frame", LaunchConfiguration("base_frame"), "use for cropbox") + add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame") add_launch_arg( "vehicle_mirror_param_file", description="path to the file of vehicle mirror position yaml" ) + add_launch_arg("frame_id", "lidar", "frame id") add_launch_arg("use_multithread", "False", "use multithread") add_launch_arg("use_intra_process", "False", "use ROS2 component container communication") - + add_launch_arg( + "distortion_correction_node_param_path", + os.path.join( + common_sensor_share_dir, + "config", + "distortion_corrector_node.param.yaml", + ), + description="path to parameter file of distortion correction node", + ) + add_launch_arg( + "ring_outlier_filter_node_param_path", + os.path.join( + common_sensor_share_dir, + "config", + "ring_outlier_filter_node.param.yaml", + ), + description="path to parameter file of ring outlier filter node", + ) set_container_executable = SetLaunchConfiguration( "container_executable", "component_container", From d531d0b5b32672534536b1f49ec0bf4283ad2388 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Tue, 29 Oct 2024 11:29:12 +0900 Subject: [PATCH 06/17] feat(common_awsim_labs_sensor_launch): distortion corrector add new param (#7) Signed-off-by: vividf --- .../config/distortion_corrector_node.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/common_awsim_labs_sensor_launch/config/distortion_corrector_node.param.yaml b/common_awsim_labs_sensor_launch/config/distortion_corrector_node.param.yaml index 3afa481..c558756 100644 --- a/common_awsim_labs_sensor_launch/config/distortion_corrector_node.param.yaml +++ b/common_awsim_labs_sensor_launch/config/distortion_corrector_node.param.yaml @@ -3,3 +3,4 @@ base_frame: base_link use_imu: true use_3d_distortion_correction: false + update_azimuth_and_distance: false From 8421ef181094f67ef3a6d6604a4a0421a19f41de Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 4 Dec 2024 14:05:54 +0100 Subject: [PATCH 07/17] refactor(glog_component): prefix package and namespace with autoware (#10) Signed-off-by: Esteve Fernandez --- .../launch/velodyne_node_container.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py b/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py index 0f5993c..698e666 100644 --- a/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py +++ b/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py @@ -73,7 +73,7 @@ def create_parameter_dict(*args): nodes.append( ComposableNode( - package="glog_component", + package="autoware_glog_component", plugin="GlogComponent", name="glog_component", ) From 0f811025ab2fc0427d7bf85c31d659ffc42610fe Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Fri, 13 Dec 2024 21:15:25 +0900 Subject: [PATCH 08/17] chore(ci): utilize sync-file-templates repo (#13) Signed-off-by: Ryohsuke Mitsudome --- .github/PULL_REQUEST_TEMPLATE.md | 8 ---- .github/PULL_REQUEST_TEMPLATE/small-change.md | 27 ------------ .../PULL_REQUEST_TEMPLATE/standard-change.md | 42 ------------------- .github/sync-files.yaml | 25 ++++++----- 4 files changed, 15 insertions(+), 87 deletions(-) delete mode 100644 .github/PULL_REQUEST_TEMPLATE.md delete mode 100644 .github/PULL_REQUEST_TEMPLATE/small-change.md delete mode 100644 .github/PULL_REQUEST_TEMPLATE/standard-change.md diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md deleted file mode 100644 index 97b0e95..0000000 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ /dev/null @@ -1,8 +0,0 @@ -**Note**: Confirm the [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/) before submitting a pull request. - -Click the `Preview` tab and select a PR template: - -- [Standard change](?expand=1&template=standard-change.md) -- [Small change](?expand=1&template=small-change.md) - -**Do NOT send a PR with this description.** diff --git a/.github/PULL_REQUEST_TEMPLATE/small-change.md b/.github/PULL_REQUEST_TEMPLATE/small-change.md deleted file mode 100644 index 7120f52..0000000 --- a/.github/PULL_REQUEST_TEMPLATE/small-change.md +++ /dev/null @@ -1,27 +0,0 @@ -## Description - - - -## Pre-review checklist for the PR author - -The PR author **must** check the checkboxes below when creating the PR. - -- [ ] I've confirmed the [contribution guidelines]. -- [ ] The PR follows the [pull request guidelines]. - -## In-review checklist for the PR reviewers - -The PR reviewers **must** check the checkboxes below before approval. - -- [ ] The PR follows the [pull request guidelines]. - -## Post-review checklist for the PR author - -The PR author **must** check the checkboxes below before merging. - -- [ ] There are no open discussions or they are tracked via tickets. - -After all checkboxes are checked, anyone who has write access can merge the PR. - -[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/ -[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/ diff --git a/.github/PULL_REQUEST_TEMPLATE/standard-change.md b/.github/PULL_REQUEST_TEMPLATE/standard-change.md deleted file mode 100644 index 2df18b2..0000000 --- a/.github/PULL_REQUEST_TEMPLATE/standard-change.md +++ /dev/null @@ -1,42 +0,0 @@ -## Description - - - -## Related links - - - -## Tests performed - - - -## Notes for reviewers - - - -## Pre-review checklist for the PR author - -The PR author **must** check the checkboxes below when creating the PR. - -- [ ] I've confirmed the [contribution guidelines]. -- [ ] The PR follows the [pull request guidelines]. - -## In-review checklist for the PR reviewers - -The PR reviewers **must** check the checkboxes below before approval. - -- [ ] The PR follows the [pull request guidelines]. -- [ ] The PR has been properly tested. -- [ ] The PR has been reviewed by the code owners. - -## Post-review checklist for the PR author - -The PR author **must** check the checkboxes below before merging. - -- [ ] There are no open discussions or they are tracked via tickets. -- [ ] The PR is ready for merge. - -After all checkboxes are checked, anyone who has write access can merge the PR. - -[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/ -[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/ diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index 6fa33fc..d9b5e65 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -1,30 +1,35 @@ -- repository: autowarefoundation/autoware +- repository: autowarefoundation/sync-file-templates + source-dir: sources files: - - source: CODE_OF_CONDUCT.md - - source: CONTRIBUTING.md - - source: DISCLAIMER.md - - source: LICENSE - source: .github/ISSUE_TEMPLATE/bug.yaml - source: .github/ISSUE_TEMPLATE/config.yml - source: .github/ISSUE_TEMPLATE/task.yaml - - source: .github/PULL_REQUEST_TEMPLATE.md - - source: .github/PULL_REQUEST_TEMPLATE/small-change.md - - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md - source: .github/dependabot.yaml + - source: .github/pull_request_template.md - source: .github/stale.yml + - source: .github/workflows/cancel-previous-workflows.yaml + - source: .github/workflows/check-build-depends.yaml + - source: .github/workflows/clang-tidy-pr-comments.yaml + - source: .github/workflows/clang-tidy-pr-comments-manually.yaml + - source: .github/workflows/comment-on-pr.yaml - source: .github/workflows/github-release.yaml - source: .github/workflows/pre-commit.yaml - source: .github/workflows/pre-commit-optional.yaml + - source: .github/workflows/pre-commit-optional-autoupdate.yaml + - source: .github/workflows/pre-commit-autoupdate.yaml - source: .github/workflows/semantic-pull-request.yaml - - source: .github/workflows/spell-check-differential.yaml - source: .github/workflows/sync-files.yaml - source: .markdown-link-check.json - source: .markdownlint.yaml - source: .pre-commit-config-optional.yaml + - source: .pre-commit-config.yaml - source: .prettierignore - source: .prettierrc.yaml - source: .yamllint.yaml - - source: setup.cfg + - source: CODE_OF_CONDUCT.md + - source: CONTRIBUTING.md + - source: DISCLAIMER.md + - source: LICENSE - repository: autowarefoundation/autoware_common files: From c47d29491f723805bfcfe580ef494943c6cb7795 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Mon, 16 Dec 2024 15:35:07 +0300 Subject: [PATCH 09/17] chore: sync files (#14) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Signed-off-by: M. Fatih Cırıt Co-authored-by: github-actions Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt --- .github/ISSUE_TEMPLATE/bug.yaml | 4 ++ .github/ISSUE_TEMPLATE/config.yml | 4 ++ .github/ISSUE_TEMPLATE/task.yaml | 4 ++ .github/dependabot.yaml | 11 ++- .github/pull_request_template.md | 11 +++ .github/stale.yml | 6 +- .../build-and-test-differential.yaml | 59 +++++++--------- .github/workflows/build-and-test.yaml | 16 +++-- .../workflows/cancel-previous-workflows.yaml | 18 +++++ .github/workflows/check-build-depends.yaml | 41 ++++++++++++ .../clang-tidy-pr-comments-manually.yaml | 66 ++++++++++++++++++ .github/workflows/clang-tidy-pr-comments.yaml | 67 +++++++++++++++++++ .github/workflows/comment-on-pr.yaml | 29 ++++++++ .github/workflows/github-release.yaml | 16 +++-- .github/workflows/pre-commit-autoupdate.yaml | 41 ++++++++++++ .../pre-commit-optional-autoupdate.yaml | 41 ++++++++++++ .github/workflows/pre-commit-optional.yaml | 11 ++- .github/workflows/pre-commit.yaml | 17 +++-- .github/workflows/semantic-pull-request.yaml | 4 ++ .github/workflows/sync-files.yaml | 12 ++-- .markdown-link-check.json | 3 + .markdownlint.yaml | 7 ++ .pre-commit-config-optional.yaml | 8 ++- .pre-commit-config.yaml | 65 ++++++++++++++---- .prettierignore | 4 ++ .prettierrc.yaml | 4 ++ .yamllint.yaml | 5 +- CODE_OF_CONDUCT.md | 2 +- .../launch/pointcloud_preprocessor.launch.py | 1 - .../launch/velodyne_node_container.launch.py | 6 +- 30 files changed, 497 insertions(+), 86 deletions(-) create mode 100644 .github/pull_request_template.md create mode 100644 .github/workflows/cancel-previous-workflows.yaml create mode 100644 .github/workflows/check-build-depends.yaml create mode 100644 .github/workflows/clang-tidy-pr-comments-manually.yaml create mode 100644 .github/workflows/clang-tidy-pr-comments.yaml create mode 100644 .github/workflows/comment-on-pr.yaml create mode 100644 .github/workflows/pre-commit-autoupdate.yaml create mode 100644 .github/workflows/pre-commit-optional-autoupdate.yaml diff --git a/.github/ISSUE_TEMPLATE/bug.yaml b/.github/ISSUE_TEMPLATE/bug.yaml index 12a8579..5c74f7c 100644 --- a/.github/ISSUE_TEMPLATE/bug.yaml +++ b/.github/ISSUE_TEMPLATE/bug.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: Bug description: Report a bug body: diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml index 48765c2..deccbf3 100644 --- a/.github/ISSUE_TEMPLATE/config.yml +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + blank_issues_enabled: false contact_links: - name: Question diff --git a/.github/ISSUE_TEMPLATE/task.yaml b/.github/ISSUE_TEMPLATE/task.yaml index cd8322f..5830732 100644 --- a/.github/ISSUE_TEMPLATE/task.yaml +++ b/.github/ISSUE_TEMPLATE/task.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: Task description: Plan a task body: diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml index 3f3bf24..8e2d719 100644 --- a/.github/dependabot.yaml +++ b/.github/dependabot.yaml @@ -1,10 +1,15 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + version: 2 updates: - package-ecosystem: github-actions directory: / + # https://docs.github.com/en/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file#scheduleinterval schedule: - interval: daily + interval: monthly open-pull-requests-limit: 1 labels: - - bot - - github-actions + - tag:bot + - type:github-actions diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md new file mode 100644 index 0000000..4c4081a --- /dev/null +++ b/.github/pull_request_template.md @@ -0,0 +1,11 @@ +## Description + +## How was this PR tested? + +## Notes for reviewers + +None. + +## Effects on system behavior + +None. diff --git a/.github/stale.yml b/.github/stale.yml index 84928d1..ffce036 100644 --- a/.github/stale.yml +++ b/.github/stale.yml @@ -1,10 +1,14 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/probot/stale#usage # Number of days of inactivity before an Issue or Pull Request with the stale label is closed daysUntilClose: false # Label to use when marking as stale -staleLabel: stale +staleLabel: status:stale # Comment to post when marking as stale markComment: > diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index db998fa..74242fe 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -2,32 +2,44 @@ name: build-and-test-differential on: pull_request: + types: + - opened + - synchronize + - reopened + - labeled jobs: + make-sure-label-is-present: + uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1 + with: + label: tag:run-build-and-test-differential + build-and-test-differential: + needs: make-sure-label-is-present + if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }} runs-on: ubuntu-latest container: ${{ matrix.container }} strategy: fail-fast: false matrix: rosdistro: - - galactic - humble include: - - rosdistro: galactic - container: ros:galactic - build-depends-repos: build_depends.repos - rosdistro: humble container: ros:humble build-depends-repos: build_depends.repos steps: - - name: Cancel previous runs - uses: styfle/cancel-workflow-action@0.9.1 + - name: Set PR fetch depth + run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" - - name: Check out repository - uses: actions/checkout@v3 + - name: Checkout PR branch and all PR commits + uses: actions/checkout@v4 with: - fetch-depth: 0 + ref: ${{ github.event.pull_request.head.sha }} + fetch-depth: ${{ env.PR_FETCH_DEPTH }} + + - name: Show disk space before the tasks + run: df -h - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 @@ -55,35 +67,12 @@ jobs: - name: Upload coverage to CodeCov if: ${{ steps.test.outputs.coverage-report-files != '' }} - uses: codecov/codecov-action@v3 + uses: codecov/codecov-action@v4 with: files: ${{ steps.test.outputs.coverage-report-files }} fail_ci_if_error: false verbose: true flags: differential - clang-tidy-differential: - runs-on: ubuntu-latest - container: ros:galactic - needs: build-and-test-differential - steps: - - name: Check out repository - uses: actions/checkout@v3 - with: - fetch-depth: 0 - - - name: Remove exec_depend - uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 - - - name: Get modified packages - id: get-modified-packages - uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 - - - name: Run clang-tidy - if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} - uses: autowarefoundation/autoware-github-actions/clang-tidy@v1 - with: - rosdistro: galactic - target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} - clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy - build-depends-repos: build_depends.repos + - name: Show disk space after the tasks + run: df -h diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 161e3ba..5a227b5 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -15,18 +15,19 @@ jobs: fail-fast: false matrix: rosdistro: - - galactic - humble include: - - rosdistro: galactic - container: ros:galactic - build-depends-repos: build_depends.repos - rosdistro: humble container: ros:humble build-depends-repos: build_depends.repos steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 + with: + fetch-depth: 1 + + - name: Show disk space before the tasks + run: df -h - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 @@ -54,9 +55,12 @@ jobs: - name: Upload coverage to CodeCov if: ${{ steps.test.outputs.coverage-report-files != '' }} - uses: codecov/codecov-action@v3 + uses: codecov/codecov-action@v4 with: files: ${{ steps.test.outputs.coverage-report-files }} fail_ci_if_error: false verbose: true flags: total + + - name: Show disk space after the tasks + run: df -h diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml new file mode 100644 index 0000000..ee79ce0 --- /dev/null +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -0,0 +1,18 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: cancel-previous-workflows + +on: + pull_request_target: + +jobs: + cancel-previous-workflows: + runs-on: ubuntu-22.04 + steps: + - name: Cancel previous runs + uses: styfle/cancel-workflow-action@0.12.1 + with: + workflow_id: all + all_but_latest: true diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml new file mode 100644 index 0000000..bb1d898 --- /dev/null +++ b/.github/workflows/check-build-depends.yaml @@ -0,0 +1,41 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: check-build-depends + +on: + pull_request: + paths: + - build_depends*.repos + +jobs: + check-build-depends: + runs-on: ubuntu-22.04 + container: ${{ matrix.container }} + strategy: + fail-fast: false + matrix: + rosdistro: + - humble + include: + - rosdistro: humble + container: ros:humble + build-depends-repos: build_depends.repos + steps: + - name: Check out repository + uses: actions/checkout@v4 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get self packages + id: get-self-packages + uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 + + - name: Build + uses: autowarefoundation/autoware-github-actions/colcon-build@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-self-packages.outputs.self-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} diff --git a/.github/workflows/clang-tidy-pr-comments-manually.yaml b/.github/workflows/clang-tidy-pr-comments-manually.yaml new file mode 100644 index 0000000..747c62c --- /dev/null +++ b/.github/workflows/clang-tidy-pr-comments-manually.yaml @@ -0,0 +1,66 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: clang-tidy-pr-comments-manually + +on: + workflow_dispatch: + inputs: + workflow_run_id_or_url: + description: The target workflow run ID or URL of the build-and-test-differential workflow + required: true +jobs: + clang-tidy-pr-comments-manually: + runs-on: ubuntu-22.04 + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Download analysis results + run: | + workflow_run_id=$(echo "${{ inputs.workflow_run_id_or_url }}" | sed -e "s|.*runs/||" -e "s|/jobs.*||") + gh run download "$workflow_run_id" -D /tmp || true + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + + - name: Check if the fixes.yaml file exists + id: check-fixes-yaml-existence + uses: autowarefoundation/autoware-github-actions/check-file-existence@v1 + with: + files: /tmp/clang-tidy-result/fixes.yaml + + - name: Set variables + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + id: set-variables + run: | + echo "pr-id=$(cat /tmp/clang-tidy-result/pr-id.txt)" >> $GITHUB_OUTPUT + echo "pr-head-repo=$(cat /tmp/clang-tidy-result/pr-head-repo.txt)" >> $GITHUB_OUTPUT + echo "pr-head-ref=$(cat /tmp/clang-tidy-result/pr-head-ref.txt)" >> $GITHUB_OUTPUT + + - name: Check out PR head + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + uses: actions/checkout@v3 + with: + repository: ${{ steps.set-variables.outputs.pr-head-repo }} + ref: ${{ steps.set-variables.outputs.pr-head-ref }} + persist-credentials: false + + - name: Replace paths in fixes.yaml + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + run: | + sed -i -e "s|/__w/|/home/runner/work/|g" /tmp/clang-tidy-result/fixes.yaml + cat /tmp/clang-tidy-result/fixes.yaml + + - name: Copy fixes.yaml to access from Docker Container Action + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + run: | + cp /tmp/clang-tidy-result/fixes.yaml fixes.yaml + + - name: Run clang-tidy-pr-comments action + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + uses: platisd/clang-tidy-pr-comments@v1 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + clang_tidy_fixes: fixes.yaml + pull_request_id: ${{ steps.set-variables.outputs.pr-id }} diff --git a/.github/workflows/clang-tidy-pr-comments.yaml b/.github/workflows/clang-tidy-pr-comments.yaml new file mode 100644 index 0000000..c8df6a6 --- /dev/null +++ b/.github/workflows/clang-tidy-pr-comments.yaml @@ -0,0 +1,67 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: clang-tidy-pr-comments + +on: + workflow_run: + workflows: + - build-and-test-differential + types: + - completed + +jobs: + clang-tidy-pr-comments: + if: ${{ github.event.workflow_run.event == 'pull_request' && contains(fromJson('["success", "failure"]'), github.event.workflow_run.conclusion) }} + runs-on: ubuntu-22.04 + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Download analysis results + run: | + gh run download ${{ github.event.workflow_run.id }} -D /tmp || true + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + + - name: Check if the fixes.yaml file exists + id: check-fixes-yaml-existence + uses: autowarefoundation/autoware-github-actions/check-file-existence@v1 + with: + files: /tmp/clang-tidy-result/fixes.yaml + + - name: Set variables + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + id: set-variables + run: | + echo "pr-id=$(cat /tmp/clang-tidy-result/pr-id.txt)" >> $GITHUB_OUTPUT + echo "pr-head-repo=$(cat /tmp/clang-tidy-result/pr-head-repo.txt)" >> $GITHUB_OUTPUT + echo "pr-head-ref=$(cat /tmp/clang-tidy-result/pr-head-ref.txt)" >> $GITHUB_OUTPUT + + - name: Check out PR head + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + uses: actions/checkout@v3 + with: + repository: ${{ steps.set-variables.outputs.pr-head-repo }} + ref: ${{ steps.set-variables.outputs.pr-head-ref }} + persist-credentials: false + + - name: Replace paths in fixes.yaml + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + run: | + sed -i -e "s|/__w/|/home/runner/work/|g" /tmp/clang-tidy-result/fixes.yaml + cat /tmp/clang-tidy-result/fixes.yaml + + - name: Copy fixes.yaml to access from Docker Container Action + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + run: | + cp /tmp/clang-tidy-result/fixes.yaml fixes.yaml + + - name: Run clang-tidy-pr-comments action + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + uses: platisd/clang-tidy-pr-comments@v1 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + clang_tidy_fixes: fixes.yaml + pull_request_id: ${{ steps.set-variables.outputs.pr-id }} diff --git a/.github/workflows/comment-on-pr.yaml b/.github/workflows/comment-on-pr.yaml new file mode 100644 index 0000000..0f2ecf5 --- /dev/null +++ b/.github/workflows/comment-on-pr.yaml @@ -0,0 +1,29 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: comment-on-pr +on: + pull_request_target: + +jobs: + comment-on-pr: + runs-on: ubuntu-22.04 + permissions: + pull-requests: write + steps: + - name: Check out repository + uses: actions/checkout@v4 + + - name: Initial PR comment + uses: marocchino/sticky-pull-request-comment@v2 + with: + message: | + Thank you for contributing to the Autoware project! + + 🚧 If your pull request is in progress, [switch it to draft mode](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#converting-a-pull-request-to-a-draft). + + Please ensure: + - You've checked our [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/). + - Your PR follows our [pull request guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/). + - All required CI checks pass before [marking the PR ready for review](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#marking-a-pull-request-as-ready-for-review). diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index 19e1e9c..bbe2ac5 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: github-release on: @@ -15,7 +19,7 @@ on: jobs: github-release: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Set tag name id: set-tag-name @@ -26,11 +30,11 @@ jobs: REF_NAME="${{ github.ref_name }}" fi - echo ::set-output name=ref-name::"$REF_NAME" - echo ::set-output name=tag-name::"${REF_NAME#beta/}" + echo "ref-name=$REF_NAME" >> $GITHUB_OUTPUT + echo "tag-name=${REF_NAME#beta/}" >> $GITHUB_OUTPUT - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: fetch-depth: 0 ref: ${{ steps.set-tag-name.outputs.ref-name }} @@ -39,7 +43,7 @@ jobs: id: set-target-name run: | if [[ "${{ steps.set-tag-name.outputs.ref-name }}" =~ "beta/" ]]; then - echo ::set-output name=target-name::"${{ steps.set-tag-name.outputs.ref-name }}" + echo "target-name=${{ steps.set-tag-name.outputs.ref-name }}" >> $GITHUB_OUTPUT fi - name: Create a local tag for beta branches @@ -62,7 +66,7 @@ jobs: verb=edit fi - echo ::set-output name=verb::"$verb" + echo "verb=$verb" >> $GITHUB_OUTPUT env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/pre-commit-autoupdate.yaml b/.github/workflows/pre-commit-autoupdate.yaml new file mode 100644 index 0000000..60c17d9 --- /dev/null +++ b/.github/workflows/pre-commit-autoupdate.yaml @@ -0,0 +1,41 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: pre-commit-autoupdate + +on: + schedule: + - cron: 0 0 1 1,4,7,10 * # quarterly + workflow_dispatch: + +jobs: + check-secret: + uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 + secrets: + secret: ${{ secrets.APP_ID }} + + pre-commit-autoupdate: + needs: check-secret + if: ${{ needs.check-secret.outputs.set == 'true' }} + runs-on: ubuntu-22.04 + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v2 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run pre-commit-autoupdate + uses: autowarefoundation/autoware-github-actions/pre-commit-autoupdate@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + pre-commit-config: .pre-commit-config.yaml + pr-labels: | + tag:bot + tag:pre-commit-autoupdate + pr-branch: pre-commit-autoupdate + pr-title: "ci(pre-commit): autoupdate" + pr-commit-message: "ci(pre-commit): autoupdate" + auto-merge-method: squash diff --git a/.github/workflows/pre-commit-optional-autoupdate.yaml b/.github/workflows/pre-commit-optional-autoupdate.yaml new file mode 100644 index 0000000..6639e5c --- /dev/null +++ b/.github/workflows/pre-commit-optional-autoupdate.yaml @@ -0,0 +1,41 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: pre-commit-optional-autoupdate + +on: + schedule: + - cron: 0 0 1 1,4,7,10 * # quarterly + workflow_dispatch: + +jobs: + check-secret: + uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 + secrets: + secret: ${{ secrets.APP_ID }} + + pre-commit-optional-autoupdate: + needs: check-secret + if: ${{ needs.check-secret.outputs.set == 'true' }} + runs-on: ubuntu-22.04 + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v2 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run pre-commit-autoupdate + uses: autowarefoundation/autoware-github-actions/pre-commit-autoupdate@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + pre-commit-config: .pre-commit-config-optional.yaml + pr-labels: | + tag:bot + tag:pre-commit-autoupdate + pr-branch: pre-commit-optional-autoupdate + pr-title: "ci(pre-commit-optional): autoupdate" + pr-commit-message: "ci(pre-commit-optional): autoupdate" + auto-merge-method: squash diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml index 93e05dc..3d08670 100644 --- a/.github/workflows/pre-commit-optional.yaml +++ b/.github/workflows/pre-commit-optional.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit-optional on: @@ -5,12 +9,15 @@ on: jobs: pre-commit-optional: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 + with: + fetch-depth: 0 - name: Run pre-commit uses: autowarefoundation/autoware-github-actions/pre-commit@v1 with: pre-commit-config: .pre-commit-config-optional.yaml + base-branch: origin/${{ github.base_ref }} diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml index 7fd1cc9..15c8e86 100644 --- a/.github/workflows/pre-commit.yaml +++ b/.github/workflows/pre-commit.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit on: @@ -5,26 +9,21 @@ on: jobs: pre-commit: - if: ${{ github.event.repository.private }} - runs-on: ubuntu-latest + if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token - uses: tibdex/github-app-token@v1 + uses: tibdex/github-app-token@v2 with: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: ref: ${{ github.event.pull_request.head.ref }} - - name: Set git config - uses: autowarefoundation/autoware-github-actions/set-git-config@v1 - with: - token: ${{ steps.generate-token.outputs.token }} - - name: Run pre-commit uses: autowarefoundation/autoware-github-actions/pre-commit@v1 with: diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml index 71224c2..b56040b 100644 --- a/.github/workflows/semantic-pull-request.yaml +++ b/.github/workflows/semantic-pull-request.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: semantic-pull-request on: diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml index b9dc590..9224c15 100644 --- a/.github/workflows/sync-files.yaml +++ b/.github/workflows/sync-files.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: sync-files on: @@ -14,11 +18,11 @@ jobs: sync-files: needs: check-secret if: ${{ needs.check-secret.outputs.set == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token - uses: tibdex/github-app-token@v1 + uses: tibdex/github-app-token@v2 with: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} @@ -28,6 +32,6 @@ jobs: with: token: ${{ steps.generate-token.outputs.token }} pr-labels: | - bot - sync-files + tag:bot + tag:sync-files auto-merge-method: squash diff --git a/.markdown-link-check.json b/.markdown-link-check.json index dec3db1..c71a3e4 100644 --- a/.markdown-link-check.json +++ b/.markdown-link-check.json @@ -4,6 +4,9 @@ { "pattern": "^http://localhost" }, + { + "pattern": "^http://127\\.0\\.0\\.1" + }, { "pattern": "^https://github.com/.*/discussions/new" } diff --git a/.markdownlint.yaml b/.markdownlint.yaml index df1f518..584154b 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -1,9 +1,16 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules. default: true MD013: false MD024: siblings_only: true +MD029: + style: ordered MD033: false MD041: false +MD045: false MD046: false MD049: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index a805f12..ff325af 100644 --- a/.pre-commit-config-optional.yaml +++ b/.pre-commit-config-optional.yaml @@ -1,6 +1,10 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + repos: - repo: https://github.com/tcort/markdown-link-check - rev: v3.10.0 + rev: v3.12.2 hooks: - id: markdown-link-check - args: [--config=.markdown-link-check.json] + args: [--quiet, --config=.markdown-link-check.json] diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 46b8247..a87ad29 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,16 +1,24 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +# https://pre-commit.ci/#configuration ci: - autofix_commit_msg: "ci(pre-commit): autofix" - autoupdate_commit_msg: "ci(pre-commit): autoupdate" + autofix_commit_msg: "style(pre-commit): autofix" + # we already have our own daily update mechanism, we set this to quarterly + autoupdate_schedule: quarterly + autoupdate_commit_msg: "ci(pre-commit): quarterly autoupdate" repos: - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.3.0 + rev: v5.0.0 hooks: - id: check-json - id: check-merge-conflict - id: check-toml - id: check-xml - id: check-yaml + args: [--unsafe] - id: detect-private-key - id: end-of-file-fixer - id: mixed-line-ending @@ -18,23 +26,23 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.31.1 + rev: v0.43.0 hooks: - id: markdownlint args: [-c, .markdownlint.yaml, --fix] - repo: https://github.com/pre-commit/mirrors-prettier - rev: v2.7.1 + rev: v4.0.0-alpha.8 hooks: - id: prettier - repo: https://github.com/adrienverge/yamllint - rev: v1.26.3 + rev: v1.35.1 hooks: - id: yamllint - repo: https://github.com/tier4/pre-commit-hooks-ros - rev: v0.7.1 + rev: v0.10.0 hooks: - id: flake8-ros - id: prettier-xacro @@ -44,25 +52,58 @@ repos: - id: sort-package-xml - repo: https://github.com/shellcheck-py/shellcheck-py - rev: v0.8.0.4 + rev: v0.10.0.1 hooks: - id: shellcheck - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.5.1-1 + rev: v3.10.0-2 hooks: - id: shfmt args: [-w, -s, -i=4] - repo: https://github.com/pycqa/isort - rev: 5.10.1 + rev: 5.13.2 hooks: - id: isort - repo: https://github.com/psf/black - rev: 22.6.0 + rev: 24.10.0 hooks: - id: black args: [--line-length=100] -exclude: .svg + - repo: https://github.com/pre-commit/mirrors-clang-format + rev: v19.1.4 + hooks: + - id: clang-format + types_or: [c++, c, cuda] + + - repo: https://github.com/cpplint/cpplint + rev: 2.0.0 + hooks: + - id: cpplint + args: [--quiet] + exclude: .cu + + - repo: https://github.com/python-jsonschema/check-jsonschema + rev: 0.30.0 + hooks: + - id: check-metaschema + files: ^.+/schema/.*schema\.json$ + + - repo: local + hooks: + - id: prettier-svg + name: prettier svg + description: Apply Prettier with plugin-xml to svg. + entry: prettier --write --list-different --ignore-unknown --print-width 200 --xml-self-closing-space false --xml-whitespace-sensitivity ignore + language: node + files: .svg$ + additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"] + + - repo: https://github.com/AleksaC/hadolint-py + rev: v2.12.1b3 + hooks: + - id: hadolint + exclude: .svg$ diff --git a/.prettierignore b/.prettierignore index a3c34d0..3e96aac 100644 --- a/.prettierignore +++ b/.prettierignore @@ -1,2 +1,6 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + *.param.yaml *.rviz diff --git a/.prettierrc.yaml b/.prettierrc.yaml index e29bf32..fe47693 100644 --- a/.prettierrc.yaml +++ b/.prettierrc.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + printWidth: 100 tabWidth: 2 overrides: diff --git a/.yamllint.yaml b/.yamllint.yaml index 6228c70..e0be62d 100644 --- a/.yamllint.yaml +++ b/.yamllint.yaml @@ -1,7 +1,10 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + extends: default ignore: | - .clang-tidy *.param.yaml rules: diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md index c493cad..8dbcfb8 100644 --- a/CODE_OF_CONDUCT.md +++ b/CODE_OF_CONDUCT.md @@ -60,7 +60,7 @@ representative at an online or offline event. Instances of abusive, harassing, or otherwise unacceptable behavior may be reported to the community leaders responsible for enforcement at -conduct@autoware.org. +. All complaints will be reviewed and investigated promptly and fairly. All community leaders are obligated to respect the privacy and security of the diff --git a/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py index e296121..6e9a2a7 100644 --- a/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py +++ b/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py @@ -20,7 +20,6 @@ from launch.conditions import IfCondition from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode diff --git a/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py b/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py index 698e666..93c68f6 100644 --- a/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py +++ b/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py @@ -12,6 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. import os + from ament_index_python.packages import get_package_share_directory import launch from launch.actions import DeclareLaunchArgument @@ -21,7 +22,6 @@ from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer -from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode from launch_ros.parameter_descriptions import ParameterFile import yaml @@ -181,7 +181,7 @@ def add_launch_arg(name: str, default_value=None, description=None): launch_arguments.append( DeclareLaunchArgument(name, default_value=default_value, description=description) ) - + common_sensor_share_dir = get_package_share_directory("common_sensor_launch") add_launch_arg("base_frame", "base_link", "base frame id") @@ -194,7 +194,7 @@ def add_launch_arg(name: str, default_value=None, description=None): ) add_launch_arg("frame_id", "lidar", "frame id") add_launch_arg("use_multithread", "False", "use multithread") - add_launch_arg("use_intra_process", "False", "use ROS2 component container communication") + add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication") add_launch_arg( "distortion_correction_node_param_path", os.path.join( From 15342ec98a57f5bd297db3a6287cf9a3f99c4543 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Mon, 16 Dec 2024 21:43:08 +0900 Subject: [PATCH 10/17] fix(awsim_labs_sensor_kit_launch): add autoware prefix to vehicle_velocity_converter (#11) Signed-off-by: a-maumau --- awsim_labs_sensor_kit_launch/launch/sensing.launch.xml | 2 +- awsim_labs_sensor_kit_launch/package.xml | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/awsim_labs_sensor_kit_launch/launch/sensing.launch.xml b/awsim_labs_sensor_kit_launch/launch/sensing.launch.xml index fa0a0c1..978aa1f 100644 --- a/awsim_labs_sensor_kit_launch/launch/sensing.launch.xml +++ b/awsim_labs_sensor_kit_launch/launch/sensing.launch.xml @@ -23,7 +23,7 @@ - + diff --git a/awsim_labs_sensor_kit_launch/package.xml b/awsim_labs_sensor_kit_launch/package.xml index 3048d93..0fafda3 100644 --- a/awsim_labs_sensor_kit_launch/package.xml +++ b/awsim_labs_sensor_kit_launch/package.xml @@ -11,6 +11,7 @@ autoware_gnss_poser autoware_pointcloud_preprocessor + autoware_vehicle_velocity_converter common_sensor_launch tamagawa_imu_driver topic_tools From 1517457d22f3968786c90acbda7992b775d39a45 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Mon, 16 Dec 2024 15:55:36 +0300 Subject: [PATCH 11/17] ci(sync-files): use the template repo (#15) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .github/sync-files.yaml | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index d9b5e65..bd09572 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -7,6 +7,8 @@ - source: .github/dependabot.yaml - source: .github/pull_request_template.md - source: .github/stale.yml + - source: .github/workflows/build-and-test.yaml + - source: .github/workflows/build-and-test-differential.yaml - source: .github/workflows/cancel-previous-workflows.yaml - source: .github/workflows/check-build-depends.yaml - source: .github/workflows/clang-tidy-pr-comments.yaml @@ -30,8 +32,3 @@ - source: CONTRIBUTING.md - source: DISCLAIMER.md - source: LICENSE - -- repository: autowarefoundation/autoware_common - files: - - source: .github/workflows/build-and-test.yaml - - source: .github/workflows/build-and-test-differential.yaml From 37a4b6574ecf75cb6dfe5b500894b2635bfc85b9 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Mon, 16 Dec 2024 12:55:56 +0000 Subject: [PATCH 12/17] chore: sync files (#16) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/workflows/build-and-test-differential.yaml | 8 ++++++-- .github/workflows/build-and-test.yaml | 6 +++++- 2 files changed, 11 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 74242fe..151269c 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: build-and-test-differential on: @@ -12,12 +16,12 @@ jobs: make-sure-label-is-present: uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1 with: - label: tag:run-build-and-test-differential + label: run:build-and-test-differential build-and-test-differential: needs: make-sure-label-is-present if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 container: ${{ matrix.container }} strategy: fail-fast: false diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 5a227b5..0af7487 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: build-and-test on: @@ -9,7 +13,7 @@ on: jobs: build-and-test: if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 container: ${{ matrix.container }} strategy: fail-fast: false From 71b4862f0f76bbc0b9b4b00f26a862ac0ea3f840 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Tue, 17 Dec 2024 21:30:59 +0000 Subject: [PATCH 13/17] chore: sync files (#17) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .pre-commit-config-optional.yaml | 2 +- .pre-commit-config.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index ff325af..56000d9 100644 --- a/.pre-commit-config-optional.yaml +++ b/.pre-commit-config-optional.yaml @@ -4,7 +4,7 @@ repos: - repo: https://github.com/tcort/markdown-link-check - rev: v3.12.2 + rev: v3.13.6 hooks: - id: markdown-link-check args: [--quiet, --config=.markdown-link-check.json] diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index a87ad29..48a97c1 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -74,7 +74,7 @@ repos: args: [--line-length=100] - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v19.1.4 + rev: v19.1.5 hooks: - id: clang-format types_or: [c++, c, cuda] From 01570ac6b5e748efdfb0e58d0fcb544b1c34b160 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Fri, 24 Jan 2025 15:14:08 +0900 Subject: [PATCH 14/17] chore: remove unnecessary dependency to velodyne_monitor (#19) Signed-off-by: Ryohsuke Mitsudome --- common_awsim_labs_sensor_launch/package.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/common_awsim_labs_sensor_launch/package.xml b/common_awsim_labs_sensor_launch/package.xml index 5eb46f5..f6c4172 100644 --- a/common_awsim_labs_sensor_launch/package.xml +++ b/common_awsim_labs_sensor_launch/package.xml @@ -10,7 +10,6 @@ ament_cmake_auto velodyne_driver - velodyne_monitor velodyne_pointcloud ament_lint_auto From 6acfb178d9edac1f615daab71dbde5af50b71f57 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Wed, 12 Feb 2025 21:01:54 +0900 Subject: [PATCH 15/17] chore: bump version to 0.41.0 (#20) Signed-off-by: Ryohsuke Mitsudome --- .../CHANGELOG.rst | 11 ++++++++++ awsim_labs_sensor_kit_description/package.xml | 2 +- awsim_labs_sensor_kit_launch/CHANGELOG.rst | 22 +++++++++++++++++++ awsim_labs_sensor_kit_launch/package.xml | 2 +- common_awsim_labs_sensor_launch/CHANGELOG.rst | 22 +++++++++++++++++++ common_awsim_labs_sensor_launch/package.xml | 2 +- 6 files changed, 58 insertions(+), 3 deletions(-) create mode 100644 awsim_labs_sensor_kit_description/CHANGELOG.rst create mode 100644 awsim_labs_sensor_kit_launch/CHANGELOG.rst create mode 100644 common_awsim_labs_sensor_launch/CHANGELOG.rst diff --git a/awsim_labs_sensor_kit_description/CHANGELOG.rst b/awsim_labs_sensor_kit_description/CHANGELOG.rst new file mode 100644 index 0000000..3da262c --- /dev/null +++ b/awsim_labs_sensor_kit_description/CHANGELOG.rst @@ -0,0 +1,11 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package awsim_labs_sensor_kit_description +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-02-12) +------------------- + +0.39.0 (2024-12-12) +------------------- +* refactor: update for the awsim_labs (`#2 `_) +* Contributors: M. Fatih Cırıt diff --git a/awsim_labs_sensor_kit_description/package.xml b/awsim_labs_sensor_kit_description/package.xml index a40594d..f509219 100644 --- a/awsim_labs_sensor_kit_description/package.xml +++ b/awsim_labs_sensor_kit_description/package.xml @@ -2,7 +2,7 @@ awsim_labs_sensor_kit_description - 0.1.0 + 0.41.0 The awsim_labs_sensor_kit_description package Piotr Jaroszek Apache License 2.0 diff --git a/awsim_labs_sensor_kit_launch/CHANGELOG.rst b/awsim_labs_sensor_kit_launch/CHANGELOG.rst new file mode 100644 index 0000000..4373736 --- /dev/null +++ b/awsim_labs_sensor_kit_launch/CHANGELOG.rst @@ -0,0 +1,22 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package awsim_labs_sensor_kit_launch +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-02-12) +------------------- +* Merge remote-tracking branch 'origin/main' into HEAD +* fix(awsim_labs_sensor_kit_launch): add autoware prefix to vehicle_velocity_converter (`#11 `_) +* chore: sync files (`#14 `_) + Co-authored-by: github-actions + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: M. Fatih Cırıt +* Contributors: Masaki Baba, Ryohsuke Mitsudome, awf-autoware-bot[bot] + +0.39.0 (2024-12-12) +------------------- +* feat: ring outlier filter and distortion correction node load from param file (`#6 `_) +* chore(package_xml): added autoware\_ prefix to gnss_poser (`#4 `_) +* refactor: renamed the package name imu_corrector to autoware_imu_corrector (`#5 `_) +* refactor!: pointcloud_preprocessor prefix package and namespace with autoware (`#3 `_) +* refactor: update for the awsim_labs (`#2 `_) +* Contributors: A. Sena Yılmaz, Amadeusz Szymko, Kenzo Lobos Tsunekawa, M. Fatih Cırıt, TaikiYamada4 diff --git a/awsim_labs_sensor_kit_launch/package.xml b/awsim_labs_sensor_kit_launch/package.xml index 0fafda3..0e55a4f 100644 --- a/awsim_labs_sensor_kit_launch/package.xml +++ b/awsim_labs_sensor_kit_launch/package.xml @@ -2,7 +2,7 @@ awsim_labs_sensor_kit_launch - 0.1.0 + 0.41.0 The awsim_labs_sensor_kit_launch package Piotr Jaroszek Apache License 2.0 diff --git a/common_awsim_labs_sensor_launch/CHANGELOG.rst b/common_awsim_labs_sensor_launch/CHANGELOG.rst new file mode 100644 index 0000000..dd8fca7 --- /dev/null +++ b/common_awsim_labs_sensor_launch/CHANGELOG.rst @@ -0,0 +1,22 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package common_awsim_labs_sensor_launch +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.41.0 (2025-02-12) +------------------- +* Merge remote-tracking branch 'origin/main' into HEAD +* chore: remove unnecessary dependency to velodyne_monitor (`#19 `_) +* chore: sync files (`#14 `_) + Co-authored-by: github-actions + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: M. Fatih Cırıt +* refactor(glog_component): prefix package and namespace with autoware (`#10 `_) +* Contributors: Esteve Fernandez, Ryohsuke Mitsudome, awf-autoware-bot[bot] + +0.39.0 (2024-12-12) +------------------- +* feat(common_awsim_labs_sensor_launch): distortion corrector add new param (`#7 `_) +* feat: ring outlier filter and distortion correction node load from param file (`#6 `_) +* refactor!: pointcloud_preprocessor prefix package and namespace with autoware (`#3 `_) +* refactor: update for the awsim_labs (`#2 `_) +* Contributors: A. Sena Yılmaz, Amadeusz Szymko, M. Fatih Cırıt, Yi-Hsiang Fang (Vivid) diff --git a/common_awsim_labs_sensor_launch/package.xml b/common_awsim_labs_sensor_launch/package.xml index f6c4172..87e9c6b 100644 --- a/common_awsim_labs_sensor_launch/package.xml +++ b/common_awsim_labs_sensor_launch/package.xml @@ -2,7 +2,7 @@ common_awsim_labs_sensor_launch - 0.1.0 + 0.41.0 The common_sensor_launch package Piotr Jaroszek Apache License 2.0 From 7ba52f15aa3cfa019998155a8d5e61d705061f85 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Thu, 13 Feb 2025 11:44:53 +0900 Subject: [PATCH 16/17] feat(awsim_labs_sensor_kit_launch): awsim lab load concatenate node parameters (#9) Signed-off-by: vividf --- .../concatenate_and_time_sync_node.param.yaml | 23 +++++++++++ .../launch/pointcloud_preprocessor.launch.py | 38 +++++++++++-------- 2 files changed, 46 insertions(+), 15 deletions(-) create mode 100644 awsim_labs_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml diff --git a/awsim_labs_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml b/awsim_labs_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml new file mode 100644 index 0000000..e1c3d1f --- /dev/null +++ b/awsim_labs_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml @@ -0,0 +1,23 @@ +/**: + ros__parameters: + debug_mode: false + has_static_tf_only: false + rosbag_length: 10.0 + maximum_queue_size: 5 + timeout_sec: 0.2 + is_motion_compensated: false + publish_synchronized_pointcloud: true + keep_input_frame_in_synchronized_pointcloud: true + publish_previous_but_late_pointcloud: false + synchronized_pointcloud_postfix: pointcloud + input_twist_topic_type: twist + input_topics: [ + "/sensing/lidar/right/pointcloud_before_sync", # 0.05 + "/sensing/lidar/top/pointcloud_before_sync", # 0.05 + "/sensing/lidar/left/pointcloud_before_sync", # 0.05 + ] + output_frame: base_link + matching_strategy: + type: advanced + lidar_timestamp_offsets: [0.0, 0.0, 0.0] + lidar_timestamp_noise_window: [0.01, 0.01, 0.01] diff --git a/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py index 6e9a2a7..1758fe3 100644 --- a/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py +++ b/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py @@ -12,7 +12,9 @@ # See the License for the specific language governing permissions and # limitations under the License. +import os +from ament_index_python.packages import get_package_share_directory import launch from launch.actions import DeclareLaunchArgument from launch.actions import OpaqueFunction @@ -22,10 +24,17 @@ from launch.substitutions import LaunchConfiguration from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode +from launch_ros.parameter_descriptions import ParameterFile def launch_setup(context, *args, **kwargs): - + # concatenate node parameters + concatenate_and_time_sync_node_param = ParameterFile( + param_file=LaunchConfiguration("concatenate_and_time_sync_node_param_path").perform( + context + ), + allow_substs=True, + ) # set concat filter as a component concat_component = ComposableNode( package="autoware_pointcloud_preprocessor", @@ -35,19 +44,7 @@ def launch_setup(context, *args, **kwargs): ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), ("output", "concatenated/pointcloud"), ], - parameters=[ - { - "input_topics": [ - "/sensing/lidar/top/pointcloud_before_sync", - "/sensing/lidar/left/pointcloud_before_sync", - "/sensing/lidar/right/pointcloud_before_sync", - ], - "output_frame": LaunchConfiguration("base_frame"), - "timeout_sec": 0.01, - "input_twist_topic_type": "twist", - "publish_synchronized_pointcloud": True, - } - ], + parameters=[concatenate_and_time_sync_node_param], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) @@ -68,10 +65,21 @@ def generate_launch_description(): def add_launch_arg(name: str, default_value=None): launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value)) - add_launch_arg("base_frame", "base_link") + awsim_labs_sensor_kit_launch_share_dir = get_package_share_directory( + "awsim_labs_sensor_kit_launch" + ) + add_launch_arg("use_multithread", "False") add_launch_arg("use_intra_process", "False") add_launch_arg("pointcloud_container_name", "pointcloud_container") + add_launch_arg( + "concatenate_and_time_sync_node_param_path", + os.path.join( + awsim_labs_sensor_kit_launch_share_dir, + "config", + "concatenate_and_time_sync_node.param.yaml", + ), + ) set_container_executable = SetLaunchConfiguration( "container_executable", From 3bee86d5c8001de7ab34864b8e70de7a7193d1df Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mete=20Fatih=20C=C4=B1r=C4=B1t?= Date: Thu, 13 Feb 2025 12:28:49 +0900 Subject: [PATCH 17/17] fix(common_awsim_labs_sensor_launch): update the glog plugin namespace --- .../launch/velodyne_node_container.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py b/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py index 93c68f6..bc5c2b7 100644 --- a/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py +++ b/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py @@ -74,7 +74,7 @@ def create_parameter_dict(*args): nodes.append( ComposableNode( package="autoware_glog_component", - plugin="GlogComponent", + plugin="autoware::glog_component::GlogComponent", name="glog_component", ) )