diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 1b344986866..b4cef11430e 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -78,7 +78,7 @@ jobs: - name: Install sonar-scanner and build-wrapper uses: sonarsource/sonarcloud-github-c-cpp@v3 env: - SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }} + SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }} - name: Build with SonarCloud Build Wrapper run: | @@ -120,6 +120,34 @@ jobs: ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/workflow.txt global_frame_rate:=20 shell: bash + - name: Scenario test (optional) + id: optional-scenario-test + run: | + source install/setup.bash + source install/local_setup.bash + # execute scenarios but ignore the return code + ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true + ./src/scenario_simulator_v2/.github/workflows/generate_workflow_report.sh /tmp/scenario_workflow/optional_workflow + echo failure=$(grep -c "> $GITHUB_OUTPUT + shell: bash + + - uses: actions/github-script@v7 + if: steps.optional-scenario-test.outputs.failure > 0 + with: + github-token: ${{ secrets.GITHUB_TOKEN }} + script: | + const fs = require('fs'); + let commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); + if (commentBody) { + commentBody = '## Failure optional scenarios\n> [!NOTE]\n> This is an experimental check and does not block merging the pull-request. \n> But, please be aware that this may indicate a regression.\n' + commentBody; + } + await github.rest.issues.createComment({ + issue_number: context.issue.number, + owner: context.repo.owner, + repo: context.repo.repo, + body: commentBody + }) + - name: Upload Lcov result uses: actions/upload-artifact@v4 with: diff --git a/.github/workflows/generate_workflow_report.sh b/.github/workflows/generate_workflow_report.sh new file mode 100755 index 00000000000..260c565dde3 --- /dev/null +++ b/.github/workflows/generate_workflow_report.sh @@ -0,0 +1,21 @@ +#!/bin/sh + +if [ $# -ne 1 ]; then + echo "Usage: $0 " + exit 1 +fi + +workflow_directory="$1" +failure_report="$workflow_directory/failure_report.md" +rm -f "$failure_report" + +find $workflow_directory -name "result.junit.xml" | while read file; do + [ -e "$file" ] || continue + if grep -q 'scenario failed: $(dirname "${file#"$workflow_directory"/}" | cut -d'/' -f1)
\n\n\`\`\`xml" + grep '\n" + } >> "$failure_report" + fi +done diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh index 736b7561e97..2479ae746b6 100755 --- a/.github/workflows/workflow.sh +++ b/.github/workflows/workflow.sh @@ -15,8 +15,9 @@ exit_status=0 while IFS= read -r line do - ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" "$@" - ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml + output_directory="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')/$(basename "$line" | sed 's/\.[^.]*$//')" + ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" output_directory:=$output_directory "$@" + ros2 run scenario_test_runner result_checker.py $output_directory/scenario_test_runner/result.junit.xml command_exit_status=$? if [ $command_exit_status -ne 0 ]; then echo "Error: caught non-zero exit status（code: $command_exit_status)" diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 645ead25fb7..66a800b53dd 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 819bf5482ad..a5505bfb4bc 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 11.0.0 + 11.1.0 arithmetic library for scenario_simulator_v2 Tatsuya Yamasaki Apache License 2.0 diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst index 13707a10ea2..48d549642a1 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index fab413ddcfe..b9cc871c134 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 11.0.0 + 11.1.0 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index a29e1796f3b..6db73106c6a 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 3ba4c0ddccd..e6f66152efe 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 11.0.0 + 11.1.0 Exception types for scenario simulator Tatsuya Yamasaki Apache License 2.0 diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst index df5ed0c3ade..c306dee64a3 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index f99fff7f1f1..aebcab8df56 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 11.0.0 + 11.1.0 Lightweight JUnit library for ROS 2 Masaya Kataoka Tatsuya Yamasaki diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst index d3a17de0b4c..6d0ab08e972 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 832e1fc0257..93c4336aa6f 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 11.0.0 + 11.1.0 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 1f528a38302..6054bee7c13 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/external/concealer/package.xml b/external/concealer/package.xml index e9220c61892..66f7711bd54 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 11.0.0 + 11.1.0 Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator. Tatsuya Yamasaki Apache License 2.0 diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst index 73afdb31596..b994299e9d7 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,23 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 6791d2e5593..7ffa48c0d06 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 11.0.0 + 11.1.0 vendor packages for intel raytracing kernel library masaya Apache 2.0 diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst index 10ad0bb0cdd..422f85cd136 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index bcd672b7b20..e3f18626968 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 11.0.0 + 11.1.0 map package for kashiwanoha Masaya Kataoka Apache License 2.0 diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst index 2c77f3b120a..f477d2ebecc 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,23 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 7be7066f28c..523fd72c1f5 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 11.0.0 + 11.1.0 map package for simple cross Masaya Kataoka Apache License 2.0 diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst index 95b0f2ab438..4b2ad340d52 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 4a047501e15..52ed4d32d94 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 11.0.0 + 11.1.0 C++ mock scenarios masaya Apache License 2.0 diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst index 48af3ee19c9..715689f49a5 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index a0fb249ac42..608cd8fed89 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 11.0.0 + 11.1.0 TIER IV experimental catalogs for OpenSCENARIO Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst index 685a766e6e9..fbd669a9e8e 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,38 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge pull request `#1517 `_ from tier4/feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* refactor: use minimum captures for lambda +* chore: use seconds as time unit in execution_time topics +* refactor: generate UserDefinedValue message for each publishers +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* fix: delete unavailable include +* refactor: delete unused code +* refactor: use ExecutionTimer instead of ScopedElapsedTimeRecorder +* refactor: rename TClock with Clock +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* refactor: simplify ScopedElapsedTimeRecorder class +* fix: correct initialization order +* Merge branch 'master' into feature/execution_time +* fix: add activate and deactivate process for time publisher in interpreter +* fix: correct time unit conversion +* feat: publish execution time from interpreter +* feat: record execution time with ScopedElapsedTimeRecorder class +* feat: implement ScopedElapsedTimeRecorder class +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp index 1fd5a0c67d2..2ec83694855 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp @@ -32,6 +32,7 @@ #include #include #include +#include #include #define INTERPRETER_INFO_STREAM(...) \ @@ -52,6 +53,15 @@ class Interpreter : public rclcpp_lifecycle::LifecycleNode, const rclcpp_lifecycle::LifecyclePublisher::SharedPtr publisher_of_context; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + evaluate_time_publisher; + + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + update_time_publisher; + + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + output_time_publisher; + double local_frame_rate; double local_real_time_factor; @@ -195,36 +205,6 @@ class Interpreter : public rclcpp_lifecycle::LifecycleNode, return handle(); } } - - template - auto withTimeoutHandler(TimeoutHandler && handle, Thunk && thunk) -> decltype(auto) - { - if (const auto time = execution_timer.invoke("", thunk); currentLocalFrameRate() < time) { - handle(execution_timer.getStatistics("")); - } - } - - auto defaultTimeoutHandler() const - { - /* - Ideally, the scenario should be terminated with an error if the total - time for the ScenarioDefinition evaluation and the traffic_simulator's - updateFrame exceeds the time allowed for a single frame. However, we - have found that many users are in environments where it is not possible - to run the simulator stably at 30 FPS (the default setting) while - running Autoware. In order to prioritize comfortable daily use, we - decided to give up full reproducibility of the scenario and only provide - warnings. - */ - - return [this](const auto & statistics) { - RCLCPP_WARN_STREAM( - get_logger(), - "Your machine is not powerful enough to run the scenario at the specified frame rate (" - << local_frame_rate << " Hz). We recommend that you reduce the frame rate to " - << 1000.0 / statistics.template max().count() << " or less."); - }; - } }; } // namespace openscenario_interpreter diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 5e43b546497..a72d692b9ed 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 11.0.0 + 11.1.0 OpenSCENARIO 1.2.0 interpreter package for Autoware Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 4cb96beee16..e76840d2d84 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -37,6 +37,12 @@ namespace openscenario_interpreter Interpreter::Interpreter(const rclcpp::NodeOptions & options) : rclcpp_lifecycle::LifecycleNode("openscenario_interpreter", options), publisher_of_context(create_publisher("context", rclcpp::QoS(1).transient_local())), + evaluate_time_publisher(create_publisher( + "/simulation/interpreter/execution_time/evaluate", rclcpp::QoS(1).transient_local())), + update_time_publisher(create_publisher( + "/simulation/interpreter/execution_time/update", rclcpp::QoS(1).transient_local())), + output_time_publisher(create_publisher( + "/simulation/interpreter/execution_time/output", rclcpp::QoS(1).transient_local())), local_frame_rate(30), local_real_time_factor(1.0), osc_path(""), @@ -188,7 +194,7 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result deactivate(); }, [this]() { - withTimeoutHandler(defaultTimeoutHandler(), [this]() { + const auto evaluate_time = execution_timer.invoke("evaluate", [this]() { if (std::isnan(evaluateSimulationTime())) { if (not waiting_for_engagement_to_be_completed and engageable()) { engage(); @@ -202,11 +208,44 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result } else { throw Error("No script evaluable."); } - - SimulatorCore::update(); - - publishCurrentContext(); }); + + const auto update_time = + execution_timer.invoke("update", []() { SimulatorCore::update(); }); + + const auto output_time = + execution_timer.invoke("output", [this]() { publishCurrentContext(); }); + + auto generate_double_user_defined_value_message = [](double value) { + tier4_simulation_msgs::msg::UserDefinedValue message; + message.type.data = tier4_simulation_msgs::msg::UserDefinedValueType::DOUBLE; + message.value = std::to_string(value); + return message; + }; + evaluate_time_publisher->publish(generate_double_user_defined_value_message( + std::chrono::duration(evaluate_time).count())); + update_time_publisher->publish(generate_double_user_defined_value_message( + std::chrono::duration(update_time).count())); + output_time_publisher->publish(generate_double_user_defined_value_message( + std::chrono::duration(output_time).count())); + + if (auto time_until_trigger = timer->time_until_trigger(); time_until_trigger.count() < 0) { + /* + Ideally, the scenario should be terminated with an error if the total + time for the ScenarioDefinition evaluation and the traffic_simulator's + updateFrame exceeds the time allowed for a single frame. However, we + have found that many users are in environments where it is not possible + to run the simulator stably at 30 FPS (the default setting) while + running Autoware. In order to prioritize comfortable daily use, we + decided to give up full reproducibility of the scenario and only provide + warnings. + */ + RCLCPP_WARN_STREAM( + get_logger(), + "Your machine is not powerful enough to run the scenario at the specified frame rate (" + << local_frame_rate << " Hz). Current frame execution exceeds " + << -time_until_trigger.count() / 1.e6 << " milliseconds."); + } }); }; @@ -249,6 +288,9 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result execution_timer.clear(); publisher_of_context->on_activate(); + evaluate_time_publisher->on_activate(); + update_time_publisher->on_activate(); + output_time_publisher->on_activate(); assert(publisher_of_context->is_activated()); @@ -320,6 +362,15 @@ auto Interpreter::reset() -> void if (publisher_of_context->is_activated()) { publisher_of_context->on_deactivate(); } + if (evaluate_time_publisher->is_activated()) { + evaluate_time_publisher->on_deactivate(); + } + if (update_time_publisher->is_activated()) { + update_time_publisher->on_deactivate(); + } + if (output_time_publisher->is_activated()) { + output_time_publisher->on_deactivate(); + } if (not has_parameter("initialize_duration")) { declare_parameter("initialize_duration", 30); diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst index 6b1557780d9..e2987d220cd 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 61c93b42ba2..900f4f106b7 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 11.0.0 + 11.1.0 Examples for some TIER IV OpenSCENARIO Interpreter's features Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst index 66d86170288..6f4d055a563 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 89523cf4cdf..4d54e63e6c2 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 11.0.0 + 11.1.0 ROS message types for package openscenario_interpreter Yamasaki Tatsuya Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor/CHANGELOG.rst b/openscenario/openscenario_preprocessor/CHANGELOG.rst index 8a441ba0ef7..d53be8f8f00 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 10bc61ac4b8..a2f9aa49d9b 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 11.0.0 + 11.1.0 Example package for TIER IV OpenSCENARIO Interpreter Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst index 22120d8dc8d..ca59cba9915 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 45547e73bd9..3a6ba63e8ee 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 11.0.0 + 11.1.0 ROS message types for package openscenario_preprocessor Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_utility/CHANGELOG.rst b/openscenario/openscenario_utility/CHANGELOG.rst index 05b6b7217d4..13950e4e331 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,23 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 1e631d3fcb3..a1d5bca52e9 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 11.0.0 + 11.1.0 Utility tools for ASAM OpenSCENARIO 1.2.0 Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_validator/CHANGELOG.rst b/openscenario/openscenario_validator/CHANGELOG.rst index 91bef2be35b..82732626ce8 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,23 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index edbca6817c7..88bcfcd8245 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 11.0.0 + 11.1.0 Validator for OpenSCENARIO 1.3 Kotaro Yoshimoto Apache License 2.0 diff --git a/rviz_plugins/openscenario_visualization/CHANGELOG.rst b/rviz_plugins/openscenario_visualization/CHANGELOG.rst index 6bb333751df..812297b6157 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 5d1cabae0f2..cbc768c3902 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 11.0.0 + 11.1.0 Visualization tools for simulation results Masaya Kataoka Kyoichi Sugahara diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst index bf423a6f684..a3b64d38188 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml index c28462b1fa2..ea86f0644fd 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml @@ -2,7 +2,7 @@ real_time_factor_control_rviz_plugin - 11.0.0 + 11.1.0 Slider controlling real time factor value. Paweł Lech Apache License 2.0 diff --git a/scenario_simulator_v2/CHANGELOG.rst b/scenario_simulator_v2/CHANGELOG.rst index fe9982abd22..604b31cf9e6 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index c2c38365c38..aebadabbe9f 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 11.0.0 + 11.1.0 scenario testing framework for Autoware Masaya Kataoka Apache License 2.0 diff --git a/simulation/behavior_tree_plugin/CHANGELOG.rst b/simulation/behavior_tree_plugin/CHANGELOG.rst index ec85f54e9a7..5e174a55f35 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge pull request `#1531 `_ from tier4/refactor/lanelet_wrapper_route diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 1ad5da85cd2..0de07c13c91 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 11.0.0 + 11.1.0 Behavior tree plugin for traffic_simulator masaya Apache 2.0 diff --git a/simulation/do_nothing_plugin/CHANGELOG.rst b/simulation/do_nothing_plugin/CHANGELOG.rst index e047a82cada..8976821ea10 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index b4e3d00ec3c..4c1e5ccd01c 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 11.0.0 + 11.1.0 Behavior plugin for do nothing Masaya Kataoka Apache 2.0 diff --git a/simulation/simple_sensor_simulator/CHANGELOG.rst b/simulation/simple_sensor_simulator/CHANGELOG.rst index 8ad3f44fd9c..5cd2d94b8ee 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index f10a0cb0a42..04b3efdbcee 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 11.0.0 + 11.1.0 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 49040ca46a2..14d31d52b07 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 5075a3821e8..9ed8ca601da 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 11.0.0 + 11.1.0 packages to define interface between simulator and scenario interpreter Masaya Kataoka Apache License 2.0 diff --git a/simulation/traffic_simulator/CHANGELOG.rst b/simulation/traffic_simulator/CHANGELOG.rst index ef445a47244..a17d0d86007 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge pull request `#1531 `_ from tier4/refactor/lanelet_wrapper_route diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 1f393017b12..e82a2c4372b 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 11.0.0 + 11.1.0 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 23fdc04e60b..a2a560e8351 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index ae4e5c1feaa..1bd5fd95d8c 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 11.0.0 + 11.1.0 ROS messages for openscenario Masaya Kataoka Apache License 2.0 diff --git a/test_runner/random_test_runner/CHANGELOG.rst b/test_runner/random_test_runner/CHANGELOG.rst index c65cdfe45a9..ffe6a004091 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 3cd961cd8fe..745ff53f53b 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 11.0.0 + 11.1.0 Random behavior test runner piotr-zyskowski-rai Apache License 2.0 diff --git a/test_runner/scenario_test_runner/CHANGELOG.rst b/test_runner/scenario_test_runner/CHANGELOG.rst index 4c18dbfe07f..504a85bf34b 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,40 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge pull request `#1517 `_ from tier4/feature/execution_time +* Revert "Revert "Revert "chore: modify scenario threshold for test""" + This reverts commit 7d343c55b229f3c1eb4aabb28340b4dfd7f9ff98. +* Merge branch 'master' into feature/execution_time +* Revert "Revert "chore: modify scenario threshold for test"" + This reverts commit 603273f93910854a0fdd228dfef0aee537fb6398. +* Revert "chore: modify scenario threshold for test" + This reverts commit 30e525ccdce49cc2f13d21f9fa9b9b15f58ccbbb. +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* chore: modify scenario threshold for test +* Merge branch 'master' into feature/execution_time +* chore: use seconds as time unit in execution_time topics +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Revert "chore: change scenario condition for test" + This reverts commit 868aae6e9077d8f9c2e58d3431d01e300b1f1c70. +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* chore: change scenario condition for test +* chore: move execution_time_test.yaml into optional_workflow.txt +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* feat: add execution_time_test.yaml into test scenario line-up +* Merge branch 'master' into feature/execution_time +* chore: update threshold for update time in execution_time_test.yaml +* refactor: use anchor and aliases in execution_time_test.yaml +* feat: add execution_time_test.yaml +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/test_runner/scenario_test_runner/config/optional_workflow.txt b/test_runner/scenario_test_runner/config/optional_workflow.txt new file mode 100644 index 00000000000..10542919b4e --- /dev/null +++ b/test_runner/scenario_test_runner/config/optional_workflow.txt @@ -0,0 +1 @@ +$(find-pkg-share scenario_test_runner)/scenario/execution_time_test.yaml diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index a88820be66d..4d48aee522e 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 11.0.0 + 11.1.0 scenario test runner package Tatsuya Yamasaki Apache License 2.0 diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml new file mode 100644 index 00000000000..4b6917f3459 --- /dev/null +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -0,0 +1,201 @@ +OpenSCENARIO: + FileHeader: + author: 'Kotaro Yoshimoto' + date: '2025-01-28T18:06:53+09:00' + description: 'scenario for execution time test' + revMajor: 1 + revMinor: 3 + ParameterDeclarations: + ParameterDeclaration: [] + CatalogLocations: + VehicleCatalog: + Directory: + path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle + RoadNetwork: + LogicFile: + filepath: $(ros2 pkg prefix --share kashiwanoha_map)/map + Entities: + ScenarioObject: + - name: Car1 + CatalogReference: &SAMPLE_VEHICLE + catalogName: sample_vehicle + entryName: sample_vehicle + - name: Car2 + CatalogReference: *SAMPLE_VEHICLE + - name: Car3 + CatalogReference: *SAMPLE_VEHICLE + - name: Car4 + CatalogReference: *SAMPLE_VEHICLE + - name: Car5 + CatalogReference: *SAMPLE_VEHICLE + - name: Car6 + CatalogReference: *SAMPLE_VEHICLE + Storyboard: + Init: + Actions: + Private: + - entityRef: Car1 + PrivateAction: + - TeleportAction: + Position: + LanePosition: &DEFAULT_LANE_POSITION + roadId: '' + laneId: 34513 + s: 0 + offset: 0 + Orientation: &DEFAULT_ORIENTATION + type: relative + h: 0 + p: 0 + r: 0 + - entityRef: Car2 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + <<: *DEFAULT_LANE_POSITION + s: 5 + - entityRef: Car3 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + <<: *DEFAULT_LANE_POSITION + s: 10 + - entityRef: Car4 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + <<: *DEFAULT_LANE_POSITION + s: 15 + - entityRef: Car5 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + <<: *DEFAULT_LANE_POSITION + s: 20 + - entityRef: Car6 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + <<: *DEFAULT_LANE_POSITION + s: 25 + Story: + - name: '' + Act: + - name: _EndCondition + ManeuverGroup: + - maximumExecutionCount: 1 + name: '' + Actors: + selectTriggeringEntities: false + EntityRef: + - entityRef: Car1 + Maneuver: + - name: '' + Event: + - name: '' + priority: parallel + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: + - entityRef: Car1 + EntityCondition: + ReachPositionCondition: + Position: + LanePosition: + <<: *DEFAULT_LANE_POSITION + s: 40 + tolerance: 0.5 + Action: + - name: '' + UserDefinedAction: + CustomCommandAction: + type: exitSuccess + - name: '' + priority: parallel + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 60 + rule: greaterThan + - Condition: + - name: 'evaluate time checker' + delay: 0 + conditionEdge: none + ByValueCondition: + UserDefinedValueCondition: + name: /simulation/interpreter/execution_time/evaluate + rule: greaterThan + value: 0.001 + - name: 'avoid startup' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 1 + rule: greaterThan + - Condition: + - name: 'update time checker' + delay: 0 + conditionEdge: none + ByValueCondition: + UserDefinedValueCondition: + name: /simulation/interpreter/execution_time/update + rule: greaterThan + value: 0.005 + - name: 'avoid startup' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 1 + rule: greaterThan + - Condition: + - name: 'output time checker' + delay: 0 + conditionEdge: none + ByValueCondition: + UserDefinedValueCondition: + name: /simulation/interpreter/execution_time/output + rule: greaterThan + value: 0.001 + - name: 'avoid startup' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 1 + rule: greaterThan + Action: + - name: '' + UserDefinedAction: + CustomCommandAction: + type: exitFailure + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 0 + rule: greaterThan + StopTrigger: + ConditionGroup: []