From c23236c46f838dc95e7c971235014d27e57c43c6 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 10:11:58 +0900 Subject: [PATCH 01/46] feat: implement ScopedElapsedTimeRecorder class --- .../utility/scoped_elapsed_time_recorder.hpp | 42 +++++++++++++++++++ 1 file changed, 42 insertions(+) create mode 100644 openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp new file mode 100644 index 00000000000..f012571103e --- /dev/null +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp @@ -0,0 +1,42 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// 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. + +#ifndef OPENSCENARIO_INTERPRETER__UTILITY__SCOPED_ELAPSED_TIME_RECORDER_HPP_ +#define OPENSCENARIO_INTERPRETER__UTILITY__SCOPED_ELAPSED_TIME_RECORDER_HPP_ + +#include +#include + +template +class ScopedElapsedTimeRecorder +{ +public: + explicit ScopedElapsedTimeRecorder(double & output_seconds) : output_seconds(output_seconds) {} + + ~ScopedElapsedTimeRecorder() { output_seconds = getElapsedSeconds(start); } + + double elapsedSeconds() const { return getElapsedSec(start); } + +private: + std::chrono::time_point start = TClock::now(); + + double getElapsedSeconds(std::chrono::time_point start) const + { + return std::abs(std::chrono::duration(TClock::now() - start).count()); + } + + double & output_seconds; +}; + +#endif // OPENSCENARIO_INTERPRETER__UTILITY__SCOPED_ELAPSED_TIME_RECORDER_HPP_ From b84bae245f5e9c99e1e277255af5209e848c1711 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 10:13:55 +0900 Subject: [PATCH 02/46] feat: record execution time with ScopedElapsedTimeRecorder class --- .../src/openscenario_interpreter.cpp | 39 ++++++++++++------- 1 file changed, 24 insertions(+), 15 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 74fdf7ca028..672a62c168b 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -24,6 +24,7 @@ #include #include #include +#include #include #include @@ -186,23 +187,31 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result }, [this]() { withTimeoutHandler(defaultTimeoutHandler(), [this]() { - if (std::isnan(evaluateSimulationTime())) { - if (not waiting_for_engagement_to_be_completed and engageable()) { - engage(); - waiting_for_engagement_to_be_completed = true; // NOTE: DIRTY HACK!!! - } else if (engaged()) { - activateNonUserDefinedControllers(); - waiting_for_engagement_to_be_completed = false; // NOTE: DIRTY HACK!!! + double evaluate_time, update_time, context_time; + { + ScopedElapsedTimeRecorder evaluate_time_recorder(evaluate_time); + if (std::isnan(evaluateSimulationTime())) { + if (not waiting_for_engagement_to_be_completed and engageable()) { + engage(); + waiting_for_engagement_to_be_completed = true; // NOTE: DIRTY HACK!!! + } else if (engaged()) { + activateNonUserDefinedControllers(); + waiting_for_engagement_to_be_completed = false; // NOTE: DIRTY HACK!!! + } + } else if (currentScenarioDefinition()) { + currentScenarioDefinition()->evaluate(); + } else { + throw Error("No script evaluable."); } - } else if (currentScenarioDefinition()) { - currentScenarioDefinition()->evaluate(); - } else { - throw Error("No script evaluable."); } - - SimulatorCore::update(); - - publishCurrentContext(); + { + ScopedElapsedTimeRecorder update_time_recorder(update_time); + SimulatorCore::update(); + } + { + ScopedElapsedTimeRecorder context_time_recorder(context_time); + publishCurrentContext(); + } }); }); }; From 542917890c1329c8c485c2cce92e88b0b89a2432 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 10:16:40 +0900 Subject: [PATCH 03/46] feat: publish execution time from interpreter --- .../openscenario_interpreter.hpp | 10 ++++++++++ .../src/openscenario_interpreter.cpp | 17 ++++++++++++++++- 2 files changed, 26 insertions(+), 1 deletion(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp index a1fd41e2f4e..9d7eb82322f 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; diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 672a62c168b..b669df92682 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -43,7 +43,13 @@ Interpreter::Interpreter(const rclcpp::NodeOptions & options) osc_path(""), output_directory("/tmp"), publish_empty_context(false), - record(false) + record(false), + evaluate_time_publisher(create_publisher( + "/simulation/interpreter/execution_time_ms/evaluate", rclcpp::QoS(1).transient_local())), + update_time_publisher(create_publisher( + "/simulation/interpreter/execution_time_ms/update", rclcpp::QoS(1).transient_local())), + output_time_publisher(create_publisher( + "/simulation/interpreter/execution_time_ms/output", rclcpp::QoS(1).transient_local())) { DECLARE_PARAMETER(local_frame_rate); DECLARE_PARAMETER(local_real_time_factor); @@ -212,6 +218,15 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result ScopedElapsedTimeRecorder context_time_recorder(context_time); publishCurrentContext(); } + + tier4_simulation_msgs::msg::UserDefinedValue msg; + msg.type.data = tier4_simulation_msgs::msg::UserDefinedValueType::DOUBLE; + msg.value = std::to_string(evaluate_time * 1e6); + evaluate_time_publisher->publish(msg); + msg.value = std::to_string(update_time * 1e6); + update_time_publisher->publish(msg); + msg.value = std::to_string(context_time * 1e6); + output_time_publisher->publish(msg); }); }); }; From 270dc1f983d356d8c31acafae4c92feac586cbb6 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 18:02:36 +0900 Subject: [PATCH 04/46] fix: correct time unit conversion --- .../src/openscenario_interpreter.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index b669df92682..8fff1ed666b 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -221,11 +221,11 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result tier4_simulation_msgs::msg::UserDefinedValue msg; msg.type.data = tier4_simulation_msgs::msg::UserDefinedValueType::DOUBLE; - msg.value = std::to_string(evaluate_time * 1e6); + msg.value = std::to_string(evaluate_time * 1e3); evaluate_time_publisher->publish(msg); - msg.value = std::to_string(update_time * 1e6); + msg.value = std::to_string(update_time * 1e3); update_time_publisher->publish(msg); - msg.value = std::to_string(context_time * 1e6); + msg.value = std::to_string(context_time * 1e3); output_time_publisher->publish(msg); }); }); From a3c997c4c89f0ef3609b4b29ec476fb0dcf3d8e7 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 18:03:45 +0900 Subject: [PATCH 05/46] fix: add activate and deactivate process for time publisher in interpreter --- .../src/openscenario_interpreter.cpp | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 8fff1ed666b..56203374a2e 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -264,6 +264,9 @@ 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()); @@ -335,6 +338,15 @@ 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); From a484865f271df75d09217dbc8364b6572b8a80b3 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 18:07:32 +0900 Subject: [PATCH 06/46] feat: add execution_time_test.yaml --- .../scenario/execution_time_test.yaml | 219 ++++++++++++++++++ 1 file changed, 219 insertions(+) create mode 100644 test_runner/scenario_test_runner/scenario/execution_time_test.yaml 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..3d555c24e7a --- /dev/null +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -0,0 +1,219 @@ +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: + roadId: '' + laneId: 34513 + s: 0 + offset: 0 + Orientation: &DEFAULT_ORIENTATION + type: relative + h: 0 + p: 0 + r: 0 + - entityRef: Car2 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 5 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + - entityRef: Car3 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 10 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + - entityRef: Car4 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 15 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + - entityRef: Car5 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 20 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + - entityRef: Car6 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 25 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + 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: + roadId: '' + laneId: '34513' + s: 40 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + 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_ms/evaluate + rule: greaterThan + value: 1 + - 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_ms/update + rule: greaterThan + value: 1 + - 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_ms/output + rule: greaterThan + value: 1 + - 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: [] From a42e4de08fe7b91a5811ce0e8a935c1202983498 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 19:16:51 +0900 Subject: [PATCH 07/46] refactor: use anchor and aliases in execution_time_test.yaml --- .../scenario/execution_time_test.yaml | 32 ++++--------------- 1 file changed, 7 insertions(+), 25 deletions(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 3d555c24e7a..281c6612d86 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -38,7 +38,7 @@ OpenSCENARIO: PrivateAction: - TeleportAction: Position: - LanePosition: + LanePosition: &DEFAULT_LANE_POSITION roadId: '' laneId: 34513 s: 0 @@ -53,51 +53,36 @@ OpenSCENARIO: - TeleportAction: Position: LanePosition: - roadId: '' - laneId: 34513 + <<: *DEFAULT_LANE_POSITION s: 5 - offset: 0 - Orientation: *DEFAULT_ORIENTATION - entityRef: Car3 PrivateAction: - TeleportAction: Position: LanePosition: - roadId: '' - laneId: 34513 + <<: *DEFAULT_LANE_POSITION s: 10 - offset: 0 - Orientation: *DEFAULT_ORIENTATION - entityRef: Car4 PrivateAction: - TeleportAction: Position: LanePosition: - roadId: '' - laneId: 34513 + <<: *DEFAULT_LANE_POSITION s: 15 - offset: 0 - Orientation: *DEFAULT_ORIENTATION - entityRef: Car5 PrivateAction: - TeleportAction: Position: LanePosition: - roadId: '' - laneId: 34513 + <<: *DEFAULT_LANE_POSITION s: 20 - offset: 0 - Orientation: *DEFAULT_ORIENTATION - entityRef: Car6 PrivateAction: - TeleportAction: Position: LanePosition: - roadId: '' - laneId: 34513 + <<: *DEFAULT_LANE_POSITION s: 25 - offset: 0 - Orientation: *DEFAULT_ORIENTATION Story: - name: '' Act: @@ -129,11 +114,8 @@ OpenSCENARIO: ReachPositionCondition: Position: LanePosition: - roadId: '' - laneId: '34513' + <<: *DEFAULT_LANE_POSITION s: 40 - offset: 0 - Orientation: *DEFAULT_ORIENTATION tolerance: 0.5 Action: - name: '' From 017bad152df320452c9007ff004bcc2e5947b9b6 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 19:19:01 +0900 Subject: [PATCH 08/46] chore: update threshold for update time in execution_time_test.yaml --- .../scenario_test_runner/scenario/execution_time_test.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 281c6612d86..77784e9d500 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -158,7 +158,7 @@ OpenSCENARIO: UserDefinedValueCondition: name: /simulation/interpreter/execution_time_ms/update rule: greaterThan - value: 1 + value: 5 - name: 'avoid startup' delay: 0 conditionEdge: none From 5ef2afb1df48ef01a4955cdf4545c6997e4760f5 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 19:23:52 +0900 Subject: [PATCH 09/46] feat: add execution_time_test.yaml into test scenario line-up --- test_runner/scenario_test_runner/config/workflow.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/test_runner/scenario_test_runner/config/workflow.txt b/test_runner/scenario_test_runner/config/workflow.txt index b5ae1aef8e6..bab005da398 100644 --- a/test_runner/scenario_test_runner/config/workflow.txt +++ b/test_runner/scenario_test_runner/config/workflow.txt @@ -9,6 +9,7 @@ $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityConditio $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.RelativeSpeedCondition.yaml $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.TimeToCollisionCondition.yaml $(find-pkg-share scenario_test_runner)/scenario/ControllerAction.AssignControllerAction.yaml +$(find-pkg-share scenario_test_runner)/scenario/execution_time_test.yaml $(find-pkg-share scenario_test_runner)/scenario/LateralAction.LaneChangeAction-RoadShoulder.yaml $(find-pkg-share scenario_test_runner)/scenario/LongitudinalAction.SpeedAction.yaml $(find-pkg-share scenario_test_runner)/scenario/Property.isBlind.yaml From fe036f8075723a555b94abb403777e4dff3115b8 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 19:28:42 +0900 Subject: [PATCH 10/46] fix: correct initialization order --- .../src/openscenario_interpreter.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 56203374a2e..1787efdba2e 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -38,18 +38,18 @@ 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())), - local_frame_rate(30), - local_real_time_factor(1.0), - osc_path(""), - output_directory("/tmp"), - publish_empty_context(false), - record(false), evaluate_time_publisher(create_publisher( "/simulation/interpreter/execution_time_ms/evaluate", rclcpp::QoS(1).transient_local())), update_time_publisher(create_publisher( "/simulation/interpreter/execution_time_ms/update", rclcpp::QoS(1).transient_local())), output_time_publisher(create_publisher( - "/simulation/interpreter/execution_time_ms/output", rclcpp::QoS(1).transient_local())) + "/simulation/interpreter/execution_time_ms/output", rclcpp::QoS(1).transient_local())), + local_frame_rate(30), + local_real_time_factor(1.0), + osc_path(""), + output_directory("/tmp"), + publish_empty_context(false), + record(false) { DECLARE_PARAMETER(local_frame_rate); DECLARE_PARAMETER(local_real_time_factor); From 429ec955ca58ecc8f10b27bff691ef1ffcfcbdfe Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 19:30:33 +0900 Subject: [PATCH 11/46] refactor: simplify ScopedElapsedTimeRecorder class --- .../utility/scoped_elapsed_time_recorder.hpp | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp index f012571103e..816d6dbe5fd 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp @@ -24,18 +24,14 @@ class ScopedElapsedTimeRecorder public: explicit ScopedElapsedTimeRecorder(double & output_seconds) : output_seconds(output_seconds) {} - ~ScopedElapsedTimeRecorder() { output_seconds = getElapsedSeconds(start); } - - double elapsedSeconds() const { return getElapsedSec(start); } + ~ScopedElapsedTimeRecorder() + { + output_seconds = std::abs(std::chrono::duration(TClock::now() - start).count()); + } private: std::chrono::time_point start = TClock::now(); - double getElapsedSeconds(std::chrono::time_point start) const - { - return std::abs(std::chrono::duration(TClock::now() - start).count()); - } - double & output_seconds; }; From 014bffc9def67193903fee9361546f665ba6e6c9 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 4 Feb 2025 17:09:42 +0900 Subject: [PATCH 12/46] refactor: rename TClock with Clock --- .../utility/scoped_elapsed_time_recorder.hpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp index 816d6dbe5fd..2ebf004b12d 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp @@ -18,7 +18,7 @@ #include #include -template +template class ScopedElapsedTimeRecorder { public: @@ -26,11 +26,11 @@ class ScopedElapsedTimeRecorder ~ScopedElapsedTimeRecorder() { - output_seconds = std::abs(std::chrono::duration(TClock::now() - start).count()); + output_seconds = std::abs(std::chrono::duration(Clock::now() - start).count()); } private: - std::chrono::time_point start = TClock::now(); + std::chrono::time_point start = Clock::now(); double & output_seconds; }; From 4d40bbfe45163ba118251d7908cedd10e69f2005 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 5 Feb 2025 17:23:37 +0900 Subject: [PATCH 13/46] refactor: use ExecutionTimer instead of ScopedElapsedTimeRecorder --- .../src/openscenario_interpreter.cpp | 79 +++++++++++-------- 1 file changed, 46 insertions(+), 33 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 1f346c39152..6f648e3916c 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -192,42 +192,55 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result deactivate(); }, [this]() { - withTimeoutHandler(defaultTimeoutHandler(), [this]() { - double evaluate_time, update_time, context_time; - { - ScopedElapsedTimeRecorder evaluate_time_recorder(evaluate_time); - if (std::isnan(evaluateSimulationTime())) { - if (not waiting_for_engagement_to_be_completed and engageable()) { - engage(); - waiting_for_engagement_to_be_completed = true; // NOTE: DIRTY HACK!!! - } else if (engaged()) { - activateNonUserDefinedControllers(); - waiting_for_engagement_to_be_completed = false; // NOTE: DIRTY HACK!!! - } - } else if (currentScenarioDefinition()) { - currentScenarioDefinition()->evaluate(); - } else { - throw Error("No script evaluable."); + const auto evaluate_time = execution_timer.invoke("evaluate", [&]() { + if (std::isnan(evaluateSimulationTime())) { + if (not waiting_for_engagement_to_be_completed and engageable()) { + engage(); + waiting_for_engagement_to_be_completed = true; // NOTE: DIRTY HACK!!! + } else if (engaged()) { + activateNonUserDefinedControllers(); + waiting_for_engagement_to_be_completed = false; // NOTE: DIRTY HACK!!! } + } else if (currentScenarioDefinition()) { + currentScenarioDefinition()->evaluate(); + } else { + throw Error("No script evaluable."); } - { - ScopedElapsedTimeRecorder update_time_recorder(update_time); - SimulatorCore::update(); - } - { - ScopedElapsedTimeRecorder context_time_recorder(context_time); - publishCurrentContext(); - } - - tier4_simulation_msgs::msg::UserDefinedValue msg; - msg.type.data = tier4_simulation_msgs::msg::UserDefinedValueType::DOUBLE; - msg.value = std::to_string(evaluate_time * 1e3); - evaluate_time_publisher->publish(msg); - msg.value = std::to_string(update_time * 1e3); - update_time_publisher->publish(msg); - msg.value = std::to_string(context_time * 1e3); - output_time_publisher->publish(msg); }); + + const auto update_time = + execution_timer.invoke("update", [&]() { SimulatorCore::update(); }); + + const auto output_time = + execution_timer.invoke("output", [&]() { publishCurrentContext(); }); + + tier4_simulation_msgs::msg::UserDefinedValue msg; + msg.type.data = tier4_simulation_msgs::msg::UserDefinedValueType::DOUBLE; + msg.value = + std::to_string(std::chrono::duration(evaluate_time).count()); + evaluate_time_publisher->publish(msg); + msg.value = std::to_string(std::chrono::duration(update_time).count()); + update_time_publisher->publish(msg); + msg.value = std::to_string(std::chrono::duration(output_time).count()); + output_time_publisher->publish(msg); + + 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."); + } }); }; From e36acb255c97e4203507738a01295d18f6f0871f Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 5 Feb 2025 17:25:27 +0900 Subject: [PATCH 14/46] refactor: delete unused code --- .../openscenario_interpreter.hpp | 30 --------------- .../utility/scoped_elapsed_time_recorder.hpp | 38 ------------------- 2 files changed, 68 deletions(-) delete mode 100644 openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp index 9d7eb82322f..923749539d6 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp @@ -203,36 +203,6 @@ 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/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp deleted file mode 100644 index 2ebf004b12d..00000000000 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp +++ /dev/null @@ -1,38 +0,0 @@ -// Copyright 2015 TIER IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// 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. - -#ifndef OPENSCENARIO_INTERPRETER__UTILITY__SCOPED_ELAPSED_TIME_RECORDER_HPP_ -#define OPENSCENARIO_INTERPRETER__UTILITY__SCOPED_ELAPSED_TIME_RECORDER_HPP_ - -#include -#include - -template -class ScopedElapsedTimeRecorder -{ -public: - explicit ScopedElapsedTimeRecorder(double & output_seconds) : output_seconds(output_seconds) {} - - ~ScopedElapsedTimeRecorder() - { - output_seconds = std::abs(std::chrono::duration(Clock::now() - start).count()); - } - -private: - std::chrono::time_point start = Clock::now(); - - double & output_seconds; -}; - -#endif // OPENSCENARIO_INTERPRETER__UTILITY__SCOPED_ELAPSED_TIME_RECORDER_HPP_ From 23450f40f04b37baca5462f015c07b884eec3c89 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 5 Feb 2025 17:41:27 +0900 Subject: [PATCH 15/46] fix: delete unavailable include --- .../openscenario_interpreter/src/openscenario_interpreter.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 6f648e3916c..3b1482f07f3 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -24,7 +24,6 @@ #include #include #include -#include #include #include From c7c59ffb148a8045a1af4d82197c23d7be4b669c Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 6 Feb 2025 17:14:58 +0900 Subject: [PATCH 16/46] chore: move execution_time_test.yaml into optional_workflow.txt --- test_runner/scenario_test_runner/config/optional_workflow.txt | 1 + test_runner/scenario_test_runner/config/workflow.txt | 1 - 2 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 test_runner/scenario_test_runner/config/optional_workflow.txt 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/config/workflow.txt b/test_runner/scenario_test_runner/config/workflow.txt index bab005da398..b5ae1aef8e6 100644 --- a/test_runner/scenario_test_runner/config/workflow.txt +++ b/test_runner/scenario_test_runner/config/workflow.txt @@ -9,7 +9,6 @@ $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityConditio $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.RelativeSpeedCondition.yaml $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.TimeToCollisionCondition.yaml $(find-pkg-share scenario_test_runner)/scenario/ControllerAction.AssignControllerAction.yaml -$(find-pkg-share scenario_test_runner)/scenario/execution_time_test.yaml $(find-pkg-share scenario_test_runner)/scenario/LateralAction.LaneChangeAction-RoadShoulder.yaml $(find-pkg-share scenario_test_runner)/scenario/LongitudinalAction.SpeedAction.yaml $(find-pkg-share scenario_test_runner)/scenario/Property.isBlind.yaml From 868aae6e9077d8f9c2e58d3431d01e300b1f1c70 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 6 Feb 2025 17:15:35 +0900 Subject: [PATCH 17/46] chore: change scenario condition for test --- .../scenario_test_runner/scenario/execution_time_test.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 77784e9d500..a79754f5068 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -158,7 +158,7 @@ OpenSCENARIO: UserDefinedValueCondition: name: /simulation/interpreter/execution_time_ms/update rule: greaterThan - value: 5 + value: 0 - name: 'avoid startup' delay: 0 conditionEdge: none From 2891d3e034b0e991df3081c0ff69c80046b81190 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 6 Feb 2025 17:16:34 +0900 Subject: [PATCH 18/46] feat: create outputs when workflow.sh is executed --- .github/workflows/workflow.sh | 38 +++++++++++++++++++++++++++-------- 1 file changed, 30 insertions(+), 8 deletions(-) diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh index 736b7561e97..aa13435276d 100755 --- a/.github/workflows/workflow.sh +++ b/.github/workflows/workflow.sh @@ -11,17 +11,39 @@ then exit 1 fi -exit_status=0 +workflow_directory="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')" +rm -rf "$workflow_directory" +mkdir -p "$workflow_directory" 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 - command_exit_status=$? - if [ $command_exit_status -ne 0 ]; then - echo "Error: caught non-zero exit status（code: $command_exit_status)" - exit_status=1 - fi + + # save the result file before overwriting by next scenario + mkdir -p "$(dirname "$dest_file")" + cp /tmp/scenario_test_runner/result.junit.xml "$workflow_directory/$(basename "$line" | sed 's/\.[^.]*$//').junit.xml" done < "$file_path" -exit $exit_status +failure_report="$workflow_directory/failure_report.md" +rm -f "$failure_report" +touch "$failure_report" +failure_found=0 + +for file in "$workflow_directory"/*.junit.xml; do + [ -e "$file" ] || continue + if grep -q 'scenario failed
\n\n\`\`\`xml" + grep '\n" + } >> "$failure_report" + fi +done + +if [ $failure_found -eq 1 ]; then + exit 1 +else: + exit 0 +fi From 4ccc6758ea6e1a17f531173d80461a734be9ebd6 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 6 Feb 2025 17:32:18 +0900 Subject: [PATCH 19/46] feat: add optional workflow execution to BuildAndRun.yaml --- .github/workflows/BuildAndRun.yaml | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 1b344986866..bc561f3525b 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -120,6 +120,16 @@ 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 + 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 + # failed to comment if the failure_report.md is empty. + gh pr comment ${{ github.event.pull_request.number }} --body $(cat /tmp/scenario_workflow/optional_workflow/failure_report.md) || true + shell: bash + - name: Upload Lcov result uses: actions/upload-artifact@v4 with: From 75e9908550ad0d21e82f186bb925ce2d29f9c151 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 6 Feb 2025 19:16:28 +0900 Subject: [PATCH 20/46] fix: divide comment step in BuildAndRun.yaml --- .github/workflows/BuildAndRun.yaml | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index bc561f3525b..4f145d64f26 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -120,16 +120,20 @@ 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 + - name: Scenario test (optional) 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 - # failed to comment if the failure_report.md is empty. - gh pr comment ${{ github.event.pull_request.number }} --body $(cat /tmp/scenario_workflow/optional_workflow/failure_report.md) || true shell: bash + - name: Add scenario failure comment (failed to comment if the failure_report.md is empty) + run: | + gh pr comment ${{ github.event.pull_request.number }} --body $(cat /tmp/scenario_workflow/optional_workflow/failure_report.md) || true + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + - name: Upload Lcov result uses: actions/upload-artifact@v4 with: From 8a4bb4beca48ec2a4b407519ee1c96adbb0e5fc8 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 6 Feb 2025 21:05:59 +0900 Subject: [PATCH 21/46] fix: use comment action --- .github/workflows/BuildAndRun.yaml | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 4f145d64f26..95c5cac4776 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -128,10 +128,14 @@ jobs: ./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 shell: bash - - name: Add scenario failure comment (failed to comment if the failure_report.md is empty) - run: | - gh pr comment ${{ github.event.pull_request.number }} --body $(cat /tmp/scenario_workflow/optional_workflow/failure_report.md) || true - env: + - name: register command output to github variable + run: echo "::set-output name=scenario_test_output::$(cat /tmp/scenario_workflow/optional_workflow/output.txt)" + + - name: comment scenario_test_output + uses: alawiii521/current-pr-comment@v1.0 + with: + comment: + ${{ steps.scenario_test_output.outputs.scenario_test_output }} GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - name: Upload Lcov result From 38684cc27c1fc7c07fd753820cc9f761ba174ec6 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 6 Feb 2025 23:05:48 +0900 Subject: [PATCH 22/46] fix: correct reading file path --- .github/workflows/BuildAndRun.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 95c5cac4776..d514f8add48 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -129,7 +129,7 @@ jobs: shell: bash - name: register command output to github variable - run: echo "::set-output name=scenario_test_output::$(cat /tmp/scenario_workflow/optional_workflow/output.txt)" + run: echo "::set-output name=scenario_test_output::$(cat /tmp/scenario_workflow/optional_workflow/failure_report.md)" - name: comment scenario_test_output uses: alawiii521/current-pr-comment@v1.0 From b21f26544ba1b381f6c26228b18dbff113a3b5ff Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 7 Feb 2025 02:00:46 +0900 Subject: [PATCH 23/46] fix: set step id to use output correctly --- .github/workflows/BuildAndRun.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index d514f8add48..942dc000687 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -129,13 +129,14 @@ jobs: shell: bash - name: register command output to github variable - run: echo "::set-output name=scenario_test_output::$(cat /tmp/scenario_workflow/optional_workflow/failure_report.md)" + id: optional_test_result + run: echo "scenario_test_output=$(cat /tmp/scenario_workflow/optional_workflow/failure_report.md)" >> $GITHUB_OUTPUT - name: comment scenario_test_output uses: alawiii521/current-pr-comment@v1.0 with: comment: - ${{ steps.scenario_test_output.outputs.scenario_test_output }} + ${{ steps.optional_test_result.outputs.scenario_test_output }} GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - name: Upload Lcov result From 6c8e9e5c0668895494c657ddc9ddd9ae6d1b2482 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 7 Feb 2025 08:16:58 +0900 Subject: [PATCH 24/46] fix: handle multiple line output --- .github/workflows/BuildAndRun.yaml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 942dc000687..489aeda61a6 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -130,7 +130,12 @@ jobs: - name: register command output to github variable id: optional_test_result - run: echo "scenario_test_output=$(cat /tmp/scenario_workflow/optional_workflow/failure_report.md)" >> $GITHUB_OUTPUT + run: | + { + echo "scenario_test_output=<> "$GITHUB_OUTPUT" - name: comment scenario_test_output uses: alawiii521/current-pr-comment@v1.0 From 103f815666288a73b66f07a3add0f5471ddbd6b6 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 7 Feb 2025 14:53:12 +0900 Subject: [PATCH 25/46] fix: use github script to commet file content --- .github/workflows/BuildAndRun.yaml | 24 ++++++++++-------------- 1 file changed, 10 insertions(+), 14 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 489aeda61a6..7c807ca74cd 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -128,21 +128,17 @@ jobs: ./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 shell: bash - - name: register command output to github variable - id: optional_test_result - run: | - { - echo "scenario_test_output=<> "$GITHUB_OUTPUT" - - - name: comment scenario_test_output - uses: alawiii521/current-pr-comment@v1.0 + - uses: actions/github-script@v7 with: - comment: - ${{ steps.optional_test_result.outputs.scenario_test_output }} - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + script: | + const fs = require('fs'); + const commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); + octokit.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 From 16f08dc06cbee2c7e56899d77a27efe0d8cbd0da Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 7 Feb 2025 17:29:40 +0900 Subject: [PATCH 26/46] fix: modify github script --- .github/workflows/BuildAndRun.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 7c807ca74cd..9d8b5e7b9f5 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -130,10 +130,11 @@ jobs: - uses: actions/github-script@v7 with: + github-token: ${{ secrets.GITHUB_TOKEN }} script: | const fs = require('fs'); const commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); - octokit.rest.issues.createComment({ + await github.rest.issues.createComment({ issue_number: context.issue.number, owner: context.repo.owner, repo: context.repo.repo, From 2ad8c6cf49b554d16a994a030fc852dd78e44636 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 13 Feb 2025 21:47:38 +0900 Subject: [PATCH 27/46] chore: simplify failure report --- .github/workflows/BuildAndRun.yaml | 3 +++ .github/workflows/workflow.sh | 3 +-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 9d8b5e7b9f5..b5317179e02 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -134,6 +134,9 @@ jobs: script: | const fs = require('fs'); const commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); + if (commentBody) { + commentBody = '## failure optional scenarios\n' + commentBody; + } await github.rest.issues.createComment({ issue_number: context.issue.number, owner: context.repo.owner, diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh index aa13435276d..ea608c128c2 100755 --- a/.github/workflows/workflow.sh +++ b/.github/workflows/workflow.sh @@ -34,8 +34,7 @@ for file in "$workflow_directory"/*.junit.xml; do if grep -q 'scenario failed
\n\n\`\`\`xml" + echo "
scenario failed: $(basename "$file")
\n\n\`\`\`xml" grep '
\n" } >> "$failure_report" From 6b3842b7ea254fc356aaab648a2be28c2c85391f Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 13 Feb 2025 21:48:57 +0900 Subject: [PATCH 28/46] chore: post failure report only when failure scenarios exist --- .github/workflows/BuildAndRun.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index b5317179e02..c5ddb41e853 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -121,14 +121,17 @@ jobs: shell: bash - name: Scenario test (optional) + id: optional-scenario-test run: | source install/setup.bash source install/local_setup.bash # execute scenarios but ignore the return code ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true + echo failure=$(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: | From 28ddff327c286525e72897987353b382620cfb9a Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 14 Feb 2025 01:35:40 +0900 Subject: [PATCH 29/46] fix: remove const from overwritten variable in github script --- .github/workflows/BuildAndRun.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index c5ddb41e853..13739d3dd87 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -136,7 +136,7 @@ jobs: github-token: ${{ secrets.GITHUB_TOKEN }} script: | const fs = require('fs'); - const commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); + let commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); if (commentBody) { commentBody = '## failure optional scenarios\n' + commentBody; } From 4177209a09bbcd484411b5fc2fb8fb26667518b7 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 14 Feb 2025 11:19:21 +0900 Subject: [PATCH 30/46] Revert "chore: change scenario condition for test" This reverts commit 868aae6e9077d8f9c2e58d3431d01e300b1f1c70. --- .../scenario_test_runner/scenario/execution_time_test.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index a79754f5068..77784e9d500 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -158,7 +158,7 @@ OpenSCENARIO: UserDefinedValueCondition: name: /simulation/interpreter/execution_time_ms/update rule: greaterThan - value: 0 + value: 5 - name: 'avoid startup' delay: 0 conditionEdge: none From 24ee675bd2324283beb578f04103880eeb2748c0 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 12:08:17 +0900 Subject: [PATCH 31/46] refactor: generate UserDefinedValue message for each publishers --- .../src/openscenario_interpreter.cpp | 21 +++++++++++-------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 09058ad1cc6..722fa48c4c3 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -216,15 +216,18 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result const auto output_time = execution_timer.invoke("output", [&]() { publishCurrentContext(); }); - tier4_simulation_msgs::msg::UserDefinedValue msg; - msg.type.data = tier4_simulation_msgs::msg::UserDefinedValueType::DOUBLE; - msg.value = - std::to_string(std::chrono::duration(evaluate_time).count()); - evaluate_time_publisher->publish(msg); - msg.value = std::to_string(std::chrono::duration(update_time).count()); - update_time_publisher->publish(msg); - msg.value = std::to_string(std::chrono::duration(output_time).count()); - output_time_publisher->publish(msg); + 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) { /* From 2d999c5800d12fafaaf19c07df41d6873e40fa79 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 14:02:35 +0900 Subject: [PATCH 32/46] chore: use seconds as time unit in execution_time topics --- .../src/openscenario_interpreter.cpp | 12 ++++++------ .../scenario/execution_time_test.yaml | 12 ++++++------ 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 722fa48c4c3..1bcd18e8db9 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -38,11 +38,11 @@ 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_ms/evaluate", rclcpp::QoS(1).transient_local())), + "/simulation/interpreter/execution_time/evaluate", rclcpp::QoS(1).transient_local())), update_time_publisher(create_publisher( - "/simulation/interpreter/execution_time_ms/update", rclcpp::QoS(1).transient_local())), + "/simulation/interpreter/execution_time/update", rclcpp::QoS(1).transient_local())), output_time_publisher(create_publisher( - "/simulation/interpreter/execution_time_ms/output", rclcpp::QoS(1).transient_local())), + "/simulation/interpreter/execution_time/output", rclcpp::QoS(1).transient_local())), local_frame_rate(30), local_real_time_factor(1.0), osc_path(""), @@ -223,11 +223,11 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result return message; }; evaluate_time_publisher->publish(generate_double_user_defined_value_message( - std::chrono::duration(evaluate_time).count())); + std::chrono::duration(evaluate_time).count())); update_time_publisher->publish(generate_double_user_defined_value_message( - std::chrono::duration(update_time).count())); + std::chrono::duration(update_time).count())); output_time_publisher->publish(generate_double_user_defined_value_message( - std::chrono::duration(output_time).count())); + std::chrono::duration(output_time).count())); if (auto time_until_trigger = timer->time_until_trigger(); time_until_trigger.count() < 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 index 77784e9d500..4b6917f3459 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -140,9 +140,9 @@ OpenSCENARIO: conditionEdge: none ByValueCondition: UserDefinedValueCondition: - name: /simulation/interpreter/execution_time_ms/evaluate + name: /simulation/interpreter/execution_time/evaluate rule: greaterThan - value: 1 + value: 0.001 - name: 'avoid startup' delay: 0 conditionEdge: none @@ -156,9 +156,9 @@ OpenSCENARIO: conditionEdge: none ByValueCondition: UserDefinedValueCondition: - name: /simulation/interpreter/execution_time_ms/update + name: /simulation/interpreter/execution_time/update rule: greaterThan - value: 5 + value: 0.005 - name: 'avoid startup' delay: 0 conditionEdge: none @@ -172,9 +172,9 @@ OpenSCENARIO: conditionEdge: none ByValueCondition: UserDefinedValueCondition: - name: /simulation/interpreter/execution_time_ms/output + name: /simulation/interpreter/execution_time/output rule: greaterThan - value: 1 + value: 0.001 - name: 'avoid startup' delay: 0 conditionEdge: none From ee50d605d2ab2286cf3b1f868a9a50396a702c2c Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 14:03:54 +0900 Subject: [PATCH 33/46] refactor: use minimum captures for lambda --- .../src/openscenario_interpreter.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 1bcd18e8db9..e76840d2d84 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -194,7 +194,7 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result deactivate(); }, [this]() { - const auto evaluate_time = execution_timer.invoke("evaluate", [&]() { + const auto evaluate_time = execution_timer.invoke("evaluate", [this]() { if (std::isnan(evaluateSimulationTime())) { if (not waiting_for_engagement_to_be_completed and engageable()) { engage(); @@ -211,10 +211,10 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result }); const auto update_time = - execution_timer.invoke("update", [&]() { SimulatorCore::update(); }); + execution_timer.invoke("update", []() { SimulatorCore::update(); }); const auto output_time = - execution_timer.invoke("output", [&]() { publishCurrentContext(); }); + execution_timer.invoke("output", [this]() { publishCurrentContext(); }); auto generate_double_user_defined_value_message = [](double value) { tier4_simulation_msgs::msg::UserDefinedValue message; From 5ece3937e6d102b242bf1ead6c49b56690d31c99 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 14:15:15 +0900 Subject: [PATCH 34/46] chore: make the meaning of test results in comments more accurate --- .github/workflows/BuildAndRun.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 13739d3dd87..615d53f57d3 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -32,9 +32,9 @@ jobs: strategy: fail-fast: false matrix: - rosdistro: [humble] - runs_on: [ubuntu-22.04] # macos-14 is added for arm support. See also https://x.com/github/status/1752458943245189120?s=20 - cmake_build_type: [RelWithDebInfo, Release] # Debug build type is currently unavailable. @TODO Fix problem and add Debug build. + rosdistro: [ humble ] + runs_on: [ ubuntu-22.04 ] # macos-14 is added for arm support. See also https://x.com/github/status/1752458943245189120?s=20 + cmake_build_type: [ RelWithDebInfo, Release ] # Debug build type is currently unavailable. @TODO Fix problem and add Debug build. steps: - name: Suppress warnings run: git config --global --add safe.directory '*' @@ -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: | @@ -138,7 +138,7 @@ jobs: const fs = require('fs'); let commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); if (commentBody) { - commentBody = '## failure optional scenarios\n' + commentBody; + commentBody = '## Failure optional scenarios\nThis is an experimental check and does not block merging the pull-request. But, please be aware that this may indicate a regression.\n' + commentBody; } await github.rest.issues.createComment({ issue_number: context.issue.number, From 30e525ccdce49cc2f13d21f9fa9b9b15f58ccbbb Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 15:54:07 +0900 Subject: [PATCH 35/46] chore: modify scenario threshold for test --- .../scenario_test_runner/scenario/execution_time_test.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 4b6917f3459..2e060567594 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -158,7 +158,7 @@ OpenSCENARIO: UserDefinedValueCondition: name: /simulation/interpreter/execution_time/update rule: greaterThan - value: 0.005 + value: 0.000 - name: 'avoid startup' delay: 0 conditionEdge: none From ec974eff0fcc47a1e76a01e71ae9722883edc5d1 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 16:03:10 +0900 Subject: [PATCH 36/46] refactor: split workflow.sh into 2 scripts --- .github/workflows/BuildAndRun.yaml | 1 + .github/workflows/generate_workflow_report.sh | 23 ++++++++++++++ .github/workflows/workflow.sh | 30 +++++-------------- 3 files changed, 32 insertions(+), 22 deletions(-) create mode 100755 .github/workflows/generate_workflow_report.sh diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 615d53f57d3..a038ccb5bf7 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -127,6 +127,7 @@ jobs: 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 diff --git a/.github/workflows/generate_workflow_report.sh b/.github/workflows/generate_workflow_report.sh new file mode 100755 index 00000000000..7c1341ee695 --- /dev/null +++ b/.github/workflows/generate_workflow_report.sh @@ -0,0 +1,23 @@ +#!/bin/sh + +if [ $# -ne 1 ]; then + echo "Usage: $0 " + exit 1 +fi + +workflow_directory="$1" +failure_report="$workflow_directory/failure_report.md" + +rm -f "$failure_report" +touch "$failure_report" + +for file in "$workflow_directory"/*.junit.xml; do + [ -e "$file" ] || continue + if grep -q 'scenario failed: $(basename "$file")
\n\n\`\`\`xml" + grep '\n" + } >> "$failure_report" + fi +done diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh index ea608c128c2..36edfef3cb9 100755 --- a/.github/workflows/workflow.sh +++ b/.github/workflows/workflow.sh @@ -11,6 +11,7 @@ then exit 1 fi +exit_status=0 workflow_directory="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')" rm -rf "$workflow_directory" mkdir -p "$workflow_directory" @@ -18,31 +19,16 @@ mkdir -p "$workflow_directory" while IFS= read -r line do ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" "$@" + ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml + command_exit_status=$? + if [ $command_exit_status -ne 0 ]; then + echo "Error: caught non-zero exit status（code: $command_exit_status)" + exit_status=1 + fi # save the result file before overwriting by next scenario mkdir -p "$(dirname "$dest_file")" cp /tmp/scenario_test_runner/result.junit.xml "$workflow_directory/$(basename "$line" | sed 's/\.[^.]*$//').junit.xml" done < "$file_path" -failure_report="$workflow_directory/failure_report.md" -rm -f "$failure_report" -touch "$failure_report" -failure_found=0 - -for file in "$workflow_directory"/*.junit.xml; do - [ -e "$file" ] || continue - if grep -q 'scenario failed: $(basename "$file")
\n\n\`\`\`xml" - grep '\n" - } >> "$failure_report" - fi -done - -if [ $failure_found -eq 1 ]; then - exit 1 -else: - exit 0 -fi +exit $exit_status From 80cdeaf25da27a8cafcf8cffad86a003163b6fda Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 18:07:12 +0900 Subject: [PATCH 37/46] refactor: format BuildAndRun.yaml --- .github/workflows/BuildAndRun.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index a038ccb5bf7..0479ab02eb3 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -32,9 +32,9 @@ jobs: strategy: fail-fast: false matrix: - rosdistro: [ humble ] - runs_on: [ ubuntu-22.04 ] # macos-14 is added for arm support. See also https://x.com/github/status/1752458943245189120?s=20 - cmake_build_type: [ RelWithDebInfo, Release ] # Debug build type is currently unavailable. @TODO Fix problem and add Debug build. + rosdistro: [humble] + runs_on: [ubuntu-22.04] # macos-14 is added for arm support. See also https://x.com/github/status/1752458943245189120?s=20 + cmake_build_type: [RelWithDebInfo, Release] # Debug build type is currently unavailable. @TODO Fix problem and add Debug build. steps: - name: Suppress warnings run: git config --global --add safe.directory '*' From cd0d1ea501de6d7aabc7801eff46f1ed0b6ecc3e Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 18:12:23 +0900 Subject: [PATCH 38/46] refactor: use NOTE command in pull-request comment for optional scenario test --- .github/workflows/BuildAndRun.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 0479ab02eb3..b4cef11430e 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -139,7 +139,7 @@ jobs: const fs = require('fs'); let commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); if (commentBody) { - commentBody = '## Failure optional scenarios\nThis is an experimental check and does not block merging the pull-request. But, please be aware that this may indicate a regression.\n' + 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, From 603273f93910854a0fdd228dfef0aee537fb6398 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 19 Feb 2025 11:14:43 +0900 Subject: [PATCH 39/46] Revert "chore: modify scenario threshold for test" This reverts commit 30e525ccdce49cc2f13d21f9fa9b9b15f58ccbbb. --- .../scenario_test_runner/scenario/execution_time_test.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 2e060567594..4b6917f3459 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -158,7 +158,7 @@ OpenSCENARIO: UserDefinedValueCondition: name: /simulation/interpreter/execution_time/update rule: greaterThan - value: 0.000 + value: 0.005 - name: 'avoid startup' delay: 0 conditionEdge: none From 7d343c55b229f3c1eb4aabb28340b4dfd7f9ff98 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 20 Feb 2025 15:07:00 +0900 Subject: [PATCH 40/46] Revert "Revert "chore: modify scenario threshold for test"" This reverts commit 603273f93910854a0fdd228dfef0aee537fb6398. --- .../scenario_test_runner/scenario/execution_time_test.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 4b6917f3459..2e060567594 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -158,7 +158,7 @@ OpenSCENARIO: UserDefinedValueCondition: name: /simulation/interpreter/execution_time/update rule: greaterThan - value: 0.005 + value: 0.000 - name: 'avoid startup' delay: 0 conditionEdge: none From ec3360fa164a085a1603a7e2633ccdeb87cebedc Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 20 Feb 2025 15:08:28 +0900 Subject: [PATCH 41/46] refactor: simplify workflow.sh --- .github/workflows/BuildAndRun.yaml | 4 ++-- .github/workflows/generate_workflow_report.sh | 12 +++--------- .github/workflows/workflow.sh | 11 +++-------- 3 files changed, 8 insertions(+), 19 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index b4cef11430e..42af8a3404a 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -127,8 +127,8 @@ jobs: 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 "> $GITHUB_OUTPUT + ./src/scenario_simulator_v2/.github/workflows/generate_workflow_report.sh + echo failure=$(grep -c "> $GITHUB_OUTPUT shell: bash - uses: actions/github-script@v7 diff --git a/.github/workflows/generate_workflow_report.sh b/.github/workflows/generate_workflow_report.sh index 7c1341ee695..d431579a395 100755 --- a/.github/workflows/generate_workflow_report.sh +++ b/.github/workflows/generate_workflow_report.sh @@ -1,21 +1,15 @@ #!/bin/sh -if [ $# -ne 1 ]; then - echo "Usage: $0 " - exit 1 -fi - -workflow_directory="$1" -failure_report="$workflow_directory/failure_report.md" +failure_report="/tmp/scenario_workflow/failure_report.md" rm -f "$failure_report" touch "$failure_report" -for file in "$workflow_directory"/*.junit.xml; do +find /tmp/scenario_workflow -name "result.junit.xml" | while read file; do [ -e "$file" ] || continue if grep -q 'scenario failed: $(basename "$file")
\n\n\`\`\`xml" + echo "
scenario failed: $(dirname "${file#/tmp/scenario_workflow/}" | cut -d'/' -f1)
\n\n\`\`\`xml" grep '
\n" } >> "$failure_report" diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh index 36edfef3cb9..1eef7e2938a 100755 --- a/.github/workflows/workflow.sh +++ b/.github/workflows/workflow.sh @@ -12,23 +12,18 @@ then fi exit_status=0 -workflow_directory="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')" -rm -rf "$workflow_directory" -mkdir -p "$workflow_directory" +rm -rf "/tmp/scenario_workflow/" +mkdir -p "/tmp/scenario_workflow/" while IFS= read -r line do - ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" "$@" + ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" output_directory:="/tmp/scenario_workflow/$(basename "$line" | sed 's/\.[^.]*$//')" "$@" ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml command_exit_status=$? if [ $command_exit_status -ne 0 ]; then echo "Error: caught non-zero exit status（code: $command_exit_status)" exit_status=1 fi - - # save the result file before overwriting by next scenario - mkdir -p "$(dirname "$dest_file")" - cp /tmp/scenario_test_runner/result.junit.xml "$workflow_directory/$(basename "$line" | sed 's/\.[^.]*$//').junit.xml" done < "$file_path" exit $exit_status From cefe388faa1499e510b2e43a39d5e30a63a32de7 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 20 Feb 2025 15:36:49 +0900 Subject: [PATCH 42/46] refactor: continuous simplifying workflow.sh --- .github/workflows/BuildAndRun.yaml | 2 +- .github/workflows/generate_workflow_report.sh | 12 ++++++++---- .github/workflows/workflow.sh | 4 +--- 3 files changed, 10 insertions(+), 8 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 42af8a3404a..cbefe1d58e1 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -127,7 +127,7 @@ jobs: source install/local_setup.bash # execute scenarios but ignore the return code ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true - ./src/scenario_simulator_v2/.github/workflows/generate_workflow_report.sh + ./src/scenario_simulator_v2/.github/workflows/generate_workflow_report.sh /tmp/scenario_workflow/optional_workflow echo failure=$(grep -c "> $GITHUB_OUTPUT shell: bash diff --git a/.github/workflows/generate_workflow_report.sh b/.github/workflows/generate_workflow_report.sh index d431579a395..260c565dde3 100755 --- a/.github/workflows/generate_workflow_report.sh +++ b/.github/workflows/generate_workflow_report.sh @@ -1,15 +1,19 @@ #!/bin/sh -failure_report="/tmp/scenario_workflow/failure_report.md" +if [ $# -ne 1 ]; then + echo "Usage: $0 " + exit 1 +fi +workflow_directory="$1" +failure_report="$workflow_directory/failure_report.md" rm -f "$failure_report" -touch "$failure_report" -find /tmp/scenario_workflow -name "result.junit.xml" | while read file; do +find $workflow_directory -name "result.junit.xml" | while read file; do [ -e "$file" ] || continue if grep -q 'scenario failed: $(dirname "${file#/tmp/scenario_workflow/}" | cut -d'/' -f1)
\n\n\`\`\`xml" + echo "
scenario failed: $(dirname "${file#"$workflow_directory"/}" | cut -d'/' -f1)
\n\n\`\`\`xml" grep '
\n" } >> "$failure_report" diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh index 1eef7e2938a..2530df6d381 100755 --- a/.github/workflows/workflow.sh +++ b/.github/workflows/workflow.sh @@ -12,12 +12,10 @@ then fi exit_status=0 -rm -rf "/tmp/scenario_workflow/" -mkdir -p "/tmp/scenario_workflow/" while IFS= read -r line do - ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" output_directory:="/tmp/scenario_workflow/$(basename "$line" | sed 's/\.[^.]*$//')" "$@" + ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" output_directory:="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')/$(basename "$line" | sed 's/\.[^.]*$//')" "$@" ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml command_exit_status=$? if [ $command_exit_status -ne 0 ]; then From aff3cb43e30cfd111cbd18311cab5e1e272c9db5 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 20 Feb 2025 17:25:19 +0900 Subject: [PATCH 43/46] fix: use correct file path --- .github/workflows/workflow.sh | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh index 2530df6d381..2479ae746b6 100755 --- a/.github/workflows/workflow.sh +++ b/.github/workflows/workflow.sh @@ -15,8 +15,9 @@ exit_status=0 while IFS= read -r line do - ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" output_directory:="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')/$(basename "$line" | sed 's/\.[^.]*$//')" "$@" - ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml + output_directory="/tmp/scenario_workflow/$(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: $command_exit_status)" From b87875a8ce507d762fb9440a6e523b77a868d179 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 20 Feb 2025 19:05:44 +0900 Subject: [PATCH 44/46] fix: optional-scenario-test step in BuildAndRun.yaml --- .github/workflows/BuildAndRun.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index cbefe1d58e1..b4cef11430e 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -128,7 +128,7 @@ jobs: # execute scenarios but ignore the return code ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true ./src/scenario_simulator_v2/.github/workflows/generate_workflow_report.sh /tmp/scenario_workflow/optional_workflow - echo failure=$(grep -c "> $GITHUB_OUTPUT + echo failure=$(grep -c "> $GITHUB_OUTPUT shell: bash - uses: actions/github-script@v7 From d86c9c008621aa0ef75c4315b7a60bcf49edeccf Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 20 Feb 2025 16:40:15 +0000 Subject: [PATCH 45/46] Revert "Revert "Revert "chore: modify scenario threshold for test""" This reverts commit 7d343c55b229f3c1eb4aabb28340b4dfd7f9ff98. --- .../scenario_test_runner/scenario/execution_time_test.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 2e060567594..4b6917f3459 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -158,7 +158,7 @@ OpenSCENARIO: UserDefinedValueCondition: name: /simulation/interpreter/execution_time/update rule: greaterThan - value: 0.000 + value: 0.005 - name: 'avoid startup' delay: 0 conditionEdge: none From 19dadbf5dd2ba28a0e16a772a0c90259af0ec8b4 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Fri, 21 Feb 2025 03:07:27 +0000 Subject: [PATCH 46/46] Bump version of scenario_simulator_v2 from version 11.0.0 to version 11.1.0 --- common/math/arithmetic/CHANGELOG.rst | 17 ++++++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 17 ++++++++++ common/math/geometry/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++++ .../scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 17 ++++++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 17 ++++++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 17 ++++++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 17 ++++++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 17 ++++++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 17 ++++++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 17 ++++++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++++ .../package.xml | 2 +- .../openscenario_interpreter/CHANGELOG.rst | 32 +++++++++++++++++ .../openscenario_interpreter/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- .../openscenario_preprocessor/CHANGELOG.rst | 17 ++++++++++ .../openscenario_preprocessor/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++++ .../package.xml | 2 +- .../openscenario_utility/CHANGELOG.rst | 17 ++++++++++ openscenario/openscenario_utility/package.xml | 2 +- .../openscenario_validator/CHANGELOG.rst | 17 ++++++++++ .../openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 17 ++++++++++ .../openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++++ .../package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 17 ++++++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 17 ++++++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 17 ++++++++++ simulation/do_nothing_plugin/package.xml | 2 +- .../simple_sensor_simulator/CHANGELOG.rst | 17 ++++++++++ .../simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 17 ++++++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 17 ++++++++++ simulation/traffic_simulator/package.xml | 2 +- .../traffic_simulator_msgs/CHANGELOG.rst | 17 ++++++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 17 ++++++++++ test_runner/random_test_runner/package.xml | 2 +- .../scenario_test_runner/CHANGELOG.rst | 34 +++++++++++++++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 554 insertions(+), 29 deletions(-) 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/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_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/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