diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index dc3b007bf2a..d508ac1eb28 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 125e5657972..2a73f1926dd 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 10.0.0 + 10.3.0 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 60d19f27d6d..ca70fab400e 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index c70b1dcb899..534f38c2445 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 10.0.0 + 10.3.0 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 3a031e7f617..d7f86742068 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 6179292325e..cceb919cf6e 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 10.0.0 + 10.3.0 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 5d285cab25f..46a91573a13 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 3e62fec8a18..35086e26f2e 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 10.0.0 + 10.3.0 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 62cce762ed2..7547c38ec4b 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index f726a5f7106..9054b3da4dd 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 10.0.0 + 10.3.0 none Tatsuya Yamasaki Apache License 2.0 diff --git a/docs/developer_guide/.pages b/docs/developer_guide/.pages index 450f1059bcc..949b856adfc 100644 --- a/docs/developer_guide/.pages +++ b/docs/developer_guide/.pages @@ -1,21 +1,22 @@ +# cspell: ignore TIERIV + nav: - About: About.md - AutowareAPI.md + - BehaviorPlugin.md + - CONTRIBUTING.md + - Communication.md + - ConfiguringLocalizationTopics.md + - ConfiguringPerceptionTopics.md - DistanceCalculation.md + - Lane Pose Calculation: lane_pose_calculation + - ManualOverrideWithFollowTrajectoryAction.md - NPCBehavior.md - - BehaviorPlugin.md - # - ErrorCategories.md - OpenSCENARIOSupport.md - SimpleSensorSimulator.md + - SimulationResultFormat.md - SystemArchitecture.md + - TIERIVScenarioFormatVersion2.md - TrafficSimulator.md - - ZeroMQ.md - VehicleDynamics.md - - SimulationResultFormat.md - - Lane Pose Calculation: lane_pose_calculation - # cspell: ignore TIERIV - - TIERIVScenarioFormatVersion2.md - - CONTRIBUTING.md - - Communication.md - - ConfiguringPerceptionTopics.md - - ManualOverrideWithFollowTrajectoryAction.md + - ZeroMQ.md diff --git a/docs/developer_guide/ConfiguringLocalizationTopics.md b/docs/developer_guide/ConfiguringLocalizationTopics.md new file mode 100644 index 00000000000..103842a5853 --- /dev/null +++ b/docs/developer_guide/ConfiguringLocalizationTopics.md @@ -0,0 +1,26 @@ +# Configuring Localization Topics + +This section describes properties for configuring localization topics that +`scenario_simulator_v2` publishes to Autoware. + +## Parameter file + +Localization topics are configurable from the ROS 2 parameter file given to the +launch argument `parameter_file_path` of scenario_test_runner. The default +value of `parameter_file_path` is the path to [a sample parameter +file](https://github.com/tier4/scenario_simulator_v2/blob/f15bacd819abd2044c2d6c076530a2c4070ded3d/test_runner/scenario_test_runner/config/parameters.yaml). + +All parameters that can be specified and their default values are shown in the +sample parameter file. In practice, it is not necessary to specify all +parameters except for some that are mandatory. In that case, the simulator will +behave as if similar default values had been specified. + +Most parameters should have their uses understood just by looking at the sample +parameter file or by reading the comments in the file. Below we discuss some +parameters that require additional detailed explanation. + + + +| Name | Value | Default | Description | +|------------------------|-----------------------------------------|----------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------| +| `.version` | An `int` type value in YYYYMMDD format | None (**mandatory**) | Suffix of `scenario_test_runner` launch argument `architecture_type`, used to maintain backward compatibility of the simulator when changing the Autoware interface. | diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index e6ef6db539d..44cae0a843e 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,57 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge pull request `#1503 `_ from tier4/feature/publisher-with-customizable-randomizer + Feature/publisher with customizable randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Update test `normal_distribution.cpp` to use `ASSERT_DOUBLE_EQ` +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Add new test file `concealer/test/normal_distribution.cpp` +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Rename the parameter `(x|y|z)` to `local\_(x|y|z)` +* Update the position error to apply in the entity's local coordinate +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Cleanup +* Add support for multiplicative errors as well as additive errors +* Update `NormalDistribution` to use `std::normal_distribution` +* Update `NormalDistribution::device` type to `std::mt19937_64` +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Update parameter file format +* Update randomizer to receive `NodeParametersInterface` +* Add new struct template `Identity` +* Add template specialization `NormalDistribution` +* Add new struct template `concealer::NormalDistribution` +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/external/concealer/CMakeLists.txt b/external/concealer/CMakeLists.txt index 42b9bc0ca40..4d800bc621e 100644 --- a/external/concealer/CMakeLists.txt +++ b/external/concealer/CMakeLists.txt @@ -19,6 +19,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/field_operator_application.cpp src/is_package_exists.cpp src/path_with_lane_id.cpp + src/publisher.cpp src/task_queue.cpp) target_link_libraries(${PROJECT_NAME} @@ -27,6 +28,14 @@ target_link_libraries(${PROJECT_NAME} if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() + + file(GLOB ${PROJECT_NAME}_TESTS ${CMAKE_CURRENT_SOURCE_DIR}/test/*.cpp) + + foreach(EACH IN LISTS ${PROJECT_NAME}_TESTS) + get_filename_component(TEST_NAME ${EACH} NAME_WE) + ament_add_gtest(${TEST_NAME} ${EACH}) + target_link_libraries(${TEST_NAME} ${PROJECT_NAME}) + endforeach() endif() ament_auto_package() diff --git a/external/concealer/include/concealer/autoware_universe.hpp b/external/concealer/include/concealer/autoware_universe.hpp index a528ddc4ae8..3287d5e5f41 100644 --- a/external/concealer/include/concealer/autoware_universe.hpp +++ b/external/concealer/include/concealer/autoware_universe.hpp @@ -61,14 +61,14 @@ class AutowareUniverse : public rclcpp::Node, Subscriber getTurnIndicatorsCommand; Subscriber getPathWithLaneId; - Publisher setAcceleration; - Publisher setOdometry; - Publisher setPose; - Publisher setSteeringReport; - Publisher setGearReport; - Publisher setControlModeReport; - Publisher setVelocityReport; - Publisher setTurnIndicatorsReport; + Publisher setAcceleration; + Publisher setOdometry; + Publisher setPose; + Publisher setSteeringReport; + Publisher setGearReport; + Publisher setControlModeReport; + Publisher setVelocityReport; + Publisher setTurnIndicatorsReport; std::atomic current_acceleration; std::atomic current_pose; diff --git a/external/concealer/include/concealer/publisher.hpp b/external/concealer/include/concealer/publisher.hpp index aeb323084e4..0d96162fde1 100644 --- a/external/concealer/include/concealer/publisher.hpp +++ b/external/concealer/include/concealer/publisher.hpp @@ -15,27 +15,102 @@ #ifndef CONCEALER__PUBLISHER_HPP_ #define CONCEALER__PUBLISHER_HPP_ -#include +#include +#include +#include #include namespace concealer { -template +template +struct Identity +{ + explicit constexpr Identity( + const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &, const std::string &) + { + } + + template + constexpr auto operator()(T && x) const -> decltype(auto) + { + return std::forward(x); + } +}; + +template +struct NormalDistribution; + +template <> +struct NormalDistribution +{ + std::random_device::result_type seed; + + std::random_device device; + + std::mt19937_64 engine; + + struct Error + { + std::normal_distribution additive, multiplicative; + + explicit Error( + const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node, + const std::string & prefix) + : additive( + getParameter(node, prefix + ".additive.mean"), + getParameter(node, prefix + ".additive.standard_deviation")), + multiplicative( + getParameter(node, prefix + ".multiplicative.mean"), + getParameter(node, prefix + ".multiplicative.standard_deviation")) + { + } + + auto apply(std::mt19937_64 & engine, double value) -> decltype(auto) + { + return value * (multiplicative(engine) + 1.0) + additive(engine); + } + }; + + // clang-format off + Error position_local_x_error, + position_local_y_error, + position_local_z_error, + orientation_r_error, + orientation_p_error, + orientation_y_error, + linear_x_error, + linear_y_error, + linear_z_error, + angular_x_error, + angular_y_error, + angular_z_error; + // clang-format on + + explicit NormalDistribution( + const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &, const std::string &); + + auto operator()(nav_msgs::msg::Odometry odometry) -> nav_msgs::msg::Odometry; +}; + +template typename Randomizer = Identity> class Publisher { typename rclcpp::Publisher::SharedPtr publisher; + Randomizer randomize; + public: template explicit Publisher(const std::string & topic, Node & node) - : publisher(node.template create_publisher(topic, rclcpp::QoS(1).reliable())) + : publisher(node.template create_publisher(topic, rclcpp::QoS(1).reliable())), + randomize(node.get_node_parameters_interface(), topic) { } template - auto operator()(Ts &&... xs) const -> decltype(auto) + auto operator()(Ts &&... xs) -> decltype(auto) { - return publisher->publish(std::forward(xs)...); + return publisher->publish(randomize(std::forward(xs)...)); } }; } // namespace concealer diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 1fc80773996..491f813e4e0 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 10.0.0 + 10.3.0 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/concealer/src/publisher.cpp b/external/concealer/src/publisher.cpp new file mode 100644 index 00000000000..b8efe713a26 --- /dev/null +++ b/external/concealer/src/publisher.cpp @@ -0,0 +1,95 @@ +// 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. + +#include +#include +#include + +namespace concealer +{ +NormalDistribution::NormalDistribution( + const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node, + const std::string & topic) +: seed([&]() { + if (const auto value = getParameter(node, topic + ".seed"); + std::random_device::min() <= value and value <= std::random_device::max()) { + return value; + } else { + throw common::scenario_simulator_exception::Error( + "The value of parameter ", std::quoted(topic + ".seed"), + " must be greater than or equal to ", std::random_device::min(), + " and less than or equal to ", std::random_device::max()); + } + }()), + engine(seed ? seed : device()), + position_local_x_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.position.local_x.error"), + position_local_y_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.position.local_y.error"), + position_local_z_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.position.local_z.error"), + orientation_r_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.orientation.r.error"), + orientation_p_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.orientation.p.error"), + orientation_y_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.orientation.y.error"), + linear_x_error(node, topic + ".nav_msgs::msg::Odometry.twist.twist.linear.x.error"), + linear_y_error(node, topic + ".nav_msgs::msg::Odometry.twist.twist.linear.y.error"), + linear_z_error(node, topic + ".nav_msgs::msg::Odometry.twist.twist.linear.z.error"), + angular_x_error(node, topic + ".nav_msgs::msg::Odometry.twist.twist.angular.x.error"), + angular_y_error(node, topic + ".nav_msgs::msg::Odometry.twist.twist.angular.y.error"), + angular_z_error(node, topic + ".nav_msgs::msg::Odometry.twist.twist.angular.z.error") +{ +} + +auto NormalDistribution::operator()(nav_msgs::msg::Odometry odometry) + -> nav_msgs::msg::Odometry +{ + const Eigen::Quaterniond orientation = Eigen::Quaterniond( + odometry.pose.pose.orientation.w, odometry.pose.pose.orientation.x, + odometry.pose.pose.orientation.y, odometry.pose.pose.orientation.z); + + Eigen::Vector3d local_position = Eigen::Vector3d(0.0, 0.0, 0.0); + + local_position.x() = position_local_x_error.apply(engine, local_position.x()); + local_position.y() = position_local_y_error.apply(engine, local_position.y()); + local_position.z() = position_local_z_error.apply(engine, local_position.z()); + + const Eigen::Vector3d world_position = orientation.toRotationMatrix() * local_position; + + odometry.pose.pose.position.x += world_position.x(); + odometry.pose.pose.position.y += world_position.y(); + odometry.pose.pose.position.z += world_position.z(); + + Eigen::Vector3d euler = orientation.matrix().eulerAngles(0, 1, 2); + + euler.x() = orientation_r_error.apply(engine, euler.x()); + euler.y() = orientation_p_error.apply(engine, euler.y()); + euler.z() = orientation_y_error.apply(engine, euler.z()); + + const Eigen::Quaterniond q = Eigen::AngleAxisd(euler.x(), Eigen::Vector3d::UnitX()) * + Eigen::AngleAxisd(euler.y(), Eigen::Vector3d::UnitY()) * + Eigen::AngleAxisd(euler.z(), Eigen::Vector3d::UnitZ()); + + odometry.pose.pose.orientation.x = q.x(); + odometry.pose.pose.orientation.y = q.y(); + odometry.pose.pose.orientation.z = q.z(); + odometry.pose.pose.orientation.w = q.w(); + + odometry.twist.twist.linear.x = linear_x_error.apply(engine, odometry.twist.twist.linear.x); + odometry.twist.twist.linear.y = linear_y_error.apply(engine, odometry.twist.twist.linear.y); + odometry.twist.twist.linear.z = linear_z_error.apply(engine, odometry.twist.twist.linear.z); + + odometry.twist.twist.angular.x = angular_x_error.apply(engine, odometry.twist.twist.angular.x); + odometry.twist.twist.angular.y = angular_y_error.apply(engine, odometry.twist.twist.angular.y); + odometry.twist.twist.angular.z = angular_z_error.apply(engine, odometry.twist.twist.angular.z); + + return odometry; +} +} // namespace concealer diff --git a/external/concealer/test/normal_distribution.cpp b/external/concealer/test/normal_distribution.cpp new file mode 100644 index 00000000000..0adceb31ebf --- /dev/null +++ b/external/concealer/test/normal_distribution.cpp @@ -0,0 +1,393 @@ +// 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. + +#include + +#include + +auto rclcpp_initialized = false; + +TEST(NormalDistribution_nav_msgs_msg_Odometry, when_no_parameters_are_given) +{ + if (not std::exchange(rclcpp_initialized, true)) { + rclcpp::init(0, nullptr); + } + + auto node = rclcpp::Node("node_name", "simulation"); + + // clang-format off + ASSERT_FALSE(node.has_parameter("/topic_name.seed")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.multiplicative.standard_deviation")); + // clang-format on + + auto randomize = concealer::NormalDistribution( + node.get_node_parameters_interface(), "/topic_name"); + + ASSERT_EQ(randomize.seed, 0); + ASSERT_EQ(randomize.position_local_x_error.additive.mean(), 0); + ASSERT_EQ(randomize.position_local_x_error.additive.stddev(), 0); + ASSERT_EQ(randomize.position_local_x_error.multiplicative.mean(), 0); + ASSERT_EQ(randomize.position_local_x_error.multiplicative.stddev(), 0); + ASSERT_EQ(randomize.position_local_y_error.additive.mean(), 0); + ASSERT_EQ(randomize.position_local_y_error.additive.stddev(), 0); + ASSERT_EQ(randomize.position_local_y_error.multiplicative.mean(), 0); + ASSERT_EQ(randomize.position_local_y_error.multiplicative.stddev(), 0); + ASSERT_EQ(randomize.position_local_z_error.additive.mean(), 0); + ASSERT_EQ(randomize.position_local_z_error.additive.stddev(), 0); + ASSERT_EQ(randomize.position_local_z_error.multiplicative.mean(), 0); + ASSERT_EQ(randomize.position_local_z_error.multiplicative.stddev(), 0); + ASSERT_EQ(randomize.orientation_r_error.additive.mean(), 0); + ASSERT_EQ(randomize.orientation_r_error.additive.stddev(), 0); + ASSERT_EQ(randomize.orientation_r_error.multiplicative.mean(), 0); + ASSERT_EQ(randomize.orientation_r_error.multiplicative.stddev(), 0); + ASSERT_EQ(randomize.orientation_p_error.additive.mean(), 0); + ASSERT_EQ(randomize.orientation_p_error.additive.stddev(), 0); + ASSERT_EQ(randomize.orientation_p_error.multiplicative.mean(), 0); + ASSERT_EQ(randomize.orientation_p_error.multiplicative.stddev(), 0); + ASSERT_EQ(randomize.orientation_y_error.additive.mean(), 0); + ASSERT_EQ(randomize.orientation_y_error.additive.stddev(), 0); + ASSERT_EQ(randomize.orientation_y_error.multiplicative.mean(), 0); + ASSERT_EQ(randomize.orientation_y_error.multiplicative.stddev(), 0); + ASSERT_EQ(randomize.linear_x_error.additive.mean(), 0); + ASSERT_EQ(randomize.linear_x_error.additive.stddev(), 0); + ASSERT_EQ(randomize.linear_x_error.multiplicative.mean(), 0); + ASSERT_EQ(randomize.linear_x_error.multiplicative.stddev(), 0); + ASSERT_EQ(randomize.linear_y_error.additive.mean(), 0); + ASSERT_EQ(randomize.linear_y_error.additive.stddev(), 0); + ASSERT_EQ(randomize.linear_y_error.multiplicative.mean(), 0); + ASSERT_EQ(randomize.linear_y_error.multiplicative.stddev(), 0); + ASSERT_EQ(randomize.linear_y_error.additive.mean(), 0); + ASSERT_EQ(randomize.linear_y_error.additive.stddev(), 0); + ASSERT_EQ(randomize.linear_y_error.multiplicative.mean(), 0); + ASSERT_EQ(randomize.linear_y_error.multiplicative.stddev(), 0); + ASSERT_EQ(randomize.angular_x_error.additive.mean(), 0); + ASSERT_EQ(randomize.angular_x_error.additive.stddev(), 0); + ASSERT_EQ(randomize.angular_x_error.multiplicative.mean(), 0); + ASSERT_EQ(randomize.angular_x_error.multiplicative.stddev(), 0); + ASSERT_EQ(randomize.angular_y_error.additive.mean(), 0); + ASSERT_EQ(randomize.angular_y_error.additive.stddev(), 0); + ASSERT_EQ(randomize.angular_y_error.multiplicative.mean(), 0); + ASSERT_EQ(randomize.angular_y_error.multiplicative.stddev(), 0); + ASSERT_EQ(randomize.angular_z_error.additive.mean(), 0); + ASSERT_EQ(randomize.angular_z_error.additive.stddev(), 0); + ASSERT_EQ(randomize.angular_z_error.multiplicative.mean(), 0); + ASSERT_EQ(randomize.angular_z_error.multiplicative.stddev(), 0); + + const auto odometry = nav_msgs::msg::Odometry(); + + const auto randomized_odometry = randomize(odometry); + + // clang-format off + ASSERT_EQ(randomized_odometry.pose.pose.position.x, 0); + ASSERT_EQ(randomized_odometry.pose.pose.position.y, 0); + ASSERT_EQ(randomized_odometry.pose.pose.position.z, 0); + ASSERT_EQ(randomized_odometry.pose.pose.orientation.x, 0); + ASSERT_EQ(randomized_odometry.pose.pose.orientation.y, 0); + ASSERT_EQ(randomized_odometry.pose.pose.orientation.z, 0); + ASSERT_EQ(randomized_odometry.pose.pose.orientation.w, 1); + ASSERT_EQ(randomized_odometry.twist.twist.linear.x, 0); + ASSERT_EQ(randomized_odometry.twist.twist.linear.y, 0); + ASSERT_EQ(randomized_odometry.twist.twist.linear.z, 0); + ASSERT_EQ(randomized_odometry.twist.twist.angular.x, 0); + ASSERT_EQ(randomized_odometry.twist.twist.angular.y, 0); + ASSERT_EQ(randomized_odometry.twist.twist.angular.z, 0); + // clang-format on +} + +TEST(NormalDistribution_nav_msgs_msg_Odometry, when_all_parameters_are_given) +{ + if (not std::exchange(rclcpp_initialized, true)) { + rclcpp::init(0, nullptr); + } + + auto node = rclcpp::Node("node_name", "simulation"); + + // clang-format off + ASSERT_FALSE(node.has_parameter("/topic_name.seed")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.multiplicative.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.additive.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.additive.standard_deviation")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.multiplicative.mean")); + ASSERT_FALSE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.multiplicative.standard_deviation")); + // clang-format on + + // clang-format off + node.declare_parameter("/topic_name.seed", 1); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.additive.mean", 2); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.additive.standard_deviation", 3); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.multiplicative.mean", 4); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.multiplicative.standard_deviation", 5); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.additive.mean", 6); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.additive.standard_deviation", 7); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.multiplicative.mean", 8); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.multiplicative.standard_deviation", 9); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.additive.mean", 10); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.additive.standard_deviation", 11); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.multiplicative.mean", 12); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.multiplicative.standard_deviation", 13); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.additive.mean", 14); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.additive.standard_deviation", 15); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.multiplicative.mean", 16); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.multiplicative.standard_deviation", 17); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.additive.mean", 18); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.additive.standard_deviation", 19); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.multiplicative.mean", 20); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.multiplicative.standard_deviation", 21); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.additive.mean", 22); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.additive.standard_deviation", 23); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.multiplicative.mean", 24); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.multiplicative.standard_deviation", 25); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.additive.mean", 26); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.additive.standard_deviation", 27); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.multiplicative.mean", 28); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.multiplicative.standard_deviation", 29); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.additive.mean", 30); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.additive.standard_deviation", 31); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.multiplicative.mean", 32); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.multiplicative.standard_deviation", 33); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.additive.mean", 34); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.additive.standard_deviation", 35); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.multiplicative.mean", 36); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.multiplicative.standard_deviation", 37); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.additive.mean", 38); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.additive.standard_deviation", 39); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.multiplicative.mean", 40); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.multiplicative.standard_deviation", 41); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.additive.mean", 42); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.additive.standard_deviation", 43); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.multiplicative.mean", 44); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.multiplicative.standard_deviation", 45); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.additive.mean", 46); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.additive.standard_deviation", 47); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.multiplicative.mean", 48); + node.declare_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.multiplicative.standard_deviation", 49); + // clang-format on + + // clang-format off + ASSERT_TRUE(node.has_parameter("/topic_name.seed")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.additive.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.additive.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.multiplicative.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_x.error.multiplicative.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.additive.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.additive.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.multiplicative.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_y.error.multiplicative.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.additive.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.additive.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.multiplicative.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.position.local_z.error.multiplicative.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.additive.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.additive.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.multiplicative.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.r.error.multiplicative.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.additive.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.additive.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.multiplicative.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.p.error.multiplicative.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.additive.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.additive.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.multiplicative.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.pose.pose.orientation.y.error.multiplicative.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.additive.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.additive.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.multiplicative.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.x.error.multiplicative.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.additive.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.additive.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.multiplicative.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.y.error.multiplicative.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.additive.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.additive.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.multiplicative.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.linear.z.error.multiplicative.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.additive.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.additive.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.multiplicative.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.x.error.multiplicative.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.additive.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.additive.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.multiplicative.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.y.error.multiplicative.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.additive.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.additive.standard_deviation")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.multiplicative.mean")); + ASSERT_TRUE(node.has_parameter("/topic_name.nav_msgs::msg::Odometry.twist.twist.angular.z.error.multiplicative.standard_deviation")); + // clang-format on + + auto randomize = concealer::NormalDistribution( + node.get_node_parameters_interface(), "/topic_name"); + + // clang-format off + ASSERT_EQ(randomize.seed, 1); + ASSERT_EQ(randomize.position_local_x_error.additive.mean(), 2); + ASSERT_EQ(randomize.position_local_x_error.additive.stddev(), 3); + ASSERT_EQ(randomize.position_local_x_error.multiplicative.mean(), 4); + ASSERT_EQ(randomize.position_local_x_error.multiplicative.stddev(), 5); + ASSERT_EQ(randomize.position_local_y_error.additive.mean(), 6); + ASSERT_EQ(randomize.position_local_y_error.additive.stddev(), 7); + ASSERT_EQ(randomize.position_local_y_error.multiplicative.mean(), 8); + ASSERT_EQ(randomize.position_local_y_error.multiplicative.stddev(), 9); + ASSERT_EQ(randomize.position_local_z_error.additive.mean(), 10); + ASSERT_EQ(randomize.position_local_z_error.additive.stddev(), 11); + ASSERT_EQ(randomize.position_local_z_error.multiplicative.mean(), 12); + ASSERT_EQ(randomize.position_local_z_error.multiplicative.stddev(), 13); + ASSERT_EQ(randomize.orientation_r_error.additive.mean(), 14); + ASSERT_EQ(randomize.orientation_r_error.additive.stddev(), 15); + ASSERT_EQ(randomize.orientation_r_error.multiplicative.mean(), 16); + ASSERT_EQ(randomize.orientation_r_error.multiplicative.stddev(), 17); + ASSERT_EQ(randomize.orientation_p_error.additive.mean(), 18); + ASSERT_EQ(randomize.orientation_p_error.additive.stddev(), 19); + ASSERT_EQ(randomize.orientation_p_error.multiplicative.mean(), 20); + ASSERT_EQ(randomize.orientation_p_error.multiplicative.stddev(), 21); + ASSERT_EQ(randomize.orientation_y_error.additive.mean(), 22); + ASSERT_EQ(randomize.orientation_y_error.additive.stddev(), 23); + ASSERT_EQ(randomize.orientation_y_error.multiplicative.mean(), 24); + ASSERT_EQ(randomize.orientation_y_error.multiplicative.stddev(), 25); + ASSERT_EQ(randomize.linear_x_error.additive.mean(), 26); + ASSERT_EQ(randomize.linear_x_error.additive.stddev(), 27); + ASSERT_EQ(randomize.linear_x_error.multiplicative.mean(), 28); + ASSERT_EQ(randomize.linear_x_error.multiplicative.stddev(), 29); + ASSERT_EQ(randomize.linear_y_error.additive.mean(), 30); + ASSERT_EQ(randomize.linear_y_error.additive.stddev(), 31); + ASSERT_EQ(randomize.linear_y_error.multiplicative.mean(), 32); + ASSERT_EQ(randomize.linear_y_error.multiplicative.stddev(), 33); + ASSERT_EQ(randomize.linear_z_error.additive.mean(), 34); + ASSERT_EQ(randomize.linear_z_error.additive.stddev(), 35); + ASSERT_EQ(randomize.linear_z_error.multiplicative.mean(), 36); + ASSERT_EQ(randomize.linear_z_error.multiplicative.stddev(), 37); + ASSERT_EQ(randomize.angular_x_error.additive.mean(), 38); + ASSERT_EQ(randomize.angular_x_error.additive.stddev(), 39); + ASSERT_EQ(randomize.angular_x_error.multiplicative.mean(), 40); + ASSERT_EQ(randomize.angular_x_error.multiplicative.stddev(), 41); + ASSERT_EQ(randomize.angular_y_error.additive.mean(), 42); + ASSERT_EQ(randomize.angular_y_error.additive.stddev(), 43); + ASSERT_EQ(randomize.angular_y_error.multiplicative.mean(), 44); + ASSERT_EQ(randomize.angular_y_error.multiplicative.stddev(), 45); + ASSERT_EQ(randomize.angular_z_error.additive.mean(), 46); + ASSERT_EQ(randomize.angular_z_error.additive.stddev(), 47); + ASSERT_EQ(randomize.angular_z_error.multiplicative.mean(), 48); + ASSERT_EQ(randomize.angular_z_error.multiplicative.stddev(), 49); + // clang-format on + + const auto odometry = nav_msgs::msg::Odometry(); + + const auto randomized_odometry = randomize(odometry); + + // clang-format off + ASSERT_DOUBLE_EQ(randomized_odometry.pose.pose.position.x, 4.0604709175379767 ); + ASSERT_DOUBLE_EQ(randomized_odometry.pose.pose.position.y, 19.565623431299677 ); + ASSERT_DOUBLE_EQ(randomized_odometry.pose.pose.position.z, 2.8688348437534232 ); + ASSERT_DOUBLE_EQ(randomized_odometry.pose.pose.orientation.x, -0.80099847581632522 ); + ASSERT_DOUBLE_EQ(randomized_odometry.pose.pose.orientation.y, -0.29036040347964753 ); + ASSERT_DOUBLE_EQ(randomized_odometry.pose.pose.orientation.z, 0.52344585659820897 ); + ASSERT_DOUBLE_EQ(randomized_odometry.pose.pose.orientation.w, 0.0098342788870005027); + ASSERT_DOUBLE_EQ(randomized_odometry.twist.twist.linear.x, 13.010296958573839 ); + ASSERT_DOUBLE_EQ(randomized_odometry.twist.twist.linear.y, 42.186386919810495 ); + ASSERT_DOUBLE_EQ(randomized_odometry.twist.twist.linear.z, 22.434366843481051 ); + ASSERT_DOUBLE_EQ(randomized_odometry.twist.twist.angular.x, 41.550077290481802 ); + ASSERT_DOUBLE_EQ(randomized_odometry.twist.twist.angular.y, 40.801412395444473 ); + ASSERT_DOUBLE_EQ(randomized_odometry.twist.twist.angular.z, 44.530605885302229 ); + // clang-format on +} diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst index d37bd902f1d..92bf332f5ff 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,42 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index ff2de59c9b1..2984cbf94c9 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 10.0.0 + 10.3.0 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 2ef4adca99e..43bf979d121 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 691571f43a7..4986a844cab 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 10.0.0 + 10.3.0 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 d53b408cce0..8e78b52f326 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,42 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index eecb020dee4..a768f5b5f59 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 10.0.0 + 10.3.0 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 9cfb93dd17d..86e61f7be5f 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,56 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge pull request `#1503 `_ from tier4/feature/publisher-with-customizable-randomizer + Feature/publisher with customizable randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Add launch argument `parameter_file_path` to `scenario_test_runner` +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge pull request `#1525 `_ from tier4/doc/comment_about_respawn_ego + add comment about respawn_ego scenario +* Merge branch 'master' into doc/comment_about_respawn_ego +* add comment about respawn_ego scenario +* Contributors: Kotaro Yoshimoto, Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge pull request `#1496 `_ from tier4/fix/respawn-ego-test + fix: mock test launch option +* Merge branch 'master' into fix/respawn-ego-test +* fix: add missing test +* fix: disable respawn mock test +* fix: unusual word +* fix: launch option +* fix: respawn ego mock test +* fix: add respawn ego test +* Contributors: Kotaro Yoshimoto, Masaya Kataoka, satoshi-ota + 10.0.0 (2025-02-07) ------------------- * Merge pull request `#1500 `_ from tier4/RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/mock/cpp_mock_scenarios/CMakeLists.txt b/mock/cpp_mock_scenarios/CMakeLists.txt index 883da343c49..05f0278443c 100644 --- a/mock/cpp_mock_scenarios/CMakeLists.txt +++ b/mock/cpp_mock_scenarios/CMakeLists.txt @@ -58,6 +58,7 @@ if(BUILD_CPP_MOCK_SCENARIOS) add_subdirectory(src/synchronized_action) add_subdirectory(src/traffic_sink) add_subdirectory(src/traffic_source) + # The scenarios recorded in this directory are commented out as they require EgoEntity and cannot be used for CI. # add_subdirectory(src/respawn_ego) endif() diff --git a/mock/cpp_mock_scenarios/launch/mock_test.launch.py b/mock/cpp_mock_scenarios/launch/mock_test.launch.py index 0a1f08e45f4..2f84043b305 100644 --- a/mock/cpp_mock_scenarios/launch/mock_test.launch.py +++ b/mock/cpp_mock_scenarios/launch/mock_test.launch.py @@ -115,6 +115,7 @@ def launch_setup(context, *args, **kwargs): launch_rviz = LaunchConfiguration("launch_rviz", default=False) launch_simple_sensor_simulator = LaunchConfiguration("launch_simple_sensor_simulator", default=True) output_directory = LaunchConfiguration("output_directory", default=Path("/tmp")) + parameter_file_path = LaunchConfiguration("parameter_file_path", default=Path(get_package_share_directory("scenario_test_runner")) / "config/parameters.yaml") port = LaunchConfiguration("port", default=5555) publish_empty_context = LaunchConfiguration("publish_empty_context", default=False) record = LaunchConfiguration("record", default=False) @@ -122,6 +123,7 @@ def launch_setup(context, *args, **kwargs): scenario = LaunchConfiguration("scenario", default=Path("/dev/null")) sensor_model = LaunchConfiguration("sensor_model", default="") sigterm_timeout = LaunchConfiguration("sigterm_timeout", default=8) + simulate_localization = LaunchConfiguration("simulate_localization", default=True) use_sim_time = LaunchConfiguration("use_sim_time", default=False) vehicle_model = LaunchConfiguration("vehicle_model", default="") scenario_package = LaunchConfiguration("package", default="cpp_mock_scenarios") @@ -140,6 +142,7 @@ def launch_setup(context, *args, **kwargs): print(f"launch_autoware := {launch_autoware.perform(context)}") print(f"launch_rviz := {launch_rviz.perform(context)}") print(f"output_directory := {output_directory.perform(context)}") + print(f"parameter_file_path := {parameter_file_path.perform(context)}") print(f"port := {port.perform(context)}") print(f"publish_empty_context := {publish_empty_context.perform(context)}") print(f"record := {record.perform(context)}") @@ -147,6 +150,7 @@ def launch_setup(context, *args, **kwargs): print(f"scenario := {scenario.perform(context)}") print(f"sensor_model := {sensor_model.perform(context)}") print(f"sigterm_timeout := {sigterm_timeout.perform(context)}") + print(f"simulate_localization := {simulate_localization.perform(context)}") print(f"use_sim_time := {use_sim_time.perform(context)}") print(f"vehicle_model := {vehicle_model.perform(context)}") print(f"scenario_package := {scenario_package.perform(context)}") @@ -167,6 +171,7 @@ def make_parameters(): {"rviz_config": rviz_config}, {"sensor_model": sensor_model}, {"sigterm_timeout": sigterm_timeout}, + {"simulate_localization": simulate_localization}, {"vehicle_model": vehicle_model}, {"global_real_time_factor": global_real_time_factor}, {"global_frame_rate": global_frame_rate}, @@ -174,6 +179,7 @@ def make_parameters(): {"junit_path": junit_path}, ] parameters += make_vehicle_parameters() + parameters += [parameter_file_path.perform(context)] return parameters def make_vehicle_parameters(): @@ -218,12 +224,14 @@ def description(): DeclareLaunchArgument("global_timeout", default_value=global_timeout ), DeclareLaunchArgument("launch_autoware", default_value=launch_autoware ), DeclareLaunchArgument("launch_rviz", default_value=launch_rviz ), + DeclareLaunchArgument("parameter_file_path", default_value=parameter_file_path ), DeclareLaunchArgument("publish_empty_context", default_value=publish_empty_context ), DeclareLaunchArgument("output_directory", default_value=output_directory ), DeclareLaunchArgument("rviz_config", default_value=rviz_config ), DeclareLaunchArgument("scenario", default_value=scenario ), DeclareLaunchArgument("sensor_model", default_value=sensor_model ), DeclareLaunchArgument("sigterm_timeout", default_value=sigterm_timeout ), + DeclareLaunchArgument("simulate_localization", default_value=simulate_localization ), DeclareLaunchArgument("use_sim_time", default_value=use_sim_time ), DeclareLaunchArgument("vehicle_model", default_value=vehicle_model ), DeclareLaunchArgument("scenario_package", default_value=scenario_package ), diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index b194acd7f93..82b8dae4c0f 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 10.0.0 + 10.3.0 C++ mock scenarios masaya Apache License 2.0 diff --git a/mock/cpp_mock_scenarios/src/respawn_ego/respawn_ego.cpp b/mock/cpp_mock_scenarios/src/respawn_ego/respawn_ego.cpp index 7e309765df4..eb2dab9bf89 100644 --- a/mock/cpp_mock_scenarios/src/respawn_ego/respawn_ego.cpp +++ b/mock/cpp_mock_scenarios/src/respawn_ego/respawn_ego.cpp @@ -38,7 +38,8 @@ class RespawnEgoScenario : public cpp_mock_scenarios::CppScenarioNode goal_msg.header.frame_id = "map"; goal_msg.pose = static_cast(goal_pose); api_.respawn("ego", message, goal_msg); - })} + })}, + has_done_respawn{false} { start(); } @@ -46,9 +47,30 @@ class RespawnEgoScenario : public cpp_mock_scenarios::CppScenarioNode private: void onUpdate() override { - if (api_.getCurrentTime() >= 30) { + if (api_.getCurrentTime() >= 60) { + stop(cpp_mock_scenarios::Result::FAILURE); + } + + if (api_.isInLanelet("ego", 34564, 0.1)) { stop(cpp_mock_scenarios::Result::SUCCESS); } + + if (api_.getCurrentTime() >= 10 && !has_done_respawn) { + geometry_msgs::msg::PoseWithCovarianceStamped ego_pose; + ego_pose.header.frame_id = "map"; + ego_pose.pose.pose = static_cast( + traffic_simulator::helper::constructCanonicalizedLaneletPose( + 34576, 10.0, 0.0, api_.getHdmapUtils())); + + geometry_msgs::msg::PoseStamped goal_pose; + goal_pose.header.frame_id = "map"; + goal_pose.pose = static_cast( + traffic_simulator::helper::constructCanonicalizedLaneletPose( + 34564, 10.0, 0.0, api_.getHdmapUtils())); + api_.respawn("ego", ego_pose, goal_pose); + + has_done_respawn = true; + } } void onInitialize() override @@ -63,6 +85,8 @@ class RespawnEgoScenario : public cpp_mock_scenarios::CppScenarioNode const rclcpp::Subscription::SharedPtr new_position_subscriber; + + bool has_done_respawn; }; } // namespace cpp_mock_scenarios diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst index d60d2a36044..66721f91dc0 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index a9173fd8bf2..562975568ab 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 10.0.0 + 10.3.0 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 57a27bf608c..70ffd5fc46d 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,46 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge pull request `#1524 `_ from tier4/feature/rosbag_storage + feat: implement rosbag storage switching +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* feat: use rosbag command default as record_storage_id default value +* feat: implement rosbag storage switching +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge pull request `#1500 `_ from tier4/RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp index a1fd41e2f4e..1fd5a0c67d2 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp @@ -64,6 +64,8 @@ class Interpreter : public rclcpp_lifecycle::LifecycleNode, bool record; + String record_storage_id; + std::shared_ptr script; std::list> scenarios; diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 605a6759332..97b9a82e536 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 10.0.0 + 10.3.0 OpenSCENARIO 1.2.0 interpreter package for Autoware Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index c9caf9b221e..4cb96beee16 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -42,7 +42,8 @@ Interpreter::Interpreter(const rclcpp::NodeOptions & options) osc_path(""), output_directory("/tmp"), publish_empty_context(false), - record(false) + record(false), + record_storage_id("") { DECLARE_PARAMETER(local_frame_rate); DECLARE_PARAMETER(local_real_time_factor); @@ -50,6 +51,7 @@ Interpreter::Interpreter(const rclcpp::NodeOptions & options) DECLARE_PARAMETER(output_directory); DECLARE_PARAMETER(publish_empty_context); DECLARE_PARAMETER(record); + DECLARE_PARAMETER(record_storage_id); declare_parameter("speed_condition", "legacy"); SpeedCondition::compatibility = @@ -111,6 +113,7 @@ auto Interpreter::on_configure(const rclcpp_lifecycle::State &) -> Result GET_PARAMETER(output_directory); GET_PARAMETER(publish_empty_context); GET_PARAMETER(record); + GET_PARAMETER(record_storage_id); script = std::make_shared(osc_path); @@ -218,8 +221,14 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result }, [&]() { if (record) { - record::start( - "-a", "-o", boost::filesystem::path(osc_path).replace_extension("").string()); + if (record_storage_id == "") { + record::start( + "-a", "-o", boost::filesystem::path(osc_path).replace_extension("").string()); + } else { + record::start( + "-a", "-o", boost::filesystem::path(osc_path).replace_extension("").string(), "-s", + record_storage_id); + } } SimulatorCore::activate( diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst index 6850ac8fe30..7fc06069b58 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 4030df57a71..117f6a1920a 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 10.0.0 + 10.3.0 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 0f1f56d287d..29bd408e932 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index f8c20f30140..3efaadee93d 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 10.0.0 + 10.3.0 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 1ae9b47f1b0..c26ecd159b6 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index f9518e97328..8349e6b4831 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 10.0.0 + 10.3.0 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 1c6dd360e9c..d35b269c3f5 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index b09d17d62ca..6b91d60cfae 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 10.0.0 + 10.3.0 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 82571ba95f7..f6fab0c39a4 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,42 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index e29dd408949..9cf6de4dfcb 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 10.0.0 + 10.3.0 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 91e02f442f7..3d0ca8739ba 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,42 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index ea3c4d8b124..008e6bc5492 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 10.0.0 + 10.3.0 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 ce65358846d..2934dc4cdb9 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 4c6ac8a0f82..763f74ceb83 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 10.0.0 + 10.3.0 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 8f691ff62fe..64a84126eb2 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 +21,46 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- +* Merge pull request `#1527 `_ from tier4/fix/copyright_date + Change copyright date to 2015 +* Change copyright date to 2015 +* Contributors: Tatsuya Yamasaki, abco20 + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity 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 fb64ceae9b3..1b70f8e4ecb 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 - 10.0.0 + 10.3.0 Slider controlling real time factor value. Paweł Lech Apache License 2.0 diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/src/real_time_factor_slider.cpp b/rviz_plugins/real_time_factor_control_rviz_plugin/src/real_time_factor_slider.cpp index 1d4aa9bd4cd..21389a35867 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/src/real_time_factor_slider.cpp +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/src/real_time_factor_slider.cpp @@ -1,5 +1,5 @@ // -// Copyright 2020 Tier IV, Inc. All rights reserved. +// 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. diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/src/real_time_factor_slider.hpp b/rviz_plugins/real_time_factor_control_rviz_plugin/src/real_time_factor_slider.hpp index 671b349604e..a9320b980f3 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/src/real_time_factor_slider.hpp +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/src/real_time_factor_slider.hpp @@ -1,5 +1,5 @@ // -// Copyright 2023 Tier IV, Inc. All rights reserved. +// 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. diff --git a/scenario_simulator_v2/CHANGELOG.rst b/scenario_simulator_v2/CHANGELOG.rst index 5e4ab465112..d323f8d34ec 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 62fdc0044ea..ed51847e793 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 10.0.0 + 10.3.0 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 3e4cf8ba1ea..1cc279d8d13 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,46 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- +* Merge pull request `#1527 `_ from tier4/fix/copyright_date + Change copyright date to 2015 +* Change copyright date to 2015 +* Contributors: Tatsuya Yamasaki, abco20 + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/simulation/behavior_tree_plugin/include/behavior_tree_plugin/pedestrian/follow_trajectory_sequence/follow_polyline_trajectory_action.hpp b/simulation/behavior_tree_plugin/include/behavior_tree_plugin/pedestrian/follow_trajectory_sequence/follow_polyline_trajectory_action.hpp index 6f534dd4130..19f2d3549f4 100644 --- a/simulation/behavior_tree_plugin/include/behavior_tree_plugin/pedestrian/follow_trajectory_sequence/follow_polyline_trajectory_action.hpp +++ b/simulation/behavior_tree_plugin/include/behavior_tree_plugin/pedestrian/follow_trajectory_sequence/follow_polyline_trajectory_action.hpp @@ -1,4 +1,4 @@ -// Copyright 2023 TIER IV, Inc. All rights reserved. +// 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. diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index ec845bfa7cc..3ffd76edc70 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 10.0.0 + 10.3.0 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 39f4e8f52f3..9833f74d29e 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index ac6558327c1..dce3c9911dc 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 10.0.0 + 10.3.0 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 22955cd5383..7c13b166e89 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index bbe0d3fa1d2..7eb097f2c1f 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 10.0.0 + 10.3.0 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 86856ad0ff4..113894b906a 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 83012a5ab3a..b9085d4bc2b 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 10.0.0 + 10.3.0 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 7f11a312b54..168802e913b 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,46 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- +* Merge pull request `#1527 `_ from tier4/fix/copyright_date + Change copyright date to 2015 +* Change copyright date to 2015 +* Contributors: Tatsuya Yamasaki, abco20 + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge pull request `#1500 `_ from tier4/RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/simulation/traffic_simulator/include/traffic_simulator/behavior/follow_waypoint_controller.hpp b/simulation/traffic_simulator/include/traffic_simulator/behavior/follow_waypoint_controller.hpp index 761ce8bf2a5..6df1320c203 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/behavior/follow_waypoint_controller.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/behavior/follow_waypoint_controller.hpp @@ -1,4 +1,4 @@ -// Copyright 2023 TIER IV, Inc. All rights reserved. +// 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. diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index a022692edac..c062f8939b3 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 10.0.0 + 10.3.0 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator/src/behavior/follow_waypoint_controller.cpp b/simulation/traffic_simulator/src/behavior/follow_waypoint_controller.cpp index 96a23681a9a..a85038f69e0 100644 --- a/simulation/traffic_simulator/src/behavior/follow_waypoint_controller.cpp +++ b/simulation/traffic_simulator/src/behavior/follow_waypoint_controller.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 TIER IV, Inc. All rights reserved. +// 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. diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index fac56885728..7f6a4cead5f 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index cc8f9fae9a7..455bde6f60d 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 10.0.0 + 10.3.0 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 e02c1b3186c..8c1985aeffb 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge pull request `#1500 `_ from tier4/RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index a06de9cad5b..4b2aac7506f 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 10.0.0 + 10.3.0 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 ffd99adbf3d..84edfe18ee9 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,56 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +10.3.0 (2025-02-14) +------------------- +* Merge pull request `#1503 `_ from tier4/feature/publisher-with-customizable-randomizer + Feature/publisher with customizable randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Update test `normal_distribution.cpp` to use `ASSERT_DOUBLE_EQ` +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Update `scenario_test_runner` to check the path given as a parameter +* Rename the parameter `(x|y|z)` to `local\_(x|y|z)` +* Update the position error to apply in the entity's local coordinate +* Merge branch 'master' into feature/publisher-with-customizable-randomizer +* Add support for multiplicative errors as well as additive errors +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Merge remote-tracking branch 'origin/master' into feature/publisher-with-customizable-randomizer +* Update parameter file format +* Update randomizer to receive `NodeParametersInterface` +* Add launch argument `parameter_file_path` to `scenario_test_runner` +* Contributors: Tatsuya Yamasaki, yamacir-kit + +10.2.0 (2025-02-14) +------------------- +* Merge pull request `#1524 `_ from tier4/feature/rosbag_storage + feat: implement rosbag storage switching +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* Merge branch 'master' into feature/rosbag_storage +* feat: use rosbag command default as record_storage_id default value +* feat: add record_storage_id argument to launch +* Contributors: Kotaro Yoshimoto + +10.1.2 (2025-02-14) +------------------- + +10.1.1 (2025-02-13) +------------------- +* Merge branch 'master' into doc/comment_about_respawn_ego +* Contributors: Masaya Kataoka + +10.1.0 (2025-02-12) +------------------- +* Merge branch 'master' into fix/respawn-ego-test +* Contributors: Kotaro Yoshimoto + 10.0.0 (2025-02-07) ------------------- * Merge branch 'master' into RJD-1057-remove-functions-forwarded-to-entity-base-middle-get-entity diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml new file mode 100644 index 00000000000..93d35b0fd37 --- /dev/null +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -0,0 +1,129 @@ +simulation: + AutowareUniverse: + ros__parameters: + /localization/kinematic_state: + version: 20240605 # architecture_type suffix (mandatory) + seed: 0 # If 0 is specified, a random seed value will be generated for each run. + nav_msgs::msg::Odometry: + pose: + pose: + position: + # The data members of geometry_msgs::msg::Pose.position are x, + # y, z, which are world coordinates in + # `/localization/kinematic_state`. However, applying error to a + # position in world coordinates is unintuitive and tricky, so + # we accept the parameters as the entity's local coordinates. + # local_x, local_y, local_z express that. The simulator + # calculates the error in the local coordinates. It then + # transforms the error to the world coordinates, adds the error + # to the true position (world coordinates), and publishes it as + # `/localization/kinematic_state`. + local_x: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + local_y: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + local_z: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + orientation: + # The type of geometry_msgs::msg::Pose.orientation is + # Quaternion, and the actual orientation data members are x, y, + # z, and w. However, applying error to Quaternions can be + # unintuitive and tricky, so we accept the parameters as Euler + # angles here. The simulator internally converts Quaternion to + # Euler angles and applies the error to them. It then converts + # the error-applied Euler angles back to Quaternion and + # publishes them as `/localization/kinematic_state`. + r: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + p: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + y: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + twist: + twist: + linear: + x: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + y: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + z: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + angular: + x: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + y: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + z: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 diff --git a/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py b/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py index ecc74a515f0..f4e2bfd656f 100755 --- a/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py +++ b/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py @@ -83,9 +83,11 @@ def launch_setup(context, *args, **kwargs): launch_rviz = LaunchConfiguration("launch_rviz", default=False) launch_simple_sensor_simulator = LaunchConfiguration("launch_simple_sensor_simulator", default=True) output_directory = LaunchConfiguration("output_directory", default=Path("/tmp")) + parameter_file_path = LaunchConfiguration("parameter_file_path", default=Path(get_package_share_directory("scenario_test_runner")) / "config/parameters.yaml") port = LaunchConfiguration("port", default=5555) publish_empty_context = LaunchConfiguration("publish_empty_context", default=False) record = LaunchConfiguration("record", default=True) + record_storage_id = LaunchConfiguration("record_storage_id", default="") rviz_config = LaunchConfiguration("rviz_config", default=default_rviz_config_file()) scenario = LaunchConfiguration("scenario", default=Path("/dev/null")) sensor_model = LaunchConfiguration("sensor_model", default="") @@ -109,9 +111,11 @@ def launch_setup(context, *args, **kwargs): print(f"launch_autoware := {launch_autoware.perform(context)}") print(f"launch_rviz := {launch_rviz.perform(context)}") print(f"output_directory := {output_directory.perform(context)}") + print(f"parameter_file_path := {parameter_file_path.perform(context)}") print(f"port := {port.perform(context)}") print(f"publish_empty_context := {publish_empty_context.perform(context)}") print(f"record := {record.perform(context)}") + print(f"record_storage_id := {record_storage_id.perform(context)}") print(f"rviz_config := {rviz_config.perform(context)}") print(f"scenario := {scenario.perform(context)}") print(f"sensor_model := {sensor_model.perform(context)}") @@ -139,6 +143,7 @@ def make_parameters(): {"port": port}, {"publish_empty_context" : publish_empty_context}, {"record": record}, + {"record_storage_id": record_storage_id}, {"rviz_config": rviz_config}, {"sensor_model": sensor_model}, {"sigterm_timeout": sigterm_timeout}, @@ -167,6 +172,15 @@ def collect_prefixed_parameters(): if (it := collect_prefixed_parameters()) != []: parameters += [{"autoware.": it}] + path = Path(parameter_file_path.perform(context)) + + if not path.is_file(): + raise Exception(f'The value "{path}" given for parameter `parameter_file_path` is not a file.') + elif path.suffix not in {'.yaml', '.yml'}: + raise Exception(f'The value "{path}" given for parameter `parameter_file_path` is not a YAML file.') + else: + parameters += [path] + return parameters return [ @@ -183,13 +197,14 @@ def collect_prefixed_parameters(): DeclareLaunchArgument("launch_autoware", default_value=launch_autoware ), DeclareLaunchArgument("launch_rviz", default_value=launch_rviz ), DeclareLaunchArgument("output_directory", default_value=output_directory ), + DeclareLaunchArgument("parameter_file_path", default_value=parameter_file_path ), DeclareLaunchArgument("publish_empty_context", default_value=publish_empty_context ), DeclareLaunchArgument("rviz_config", default_value=rviz_config ), DeclareLaunchArgument("scenario", default_value=scenario ), DeclareLaunchArgument("sensor_model", default_value=sensor_model ), DeclareLaunchArgument("sigterm_timeout", default_value=sigterm_timeout ), DeclareLaunchArgument("simulate_localization", default_value=simulate_localization ), - DeclareLaunchArgument("speed_condition", default_value=speed_condition ), + DeclareLaunchArgument("speed_condition", default_value=speed_condition ), DeclareLaunchArgument("use_sim_time", default_value=use_sim_time ), DeclareLaunchArgument("vehicle_model", default_value=vehicle_model ), # fmt: on diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index d3caa71f15e..205ee163800 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 10.0.0 + 10.3.0 scenario test runner package Tatsuya Yamasaki Apache License 2.0