Merge branch 'master' into fix/use-capital-as

tier4 · Feb 14, 2025 · 446ab97 · 446ab97
2 parents 1e5296d + 2a94cd8
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diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
@@ -21,6 +21,22 @@ 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

diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>arithmetic</name>
-  <version>10.2.0</version>
+  <version>10.3.0</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst
@@ -21,6 +21,22 @@ 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

diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>geometry</name>
-  <version>10.2.0</version>
+  <version>10.3.0</version>
   <description>geometry math library for scenario_simulator_v2 application</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst
@@ -21,6 +21,22 @@ 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

diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_exception</name>
-  <version>10.2.0</version>
+  <version>10.3.0</version>
   <description>Exception types for scenario simulator</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst
@@ -21,6 +21,22 @@ 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

diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_junit</name>
-  <version>10.2.0</version>
+  <version>10.3.0</version>
   <description>Lightweight JUnit library for ROS 2</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>

diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst
@@ -21,6 +21,22 @@ 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

diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>status_monitor</name>
-  <version>10.2.0</version>
+  <version>10.3.0</version>
   <description>none</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git 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
@@ -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.
+
+<!-- cspell: ignore YYYYMMDD -->
+
+| Name                   | Value                                   | Default              | Description                                                                                                                                                          |
+|------------------------|-----------------------------------------|----------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| `<topic-name>.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
@@ -21,6 +21,37 @@ 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 <https://github.com/tier4/scenario_simulator_v2/issues/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<Odometry>` to use `std::normal_distribution`
+* Update `NormalDistribution<Odometry>::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<nav_msgs::msg::Odometry>`
+* Add new struct template `concealer::NormalDistribution`
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 10.2.0 (2025-02-14)
 -------------------
 * Merge branch 'master' into feature/rosbag_storage

diff --git 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
@@ -61,14 +61,14 @@ class AutowareUniverse : public rclcpp::Node,
   Subscriber<TurnIndicatorsCommand>    getTurnIndicatorsCommand;
   Subscriber<priority::PathWithLaneId> getPathWithLaneId;
 
-  Publisher<AccelWithCovarianceStamped> setAcceleration;
-  Publisher<Odometry>                   setOdometry;
-  Publisher<PoseWithCovarianceStamped>  setPose;
-  Publisher<SteeringReport>             setSteeringReport;
-  Publisher<GearReport>                 setGearReport;
-  Publisher<ControlModeReport>          setControlModeReport;
-  Publisher<VelocityReport>             setVelocityReport;
-  Publisher<TurnIndicatorsReport>       setTurnIndicatorsReport;
+  Publisher<AccelWithCovarianceStamped>   setAcceleration;
+  Publisher<Odometry, NormalDistribution> setOdometry;
+  Publisher<PoseWithCovarianceStamped>    setPose;
+  Publisher<SteeringReport>               setSteeringReport;
+  Publisher<GearReport>                   setGearReport;
+  Publisher<ControlModeReport>            setControlModeReport;
+  Publisher<VelocityReport>               setVelocityReport;
+  Publisher<TurnIndicatorsReport>         setTurnIndicatorsReport;
 
   std::atomic<geometry_msgs::msg::Accel> current_acceleration;
   std::atomic<geometry_msgs::msg::Pose>  current_pose;