Merge branch 'ref/RJD-1387-hdmap-utils-to-lanelet-wrapper-route' into…

… ref/RJD-1387-hdmap-utils-to-lanelet-wrapper-traffic-lights
tier4 · Mar 6, 2025 · f115f21 · f115f21
2 parents 6c262d0 + aa8df07
commit f115f21
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diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml
@@ -78,7 +78,7 @@ jobs:
       - name: Install sonar-scanner and build-wrapper
         uses: sonarsource/sonarcloud-github-c-cpp@v3
         env:
-          SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }} 
+          SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }}
 
       - name: Build with SonarCloud Build Wrapper
         run: |
@@ -120,6 +120,34 @@ jobs:
           ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/workflow.txt global_frame_rate:=20
         shell: bash
 
+      - name: Scenario test (optional)
+        id: optional-scenario-test
+        run: |
+          source install/setup.bash
+          source install/local_setup.bash
+          # execute scenarios but ignore the return code
+          ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true
+          ./src/scenario_simulator_v2/.github/workflows/generate_workflow_report.sh /tmp/scenario_workflow/optional_workflow
+          echo failure=$(grep -c "<failure"  /tmp/scenario_workflow/optional_workflow/failure_report.md) >> $GITHUB_OUTPUT
+        shell: bash
+
+      - uses: actions/github-script@v7
+        if: steps.optional-scenario-test.outputs.failure > 0
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const fs = require('fs');
+            let commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8');
+            if (commentBody) {
+              commentBody = '## Failure optional scenarios\n> [!NOTE]\n> This is an experimental check and does not block merging the pull-request. \n> But, please be aware that this may indicate a regression.\n' + commentBody;
+            }
+            await github.rest.issues.createComment({
+              issue_number: context.issue.number,
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              body: commentBody
+            })
+
       - name: Upload Lcov result
         uses: actions/upload-artifact@v4
         with:

diff --git a/.github/workflows/Docker.yaml b/.github/workflows/Docker.yaml
@@ -69,7 +69,8 @@ jobs:
             *.cache-to=type=gha,mode=max
             *.cache-from=type=gha
             *.tags=ghcr.io/tier4/scenario_simulator_v2:traffic_simulator_${{ matrix.rosdistro }}-${{ github.event.inputs.version }}
-          push: true
+            *.tags=ghcr.io/tier4/scenario_simulator_v2:traffic_simulator-latest
+            push: true
           targets: |
             traffic_simulator_${{ matrix.rosdistro }}
 
@@ -135,6 +136,7 @@ jobs:
             *.cache-to=type=gha,mode=max
             *.cache-from=type=gha
             *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ github.event.inputs.version }}
+            *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-latest
           push: true
           targets: |
             ${{ matrix.rosdistro }}_base_${{ matrix.arch }}
diff --git a/.github/workflows/generate_workflow_report.sh b/.github/workflows/generate_workflow_report.sh
@@ -0,0 +1,21 @@
+#!/bin/sh
+
+if [ $# -ne 1 ]; then
+    echo "Usage: $0 <workflow_directory>"
+    exit 1
+fi
+
+workflow_directory="$1"
+failure_report="$workflow_directory/failure_report.md"
+rm -f "$failure_report"
+
+find $workflow_directory -name "result.junit.xml" | while read file; do
+  [ -e "$file" ] || continue
+  if grep -q '<failure' "$file"; then
+    {
+      echo "<details><summary>scenario failed: $(dirname "${file#"$workflow_directory"/}" | cut -d'/' -f1)</summary><div>\n\n\`\`\`xml"
+      grep '<failure' "$file"
+      echo "\`\`\`\n</div></details>\n"
+    } >> "$failure_report"
+  fi
+done
diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh
@@ -15,8 +15,9 @@ exit_status=0
 
 while IFS= read -r line
 do
-  ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" "$@"
-  ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml
+  output_directory="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')/$(basename "$line" | sed 's/\.[^.]*$//')"
+  ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" output_directory:=$output_directory "$@"
+  ros2 run scenario_test_runner result_checker.py $output_directory/scenario_test_runner/result.junit.xml
   command_exit_status=$?
   if [ $command_exit_status -ne 0 ]; then
     echo "Error: caught non-zero exit status（code: $command_exit_status)"

diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route

diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
@@ -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>11.0.0</version>
+  <version>12.1.0</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 +21,46 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route

diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
@@ -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>11.0.0</version>
+  <version>12.1.0</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 +21,46 @@ Changelog for package scenario_simulator_exception
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route

diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
@@ -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>11.0.0</version>
+  <version>12.1.0</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 +21,46 @@ Changelog for package junit_exporter
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route

diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
@@ -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>11.0.0</version>
+  <version>12.1.0</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 +21,46 @@ Changelog for package status_monitor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route

diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
@@ -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>11.0.0</version>
+  <version>12.1.0</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
@@ -13,6 +13,7 @@ nav:
     - ManualOverrideWithFollowTrajectoryAction.md
     - NPCBehavior.md
     - OpenSCENARIOSupport.md
+    - Parameters.md
     - SimpleSensorSimulator.md
     - SimulationResultFormat.md
     - SystemArchitecture.md