Merge branch 'main' into feat/pose_instability_detector/sophisticate_…

…threshold_values

.github/CODEOWNERS

@@ -1,9 +1,9 @@
 ### Automatically generated from package.xml ###
 common/autoware_ad_api_specs/** [email protected] [email protected]
 common/autoware_auto_common/** [email protected] [email protected] [email protected] [email protected]
-common/autoware_perception_rviz_plugin/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** [email protected]
 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** [email protected]
+common/autoware_perception_rviz_plugin/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 common/autoware_point_types/** [email protected]
 common/autoware_testing/** [email protected] [email protected] [email protected] [email protected]
 common/bag_time_manager_rviz_plugin/** [email protected]
@@ -144,22 +144,28 @@ perception/traffic_light_map_based_detector/** [email protected] tao.zhong
 perception/traffic_light_multi_camera_fusion/** [email protected] [email protected]
 perception/traffic_light_occlusion_predictor/** [email protected] [email protected]
 perception/traffic_light_visualization/** [email protected] [email protected]
+planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/** [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_path_external_request_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_behavior_path_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_behavior_path_static_obstacle_avoidance_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_velocity_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_behavior_velocity_run_out_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_velocity_template_module/** [email protected]
 planning/autoware_behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
+planning/autoware_behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]
+planning/autoware_external_velocity_limit_selector/** [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_path_optimizer/** [email protected] [email protected] [email protected]
 planning/autoware_planning_test_manager/** [email protected] [email protected]
+planning/autoware_planning_topic_converter/** [email protected] [email protected] [email protected]
 planning/autoware_remaining_distance_time_calculator/** [email protected]
 planning/autoware_static_centerline_generator/** [email protected] [email protected]
+planning/autoware_velocity_smoother/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_avoidance_by_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/behavior_path_avoidance_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/behavior_path_dynamic_avoidance_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_goal_planner_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/autoware_behavior_path_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_sampling_planner_module/** [email protected] [email protected]
-planning/behavior_path_side_shift_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_behavior_path_side_shift_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_start_planner_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_blind_spot_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_crosswalk_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -171,41 +177,38 @@ planning/behavior_velocity_no_stopping_area_module/** [email protected] s
 planning/behavior_velocity_occlusion_spot_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_out_of_lane_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/behavior_velocity_run_out_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_speed_bump_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_stop_line_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_traffic_light_module/** [email protected] [email protected] [email protected] [email protected]
-planning/behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]
 planning/costmap_generator/** [email protected] [email protected] [email protected]
-planning/external_velocity_limit_selector/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/freespace_planner/** [email protected] [email protected] [email protected]
 planning/freespace_planning_algorithms/** [email protected] [email protected] [email protected]
 planning/mission_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/motion_velocity_smoother/** [email protected] [email protected] [email protected] [email protected]
+planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** [email protected] [email protected] [email protected] [email protected]
+planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** [email protected]
+planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** [email protected]
 planning/objects_of_interest_marker_interface/** [email protected] [email protected] [email protected]
-planning/obstacle_avoidance_planner/** [email protected] [email protected] [email protected]
 planning/obstacle_cruise_planner/** [email protected] [email protected] [email protected] [email protected]
 planning/obstacle_stop_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/obstacle_velocity_limiter/** [email protected]
 planning/path_smoother/** [email protected] [email protected]
 planning/planning_test_utils/** [email protected] [email protected] [email protected] [email protected]
-planning/planning_topic_converter/** [email protected] [email protected] [email protected]
 planning/planning_validator/** [email protected] [email protected]
 planning/route_handler/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/rtc_interface/** [email protected] [email protected] [email protected] [email protected]
 planning/rtc_replayer/** [email protected] [email protected]
-planning/sampling_based_planner/bezier_sampler/** [email protected]
-planning/sampling_based_planner/frenet_planner/** [email protected]
-planning/sampling_based_planner/path_sampler/** [email protected]
-planning/sampling_based_planner/sampler_common/** [email protected]
+planning/sampling_based_planner/autoware_bezier_sampler/** [email protected]
+planning/sampling_based_planner/autoware_frenet_planner/** [email protected]
+planning/sampling_based_planner/autoware_path_sampler/** [email protected]
+planning/sampling_based_planner/autoware_sampler_common/** [email protected]
 planning/scenario_selector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/surround_obstacle_checker/** [email protected]
+planning/autoware_surround_obstacle_checker/** [email protected] [email protected]
 sensing/gnss_poser/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 sensing/image_diagnostics/** [email protected] [email protected]
 sensing/image_transport_decompressor/** [email protected] [email protected]
 sensing/imu_corrector/** [email protected] [email protected] [email protected]
 sensing/livox/livox_tag_filter/** [email protected] [email protected]
-sensing/pointcloud_preprocessor/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+sensing/pointcloud_preprocessor/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 sensing/radar_scan_to_pointcloud2/** [email protected] [email protected] [email protected] [email protected]
 sensing/radar_static_pointcloud_filter/** [email protected] [email protected] [email protected] [email protected]
 sensing/radar_threshold_filter/** [email protected] [email protected] [email protected] [email protected]
@@ -240,9 +243,9 @@ system/topic_state_monitor/** [email protected]
 system/velodyne_monitor/** [email protected]
 tools/reaction_analyzer/** [email protected]
 vehicle/accel_brake_map_calibrator/** [email protected] [email protected] [email protected]
+vehicle/autoware_steer_offset_estimator/** [email protected]
 vehicle/external_cmd_converter/** [email protected]
 vehicle/raw_vehicle_cmd_converter/** [email protected] [email protected] [email protected]
-vehicle/steer_offset_estimator/** [email protected]
 vehicle/vehicle_info_util/** [email protected] [email protected] [email protected]
 
 ### Copied from .github/CODEOWNERS-manual ###

.github/workflows/build-and-test.yaml

@@ -9,7 +9,7 @@ on:
 jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
-    runs-on: ubuntu-latest
+    runs-on: [self-hosted, linux, X64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false

.github/workflows/cppcheck-all.yaml → .github/workflows/cppcheck-daily.yaml

@@ -1,13 +1,12 @@
-name: cppcheck-all
+name: cppcheck-daily
 
 on:
-  pull_request:
   schedule:
     - cron: 0 0 * * *
   workflow_dispatch:
 
 jobs:
-  cppcheck-all:
+  cppcheck-daily:
     runs-on: ubuntu-latest
 
     steps:

.github/workflows/pr-agent.yaml

@@ -26,6 +26,13 @@ jobs:
         env:
           OPENAI_KEY: ${{ secrets.OPENAI_KEY_PR_AGENT }}
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          github_action_config.auto_review: "false"
-          github_action_config.auto_describe: "false"
-          github_action_config.auto_improve: "false"
+          github_action_config.auto_review: false
+          github_action_config.auto_describe: false
+          github_action_config.auto_improve: false
+          # https://github.com/Codium-ai/pr-agent/blob/main/pr_agent/settings/configuration.toml
+          pr_description.publish_labels: false
+          config.model: gpt-4o
+          config.model_turbo: gpt-4o
+          config.max_model_tokens: 64000
+          pr_code_suggestions.max_context_tokens: 12000
+          pr_code_suggestions.commitable_code_suggestions: true

build_depends.repos

@@ -41,3 +41,7 @@ repositories:
     type: git
     url: https://github.com/tier4/glog.git
     version: v0.6.0_t4-ros
+  universe/external/ament_cmake: # TODO(mitsudome-r): remove when https://github.com/ament/ament_cmake/pull/448 is merged
+    type: git
+    url: https://github.com/autowarefoundation/ament_cmake.git
+    version: feat/faster_ament_libraries_deduplicate

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -106,7 +106,7 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::WalkwayModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::WalkwayModulePlugin, '&quot;)"
     if="$(var launch_walkway_module)"
   />
   <let
@@ -156,7 +156,7 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::RunOutModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::RunOutModulePlugin, '&quot;)"
     if="$(var launch_run_out_module)"
   />
   <let

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml

@@ -80,7 +80,7 @@
 
     <group if="$(eval &quot;'$(var motion_path_planner_type)' == 'path_sampler'&quot;)">
       <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
-        <composable_node pkg="path_sampler" plugin="path_sampler::PathSampler" name="path_sampler" namespace="">
+        <composable_node pkg="autoware_path_sampler" plugin="autoware::path_sampler::PathSampler" name="path_sampler" namespace="">
           <!-- topic remap -->
           <remap from="~/input/path" to="path_smoother/path"/>
           <remap from="~/input/odometry" to="/localization/kinematic_state"/>
@@ -98,7 +98,7 @@
 
     <group if="$(eval &quot;'$(var motion_path_planner_type)' == 'none'&quot;)">
       <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
-        <composable_node pkg="planning_topic_converter" plugin="planning_topic_converter::PathToTrajectory" name="path_to_trajectory_converter" namespace="">
+        <composable_node pkg="autoware_planning_topic_converter" plugin="autoware::planning_topic_converter::PathToTrajectory" name="path_to_trajectory_converter" namespace="">
           <!-- params -->
           <param name="input_topic" value="path_smoother/path"/>
           <param name="output_topic" value="path_optimizer/trajectory"/>
@@ -232,7 +232,7 @@
   <!-- surround obstacle check -->
   <group if="$(var launch_surround_obstacle_checker)">
     <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
-      <composable_node pkg="surround_obstacle_checker" plugin="surround_obstacle_checker::SurroundObstacleCheckerNode" name="surround_obstacle_checker" namespace="">
+      <composable_node pkg="autoware_surround_obstacle_checker" plugin="autoware::surround_obstacle_checker::SurroundObstacleCheckerNode" name="surround_obstacle_checker" namespace="">
         <!-- topic remap -->
         <remap from="~/input/odometry" to="/localization/kinematic_state"/>
         <remap from="~/input/objects" to="/perception/object_recognition/objects"/>