Merge branch 'main' into feature/likelihood_field_tracker

Signed-off-by: yoshiri <[email protected]>

.clang-format

@@ -4,6 +4,7 @@ BasedOnStyle: Google
 
 AccessModifierOffset: -2
 AlignAfterOpenBracket: AlwaysBreak
+AllowShortFunctionsOnASingleLine: InlineOnly
 BraceWrapping:
   AfterClass: true
   AfterFunction: true
@@ -33,6 +34,9 @@ IncludeCategories:
   - Regex: .*_msgs/.*
     Priority: 3
     CaseSensitive: true
+  - Regex: .*_srvs/.*
+    Priority: 3
+    CaseSensitive: true
   # Other Package headers
   - Regex: <.*>
     Priority: 2

.cspell-partial.json

@@ -0,0 +1,9 @@
+{
+  "ignorePaths": [
+    "**/perception/**",
+    "sensing/tier4_pcl_extensions/include/**",
+    "perception/bytetrack/lib/**"
+  ],
+  "ignoreRegExpList": [],
+  "words": ["dltype", "tvmgen"]
+}

.github/PULL_REQUEST_TEMPLATE/small-change.md

@@ -2,6 +2,19 @@
 
 <!-- Write a brief description of this PR. -->
 
+## Tests performed
+
+<!-- Describe how you have tested this PR. -->
+<!-- Although the default value is set to "Not Applicable.", please update this section if the type is either [feat, fix, perf], or if requested by the reviewers. -->
+
+Not applicable.
+
+## Effects on system behavior
+
+<!-- Describe how this PR affects the system behavior. -->
+
+Not applicable.
+
 ## Pre-review checklist for the PR author
 
 The PR author **must** check the checkboxes below when creating the PR.

.github/PULL_REQUEST_TEMPLATE/standard-change.md

@@ -14,6 +14,14 @@
 
 <!-- Write additional information if necessary. It should be written if there are related PRs that should be merged at the same time. -->
 
+## Interface changes
+
+<!-- Describe any changed interfaces, such as topics, services, or parameters. -->
+
+## Effects on system behavior
+
+<!-- Describe how this PR affects the system behavior. -->
+
 ## Pre-review checklist for the PR author
 
 The PR author **must** check the checkboxes below when creating the PR.

.github/dependabot.yaml

@@ -6,5 +6,5 @@ updates:
       interval: daily
     open-pull-requests-limit: 1
     labels:
-      - bot
-      - github-actions
+      - tag:bot
+      - type:github-actions

.github/labeler.yaml

@@ -0,0 +1,41 @@
+"type:ci":
+  - .github/**/*
+  - "*.json"
+  - "*.yaml"
+  - "*.cfg"
+  - .clang-format
+  - .gitignore
+  - .prettierignore
+"type:documentation":
+  - docs/**/*
+  - "**/*.md"
+  - "**/*.rst"
+  - "**/*.jpg"
+  - "**/*.png"
+  - "**/*.svg"
+"component:common":
+  - common/**/*
+"component:control":
+  - control/**/*
+"component:evaluator":
+  - evaluator/**/*
+"component:launch":
+  - launch/**/*
+"component:localization":
+  - localization/**/*
+"component:map":
+  - map/**/*
+"component:perception":
+  - perception/**/*
+"component:planning":
+  - planning/**/*
+"component:sensing":
+  - sensing/**/*
+"component:simulation":
+  - simulator/**/*
+"component:system":
+  - system/**/*
+"component:tools":
+  - tools/**/*
+"component:vehicle":
+  - vehicle/**/*

.github/stale.yml

@@ -4,7 +4,7 @@
 daysUntilClose: false
 
 # Label to use when marking as stale
-staleLabel: stale
+staleLabel: status:stale
 
 # Comment to post when marking as stale
 markComment: >

.github/sync-files.yaml

@@ -34,7 +34,6 @@
     - source: .github/workflows/build-and-test.yaml
       pre-commands: |
         sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source}
-        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {source}
 
         sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source}
         sd -- \
@@ -43,35 +42,20 @@
                   - \"\"
                   - -cuda
                 include:" {source}
-    - source: .github/workflows/build-and-test-differential.yaml
-      pre-commands: |
-        sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source}
-        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {source}
-
-        sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source}
-        sd -- \
-        "       include:" \
-        "       container-suffix:
-                  - -cuda
-                include:" {source}
-
-        sd "^    container: ghcr.io/autowarefoundation/autoware-universe:(\w+)-latest\$" \
-            "    container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {source}
     - source: .github/workflows/build-and-test-differential-self-hosted.yaml
       pre-commands: |
         sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source}
-        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {source}
 
         sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source}
         sd -- \
         "       include:" \
         "       container-suffix:
+                  - \"\"
                   - -cuda
                 include:" {source}
     - source: .github/workflows/build-and-test-self-hosted.yaml
       pre-commands: |
         sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source}
-        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {source}
 
         sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source}
         sd -- \
@@ -81,12 +65,27 @@
                   - -cuda
                 include:" {source}
     - source: .github/workflows/check-build-depends.yaml
-      pre-commands: |
-        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {source}
+    - source: .github/workflows/clang-tidy-pr-comments.yaml
+    - source: .github/workflows/clang-tidy-pr-comments-manually.yaml
     - source: .github/workflows/update-codeowners-from-packages.yaml
+    - source: .pre-commit-config.yaml
     - source: codecov.yaml
 
 - repository: autowarefoundation/autoware-documentation
   files:
     - source: .github/workflows/deploy-docs.yaml
     - source: .github/workflows/delete-closed-pr-docs.yaml
+    - source: mkdocs-base.yaml
+      dest: mkdocs.yaml
+      pre-commands: |
+        sd "Autoware Documentation" "Autoware Universe Documentation" {source}
+        sd "autoware-documentation" "autoware.universe" {source}
+        sd "repo_url: .*" "repo_url: https://github.com/autowarefoundation/autoware.universe" {source}
+        sd "/edit/main/docs/" "/edit/main/" {source}
+        sd "docs_dir: .*" "docs_dir: ." {source}
+        sd "assets/(\w+)" "docs/assets/\$1" {source}
+        sd -- \
+        "  - macros" \
+        "  - macros:
+              module_name: mkdocs_macros" {source}
+    - source: docs/assets/js/mathjax.js

.github/workflows/build-and-test-differential-self-hosted.yaml

@@ -23,17 +23,14 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro:
-          - galactic
           - humble
         container-suffix:
+          - ""
           - -cuda
         include:
-          - rosdistro: galactic
-            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest
-            build-depends-repos: build_depends.repos
           - rosdistro: humble
             container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
-            build-depends-repos: build_depends.humble.repos
+            build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

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

@@ -2,32 +2,43 @@ name: build-and-test-differential
 
 on:
   pull_request:
+    types:
+      - opened
+      - synchronize
+      - labeled
 
 jobs:
+  prevent-no-label-execution:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+    with:
+      label: tag:run-build-and-test-differential
+
   build-and-test-differential:
-    runs-on: ubuntu-latest
+    needs: prevent-no-label-execution
+    if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
+    runs-on: [self-hosted, linux, X64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
       matrix:
         rosdistro:
-          - galactic
           - humble
         container-suffix:
+          - ""
           - -cuda
         include:
-          - rosdistro: galactic
-            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest
-            build-depends-repos: build_depends.repos
           - rosdistro: humble
             container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
-            build-depends-repos: build_depends.humble.repos
+            build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
         with:
           fetch-depth: 0
 
+      - name: Check disk space before build
+        run: df -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -61,8 +72,11 @@ jobs:
           verbose: true
           flags: differential
 
+      - name: Check disk space after build
+        run: df -h
+
   clang-tidy-differential:
-    runs-on: ubuntu-latest
+    runs-on: [self-hosted, linux, X64]
     container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
     needs: build-and-test-differential
     steps:
@@ -80,7 +94,7 @@ jobs:
 
       - name: Get modified files
         id: get-modified-files
-        uses: tj-actions/changed-files@v32
+        uses: tj-actions/changed-files@v35
         with:
           files: |
             **/*.cpp
@@ -94,4 +108,4 @@ jobs:
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
           clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
-          build-depends-repos: build_depends.humble.repos
+          build-depends-repos: build_depends.repos

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

@@ -13,18 +13,14 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro:
-          - galactic
           - humble
         container-suffix:
           - ""
           - -cuda
         include:
-          - rosdistro: galactic
-            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest
-            build-depends-repos: build_depends.repos
           - rosdistro: humble
             container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
-            build-depends-repos: build_depends.humble.repos
+            build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

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

@@ -15,22 +15,26 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro:
-          - galactic
           - humble
         container-suffix:
           - ""
           - -cuda
         include:
-          - rosdistro: galactic
-            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest
-            build-depends-repos: build_depends.repos
           - rosdistro: humble
             container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
-            build-depends-repos: build_depends.humble.repos
+            build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
 
+      - name: Free disk space (Ubuntu)
+        uses: jlumbroso/[email protected]
+        with:
+          tool-cache: false
+          dotnet: false
+          swap-storage: false
+          large-packages: false
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 

.github/workflows/cancel-previous-workflows.yaml

@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.11.0
+        uses: styfle/cancel-workflow-action@0.12.0
         with:
           workflow_id: all
           all_but_latest: true

.github/workflows/check-build-depends.yaml

@@ -13,15 +13,11 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro:
-          - galactic
           - humble
         include:
-          - rosdistro: galactic
-            container: ros:galactic
-            build-depends-repos: build_depends.repos
           - rosdistro: humble
             container: ros:humble
-            build-depends-repos: build_depends.humble.repos
+            build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3