Merge branch 'main' into mau/refactor/localization/twist2accel

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

@@ -74,40 +74,3 @@ jobs:
 
       - name: Show disk space after the tasks
         run: df -h
-
-  clang-tidy-differential:
-    runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Show disk space before the tasks
-        run: df -h
-
-      - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
-
-      - name: Get modified packages
-        id: get-modified-packages
-        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
-
-      - name: Get modified files
-        id: get-modified-files
-        uses: tj-actions/changed-files@v35
-        with:
-          files: |
-            **/*.cpp
-            **/*.hpp
-
-      - name: Run clang-tidy
-        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
-        with:
-          rosdistro: humble
-          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.repos

.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/clang-tidy-differential.yaml

@@ -0,0 +1,53 @@
+name: clang-tidy-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-clang-tidy-differential
+
+  clang-tidy-differential:
+    needs: prevent-no-label-execution
+    if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
+    runs-on: ubuntu-latest
+    container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Show disk space before the tasks
+        run: df -h
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Get modified files
+        id: get-modified-files
+        uses: tj-actions/changed-files@v35
+        with:
+          files: |
+            **/*.cpp
+            **/*.hpp
+
+      - name: Run clang-tidy
+        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
+        with:
+          rosdistro: humble
+          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.repos

.github/workflows/cppcheck-daily.yaml

@@ -0,0 +1,59 @@
+name: cppcheck-daily
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  cppcheck-daily:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y build-essential cmake git libpcre3-dev
+
+      # cppcheck from apt does not yet support --check-level args, and thus install from source
+      - name: Install Cppcheck from source
+        run: |
+          mkdir /tmp/cppcheck
+          git clone https://github.com/danmar/cppcheck.git /tmp/cppcheck
+          cd /tmp/cppcheck
+          git checkout 2.14.1
+          mkdir build
+          cd build
+          cmake ..
+          make -j $(nproc)
+          sudo make install
+
+      - name: Run Cppcheck on all files
+        continue-on-error: true
+        id: cppcheck
+        run: |
+          cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --xml . 2> cppcheck-report.xml
+        shell: bash
+
+      - name: Count errors by error ID and severity
+        run: |
+          #!/bin/bash
+          temp_file=$(mktemp)
+          grep -oP '(?<=id=")[^"]+" severity="[^"]+' cppcheck-report.xml | sed 's/" severity="/,/g' > "$temp_file"
+          echo "Error counts by error ID and severity:"
+          sort "$temp_file" | uniq -c
+          rm "$temp_file"
+        shell: bash
+
+      - name: Upload Cppcheck report
+        uses: actions/upload-artifact@v2
+        with:
+          name: cppcheck-report
+          path: cppcheck-report.xml
+
+      - name: Fail the job if Cppcheck failed
+        if: steps.cppcheck.outcome == 'failure'
+        run: exit 1

.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

common/global_parameter_loader/launch/global_params.launch.py

@@ -33,7 +33,7 @@ def launch_setup(context, *args, **kwargs):
 
     load_vehicle_info = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            [FindPackageShare("vehicle_info_util"), "/launch/vehicle_info.launch.py"]
+            [FindPackageShare("autoware_vehicle_info_utils"), "/launch/vehicle_info.launch.py"]
         ),
         launch_arguments={
             "vehicle_info_param_file": [vehicle_description_pkg, "/config/vehicle_info.param.yaml"]

common/global_parameter_loader/package.xml

@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <exec_depend>vehicle_info_util</exec_depend>
+  <exec_depend>autoware_vehicle_info_utils</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>