Merge branch 'autowarefoundation:main' into feature/fast_pcd_loader

.github/CODEOWNERS

@@ -1,9 +1,7 @@
 ### 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_auto_geometry/** [email protected]
-common/autoware_auto_perception_rviz_plugin/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-common/autoware_auto_tf2/** [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_point_types/** [email protected]
@@ -148,6 +146,7 @@ perception/traffic_light_occlusion_predictor/** [email protected] tao.zhon
 perception/traffic_light_visualization/** [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_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_template_module/** [email protected]
 planning/autoware_planning_test_manager/** [email protected] [email protected]
 planning/autoware_remaining_distance_time_calculator/** [email protected]
 planning/autoware_static_centerline_generator/** [email protected] [email protected]
@@ -174,7 +173,6 @@ planning/behavior_velocity_planner_common/** [email protected] isamu.taka
 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_template_module/** [email protected]
 planning/behavior_velocity_traffic_light_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]
@@ -219,7 +217,6 @@ simulator/fault_injection/** [email protected]
 simulator/learning_based_vehicle_model/** [email protected] [email protected]
 simulator/simple_planning_simulator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 simulator/vehicle_door_simulator/** [email protected]
-system/autoware_auto_msgs_adapter/** [email protected] [email protected]
 system/bluetooth_monitor/** [email protected]
 system/component_state_monitor/** [email protected]
 system/default_ad_api/** [email protected] [email protected] [email protected]

.github/workflows/build-and-test-arm64.yaml

@@ -19,7 +19,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
+            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository

.github/workflows/build-and-test-differential-arm64.yaml

@@ -29,7 +29,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
+            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository

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

@@ -28,7 +28,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
+            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
@@ -77,7 +77,7 @@ jobs:
 
   clang-tidy-differential:
     runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt-cuda
+    container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
     steps:
       - name: Check out repository
         uses: actions/checkout@v4

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

@@ -21,7 +21,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
+            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository

common/.pages

@@ -6,11 +6,6 @@ nav:
   - 'Common Libraries':
     - 'autoware_auto_common':
       - 'comparisons': common/autoware_auto_common/design/comparisons
-    - 'autoware_auto_geometry':
-      - 'interval': common/autoware_auto_geometry/design/interval
-      - 'polygon intersection 2d': common/autoware_auto_geometry/design/polygon_intersection_2d-design
-      - 'spatial hash': common/autoware_auto_geometry/design/spatial-hash-design
-    - 'autoware_auto_tf2': common/autoware_auto_tf2/design/autoware-auto-tf2-design
     - 'autoware_point_types': common/autoware_point_types
     - 'Cuda Utils': common/cuda_utils
     - 'Geography Utils': common/geography_utils
@@ -35,7 +30,7 @@ nav:
       - 'Introduction': common/tvm_utility
       - 'YOLOv2 Tiny Example': common/tvm_utility/tvm-utility-yolo-v2-tiny-tests
   - 'RVIZ2 Plugins':
-    - 'autoware_auto_perception_rviz_plugin': common/autoware_auto_perception_rviz_plugin
+    - 'autoware_perception_rviz_plugin': common/autoware_perception_rviz_plugin
     - 'autoware_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin
     - 'autoware_mission_details_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin
     - 'bag_time_manager_rviz_plugin': common/bag_time_manager_rviz_plugin

common/autoware_auto_common/include/autoware_auto_common/helper_functions/message_adapters.hpp

@@ -36,7 +36,7 @@ using TimeStamp = builtin_interfaces::msg::Time;
 
 /// \brief Helper class to check existence of header file in compile time:
 /// https://stackoverflow.com/a/16000226/2325407
-template <typename T, typename = nullptr_t>
+template <typename T, typename = std::nullptr_t>
 struct HasHeader : std::false_type
 {
 };
@@ -48,60 +48,60 @@ struct HasHeader<T, decltype((void)T::header, nullptr)> : std::true_type
 
 /////////// Template declarations
 
-/// Get frame id from message. nullptr_t is used to prevent template ambiguity on
+/// Get frame id from message. std::nullptr_t is used to prevent template ambiguity on
 /// SFINAE specializations. Provide a default value on specializations for a friendly API.
 /// \tparam T Message type.
 /// \param msg Message.
 /// \return Frame id of the message.
-template <typename T, nullptr_t>
+template <typename T, std::nullptr_t>
 const std::string & get_frame_id(const T & msg) noexcept;
 
-/// Get a reference to the frame id from message. nullptr_t is used to prevent
+/// Get a reference to the frame id from message. std::nullptr_t is used to prevent
 /// template ambiguity on SFINAE specializations. Provide a default value on
 /// specializations for a friendly API.
 /// \tparam T Message type.
 /// \param msg Message.
 /// \return Frame id of the message.
-template <typename T, nullptr_t>
+template <typename T, std::nullptr_t>
 std::string & get_frame_id(T & msg) noexcept;
 
-/// Get stamp from message. nullptr_t is used to prevent template ambiguity on
+/// Get stamp from message. std::nullptr_t is used to prevent template ambiguity on
 /// SFINAE specializations. Provide a default value on specializations for a friendly API.
 /// \tparam T Message type.
 /// \param msg Message.
 /// \return Frame id of the message.
-template <typename T, nullptr_t>
+template <typename T, std::nullptr_t>
 const TimeStamp & get_stamp(const T & msg) noexcept;
 
-/// Get a reference to the stamp from message. nullptr_t is used to prevent
+/// Get a reference to the stamp from message. std::nullptr_t is used to prevent
 /// template ambiguity on SFINAE specializations. Provide a default value on
 /// specializations for a friendly API.
 /// \tparam T Message type.
 /// \param msg Message.
 /// \return Frame id of the message.
-template <typename T, nullptr_t>
+template <typename T, std::nullptr_t>
 TimeStamp & get_stamp(T & msg) noexcept;
 
 /////////////// Default specializations for message types that contain a header.
-template <class T, typename std::enable_if<HasHeader<T>::value, nullptr_t>::type = nullptr>
+template <class T, typename std::enable_if<HasHeader<T>::value, std::nullptr_t>::type = nullptr>
 const std::string & get_frame_id(const T & msg) noexcept
 {
   return msg.header.frame_id;
 }
 
-template <class T, typename std::enable_if<HasHeader<T>::value, nullptr_t>::type = nullptr>
+template <class T, typename std::enable_if<HasHeader<T>::value, std::nullptr_t>::type = nullptr>
 std::string & get_frame_id(T & msg) noexcept
 {
   return msg.header.frame_id;
 }
 
-template <class T, typename std::enable_if<HasHeader<T>::value, nullptr_t>::type = nullptr>
+template <class T, typename std::enable_if<HasHeader<T>::value, std::nullptr_t>::type = nullptr>
 TimeStamp & get_stamp(T & msg) noexcept
 {
   return msg.header.stamp;
 }
 
-template <class T, typename std::enable_if<HasHeader<T>::value, nullptr_t>::type = nullptr>
+template <class T, typename std::enable_if<HasHeader<T>::value, std::nullptr_t>::type = nullptr>
 TimeStamp get_stamp(const T & msg) noexcept
 {
   return msg.header.stamp;