Merge branch 'main' into prefix-behavior_velocity_run_out_module

.cppcheck_suppressions

@@ -0,0 +1,59 @@
+arrayIndexThenCheck
+assignBoolToFloat
+checkersReport
+constParameterPointer
+constParameterReference
+constStatement
+constVariable
+constVariablePointer
+constVariableReference
+containerOutOfBounds
+cstyleCast
+ctuOneDefinitionRuleViolation
+current_deleted_index
+duplicateAssignExpression
+duplicateBranch
+duplicateBreak
+duplicateCondition
+duplicateExpression
+funcArgNamesDifferent
+functionConst
+functionStatic
+invalidPointerCast
+knownConditionTrueFalse
+missingInclude
+missingIncludeSystem
+multiCondition
+noConstructor
+noExplicitConstructor
+noValidConfiguration
+obstacle_cruise_planner
+passedByValue
+preprocessorErrorDirective
+redundantAssignment
+redundantContinue
+redundantIfRemove
+redundantInitialization
+returnByReference
+selfAssignment
+shadowArgument
+shadowFunction
+shadowVariable
+stlFindInsert
+syntaxError
+uninitMemberVar
+unknownMacro
+unmatchedSuppression
+unpreciseMathCall
+unreadVariable
+unsignedLessThanZero
+unusedFunction
+unusedScopedObject
+unusedStructMember
+unusedVariable
+useInitializationList
+useStlAlgorithm
+uselessCallsSubstr
+uselessOverride
+variableScope
+virtualCallInConstructor

.github/CODEOWNERS

@@ -147,6 +147,7 @@ perception/traffic_light_visualization/** [email protected] yukihiro.saito@tier
 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_behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [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 +175,6 @@ planning/autoware_behavior_velocity_run_out_module/** [email protected] m
 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_virtual_traffic_light_module/** [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]

.github/workflows/cppcheck-all.yaml

@@ -0,0 +1,60 @@
+name: cppcheck-all
+
+on:
+  pull_request:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  cppcheck-all:
+    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/cppcheck-differential.yaml

@@ -0,0 +1,65 @@
+name: cppcheck-differential
+
+on:
+  pull_request:
+
+jobs:
+  cppcheck-differential:
+    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: Get changed files
+        id: changed-files
+        run: |
+          git fetch origin ${{ github.base_ref }} --depth=1
+          git diff --name-only FETCH_HEAD ${{ github.sha }} > changed_files.txt
+          cat changed_files.txt
+
+      - name: Run Cppcheck on changed files
+        continue-on-error: true
+        id: cppcheck
+        run: |
+          files=$(cat changed_files.txt | grep -E '\.(cpp|hpp)$' || true)
+          if [ -n "$files" ]; then
+            echo "Running Cppcheck on changed files: $files"
+            cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions $files 2> cppcheck-report.txt
+          else
+            echo "No C++ files changed."
+            touch cppcheck-report.txt
+          fi
+        shell: bash
+
+      - name: Show cppcheck-report result
+        run: |
+          cat cppcheck-report.txt
+
+      - name: Upload Cppcheck report
+        uses: actions/upload-artifact@v2
+        with:
+          name: cppcheck-report
+          path: cppcheck-report.txt
+
+      - name: Fail the job if Cppcheck failed
+        if: steps.cppcheck.outcome == 'failure'
+        run: exit 1

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

@@ -136,7 +136,7 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::VirtualTrafficLightModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::VirtualTrafficLightModulePlugin, '&quot;)"
     if="$(var launch_virtual_traffic_light_module)"
   />
   <let

localization/autoware_pose_covariance_modifier/launch/pose_covariance_modifier.launch.xml

@@ -5,7 +5,7 @@
   <arg name="autoware_pose_covariance_modifier/output_pose_with_covariance_topic" default="/localization/pose_estimator/pose_with_covariance"/>
   <arg name="param_file" default="$(find-pkg-share autoware_pose_covariance_modifier)/config/pose_covariance_modifier.param.yaml"/>
 
-  <node pkg="autoware_pose_covariance_modifier" exec="autoware_pose_covariance_modifier_node" name="pose_covariance_modifier_node" output="screen">
+  <node pkg="autoware_pose_covariance_modifier" exec="autoware_pose_covariance_modifier_node" name="pose_covariance_modifier_node" output="both">
     <remap from="input_gnss_pose_with_cov_topic" to="$(var autoware_pose_covariance_modifier/input_gnss_pose_with_cov_topic)"/>
     <remap from="input_ndt_pose_with_cov_topic" to="$(var autoware_pose_covariance_modifier/input_ndt_pose_with_cov_topic)"/>
     <remap from="output_pose_with_covariance_topic" to="$(var autoware_pose_covariance_modifier/output_pose_with_covariance_topic)"/>

localization/yabloc/yabloc_image_processing/CMakeLists.txt

@@ -14,56 +14,55 @@ find_package(OpenCV REQUIRED)
 # PCL
 find_package(PCL REQUIRED COMPONENTS common)
 
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/line_segment_detector/line_segment_detector_core.cpp
+  src/graph_segment/graph_segment_core.cpp
+  src/graph_segment/similar_area_searcher.cpp
+  src/segment_filter/segment_filter_core.cpp
+  src/undistort/undistort_node.cpp
+  src/line_segments_overlay/line_segments_overlay_core.cpp
+  src/lanelet2_overlay/lanelet2_overlay_core.cpp
+)
+target_include_directories(${PROJECT_NAME} PUBLIC include ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES} ${OpenCV_LIBS})
+
 # ===================================================
 # Executable
-# line segment detector
-set(TARGET line_segment_detector_node)
-ament_auto_add_executable(${TARGET}
-  src/line_segment_detector/line_segment_detector_node.cpp
-  src/line_segment_detector/line_segment_detector_core.cpp)
-target_include_directories(${TARGET} PUBLIC include)
-target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIRS})
-target_link_libraries(${TARGET} ${OpenCV_LIBS})
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "yabloc::graph_segment::GraphSegment"
+  EXECUTABLE yabloc_graph_segment_node
+  EXECUTOR SingleThreadedExecutor
+)
 
-# graph based segmentation
-set(TARGET graph_segment_node)
-ament_auto_add_executable(${TARGET}
-  src/graph_segment/graph_segment_node.cpp
-  src/graph_segment/graph_segment_core.cpp
-  src/graph_segment/similar_area_searcher.cpp)
-target_include_directories(${TARGET} PUBLIC include)
-target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIRS})
-target_link_libraries(${TARGET} ${OpenCV_LIBS})
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "yabloc::lanelet2_overlay::Lanelet2Overlay"
+  EXECUTABLE yabloc_lanelet2_overlay_node
+  EXECUTOR SingleThreadedExecutor
+)
 
-# segment filter
-set(TARGET segment_filter_node)
-ament_auto_add_executable(${TARGET}
-  src/segment_filter/segment_filter_node.cpp
-  src/segment_filter/segment_filter_core.cpp)
-target_include_directories(${TARGET} PUBLIC include ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-target_link_libraries(${TARGET} ${PCL_LIBRARIES} ${OpenCV_LIBS})
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "yabloc::line_segment_detector::LineSegmentDetector"
+  EXECUTABLE yabloc_line_segment_detector_node
+  EXECUTOR SingleThreadedExecutor
+)
 
-# undistort
-set(TARGET undistort_node)
-ament_auto_add_executable(${TARGET}
-  src/undistort/undistort_node.cpp)
-target_link_libraries(${TARGET} ${OpenCV_LIBS})
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "yabloc::line_segments_overlay::LineSegmentsOverlay"
+  EXECUTABLE yabloc_line_segments_overlay_node
+  EXECUTOR SingleThreadedExecutor
+)
 
-# line_segments_overlay
-set(TARGET line_segments_overlay_node)
-ament_auto_add_executable(${TARGET}
-  src/line_segments_overlay/line_segments_overlay_core.cpp
-  src/line_segments_overlay/line_segments_overlay_node.cpp)
-target_include_directories(${TARGET} PUBLIC include ${EIGEN_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-target_link_libraries(${TARGET} ${PCL_LIBRARIES})
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "yabloc::segment_filter::SegmentFilter"
+  EXECUTABLE yabloc_segment_filter_node
+  EXECUTOR SingleThreadedExecutor
+)
 
-# lanelet2_overlay
-set(TARGET lanelet2_overlay_node)
-ament_auto_add_executable(${TARGET}
-  src/lanelet2_overlay/lanelet2_overlay_core.cpp
-  src/lanelet2_overlay/lanelet2_overlay_node.cpp)
-target_include_directories(${TARGET} PUBLIC include ${EIGEN_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-target_link_libraries(${TARGET} ${PCL_LIBRARIES})
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "yabloc::undistort::UndistortNode"
+  EXECUTABLE yabloc_undistort_node
+  EXECUTOR SingleThreadedExecutor
+)
 
 # ===================================================
 ament_auto_package(INSTALL_TO_SHARE config launch)

localization/yabloc/yabloc_image_processing/include/yabloc_image_processing/graph_segment/graph_segment.hpp

@@ -32,7 +32,7 @@ class GraphSegment : public rclcpp::Node
 public:
   using PointCloud2 = sensor_msgs::msg::PointCloud2;
   using Image = sensor_msgs::msg::Image;
-  GraphSegment();
+  explicit GraphSegment(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
 private:
   const float target_height_ratio_;

localization/yabloc/yabloc_image_processing/include/yabloc_image_processing/lanelet2_overlay/lanelet2_overlay.hpp

@@ -47,7 +47,7 @@ class Lanelet2Overlay : public rclcpp::Node
   using Image = sensor_msgs::msg::Image;
   using Float32Array = std_msgs::msg::Float32MultiArray;
 
-  Lanelet2Overlay();
+  explicit Lanelet2Overlay(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
 private:
   common::StaticTfSubscriber tf_subscriber_;

localization/yabloc/yabloc_image_processing/include/yabloc_image_processing/line_segment_detector/line_segment_detector.hpp

@@ -42,7 +42,7 @@ class LineSegmentDetector : public rclcpp::Node
   using Image = sensor_msgs::msg::Image;
   using PointCloud2 = sensor_msgs::msg::PointCloud2;
 
-  LineSegmentDetector();
+  explicit LineSegmentDetector(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
 private:
   rclcpp::Subscription<Image>::SharedPtr sub_image_;

localization/yabloc/yabloc_image_processing/include/yabloc_image_processing/line_segments_overlay/line_segments_overlay.hpp

@@ -34,7 +34,7 @@ class LineSegmentsOverlay : public rclcpp::Node
   using Image = sensor_msgs::msg::Image;
   using LineSegment = pcl::PointXYZLNormal;
   using LineSegments = pcl::PointCloud<LineSegment>;
-  LineSegmentsOverlay();
+  explicit LineSegmentsOverlay(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
 private:
   void on_image(const Image::ConstSharedPtr & img_msg);

localization/yabloc/yabloc_image_processing/include/yabloc_image_processing/segment_filter/segment_filter.hpp

@@ -39,7 +39,7 @@ class SegmentFilter : public rclcpp::Node
   using PointCloud2 = sensor_msgs::msg::PointCloud2;
   using Image = sensor_msgs::msg::Image;
 
-  SegmentFilter();
+  explicit SegmentFilter(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
 private:
   using ProjectFunc = std::function<std::optional<Eigen::Vector3f>(const Eigen::Vector3f &)>;