Merge branch 'main' into feat/lidar_transfusion

.github/PULL_REQUEST_TEMPLATE/small-change.md

@@ -15,6 +15,10 @@ Not applicable.
 
 Not applicable.
 
+## Interface changes
+
+<!-- Describe any changed interfaces, such as topics, services, or parameters, including debugging interfaces -->
+
 ## 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

@@ -18,6 +18,19 @@
 
 <!-- Describe any changed interfaces, such as topics, services, or parameters. -->
 
+### ROS Topic Changes
+
+<!-- | Topic Name       | Type                | Direction | Update Description                                            | -->
+<!-- | ---------------- | ------------------- | --------- | ------------------------------------------------------------- | -->
+<!-- | `/example_topic` | `std_msgs/String`   | Subscribe | Description of what the topic is used for in the system       | -->
+<!-- | `/another_topic` | `sensor_msgs/Image` | Publish   | Also explain if it is added / modified / deleted with the PR | -->
+
+### ROS Parameter Changes
+
+<!-- | Parameter Name       | Default Value | Update Description                                  | -->
+<!-- | -------------------- | ------------- | --------------------------------------------------- | -->
+<!-- | `example_parameters` | `1.0`         | Describe the parameter and also explain the updates | -->
+
 ## Effects on system behavior
 
 <!-- Describe how this PR affects the system behavior. -->

.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

build_depends.repos

@@ -41,3 +41,7 @@ repositories:
     type: git
     url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
     version: main
+  universe/external/glog:  # TODO: to use isGoogleInitialized() API in v0.6.0. Remove when the rosdep glog version is updated to v0.6.0 (already updated in Ubuntu 24.04)
+    type: git
+    url: https://github.com/tier4/glog.git
+    version: v0.6.0_t4-ros

common/.pages

@@ -0,0 +1,58 @@
+nav:
+  - 'Introduction': common
+  - 'Testing Libraries':
+    - 'autoware_testing': common/autoware_testing/design/autoware_testing-design
+    - 'fake_test_node': common/fake_test_node/design/fake_test_node-design
+  - 'Common Libraries':
+    - 'autoware_auto_common':
+      - 'comparisons': common/autoware_auto_common/design/comparisons
+    - '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
+    - 'Global Parameter Loader': common/global_parameter_loader/Readme
+    - 'Glog Component': common/glog_component
+    - 'grid_map_utils': common/grid_map_utils
+    - 'interpolation': common/interpolation
+    - 'Kalman Filter': common/kalman_filter
+    - 'Motion Utils': common/motion_utils
+    - 'Vehicle Utils': common/motion_utils/docs/vehicle/vehicle
+    - 'Object Recognition Utils': common/object_recognition_utils
+    - 'OSQP Interface': common/osqp_interface/design/osqp_interface-design
+    - 'Perception Utils': common/perception_utils
+    - 'QP Interface': common/qp_interface/design/qp_interface-design
+    - 'Signal Processing':
+      - 'Introduction': common/signal_processing
+      - 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter
+    - 'TensorRT Common': common/tensorrt_common
+    - 'tier4_autoware_utils': common/tier4_autoware_utils
+    - 'traffic_light_utils': common/traffic_light_utils
+    - 'TVM Utility':
+      - '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_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
+    - 'polar_grid': common/polar_grid/Readme
+    - 'tier4_adapi_rviz_plugin': common/tier4_adapi_rviz_plugin
+    - 'tier4_api_utils': common/tier4_api_utils
+    - 'tier4_camera_view_rviz_plugin': common/tier4_camera_view_rviz_plugin
+    - 'tier4_datetime_rviz_plugin': common/tier4_datetime_rviz_plugin
+    - 'tier4_localization_rviz_plugin': common/tier4_localization_rviz_plugin
+    - 'tier4_perception_rviz_plugin': common/tier4_perception_rviz_plugin
+    - 'tier4_planning_rviz_plugin': common/tier4_planning_rviz_plugin
+    - 'tier4_state_rviz_plugin': common/tier4_state_rviz_plugin
+    - 'tier4_system_rviz_plugin': common/tier4_system_rviz_plugin
+    - 'tier4_traffic_light_rviz_plugin': common/tier4_traffic_light_rviz_plugin
+    - 'tier4_vehicle_rviz_plugin': common/tier4_vehicle_rviz_plugin
+    - 'traffic_light_recognition_marker_publisher': common/traffic_light_recognition_marker_publisher/Readme
+  - 'Node':
+    - 'Goal Distance Calculator': common/goal_distance_calculator/Readme
+    - 'Path Distance Calculator': common/path_distance_calculator/Readme
+  - 'Others':
+    - 'autoware_ad_api_specs': common/autoware_ad_api_specs
+    - 'component_interface_specs': common/component_interface_specs
+    - 'component_interface_tools': common/component_interface_tools
+    - 'component_interface_utils': common/component_interface_utils

common/README.md

@@ -0,0 +1,16 @@
+# Common
+
+## Getting Started
+
+The Autoware.Universe Common folder consists of common and testing libraries that are used by other Autoware components, as well as useful plugins for visualization in RVIZ2.
+
+!!! note
+
+    In addition to the ones listed in this folder, users can also have a look at some of the add-ons in the `autoware_tools/common` documentation [page](https://autowarefoundation.github.io/autoware_tools/main/common/mission_planner_rviz_plugin/).
+
+## Highlights
+
+Some of the commonly used libraries are:
+
+1. `tier4_autoware_utils`
+2. `motion_utils`

common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp

@@ -0,0 +1,36 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__SYSTEM_HPP_
+#define AUTOWARE_AD_API_SPECS__SYSTEM_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/heartbeat.hpp>
+
+namespace autoware_ad_api::system
+{
+
+struct Heartbeat
+{
+  using Message = autoware_adapi_v1_msgs::msg::Heartbeat;
+  static constexpr char name[] = "/api/system/heartbeat";
+  static constexpr size_t depth = 10;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+}  // namespace autoware_ad_api::system
+
+#endif  // AUTOWARE_AD_API_SPECS__SYSTEM_HPP_

common/autoware_auto_common/include/autoware_auto_common/common/types.hpp

@@ -37,7 +37,9 @@ namespace types
 // We don't currently require code to comply to MISRA, but we should try to where it is
 // easily possible.
 using bool8_t = bool;
+#if __cplusplus < 201811L || !__cpp_char8_t
 using char8_t = char;
+#endif
 using uchar8_t = unsigned char;
 // If we ever compile on a platform where this is not true, float32_t and float64_t definitions
 // need to be adjusted.

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;